Updated examples to go through all given orientations.
@@ -10,8 +10,8 @@ env = rp.backend.VPython()
env.launch()
# PUMA560
-# puma = rp.models.DH.Puma560()
-# env.add(0, 'Puma', puma)
+puma = rp.models.DH.Puma560()
+env.add(0, 'Puma', puma)
# #
# time.sleep(3)
# env.step(puma, puma.qr, 0)
@@ -27,15 +27,42 @@ env.launch()
# PANDA
-panda = rp.models.DH.Panda()
-env.add(0, 'Panda', panda)
+# panda = rp.models.DH.Panda()
+# env.add(0, 'Panda', panda)
+#
+# time.sleep(3)
+# env.step(panda, panda.qr, 0)
+#
+# time.sleep(3)
+# env.step(panda, panda.qz, 0)
# KR5
# kr5 = rp.models.DH.KR5()
# env.add(0, 'KR5', kr5)
+#
+# time.sleep(3)
+# env.step(kr5, kr5.qk1, 0)
+#
+# time.sleep(3)
+# env.step(kr5, kr5.qk2, 0)
+#
+# time.sleep(3)
+# env.step(kr5, kr5.qk3, 0)
+#
+# time.sleep(3)
+# env.step(kr5, kr5.qz, 0)
# IRB140
# irb140 = rp.models.DH.IRB140()
# env.add(0, 'IRB140', irb140)
+#
+# time.sleep(3)
+# env.step(irb140, irb140.qr, 0)
+#
+# time.sleep(3)
+# env.step(irb140, irb140.qd, 0)
+#
+# time.sleep(3)
+# env.step(irb140, irb140.qz, 0)
