From 6799bc5c4a65a95faf195ecfc86bf04c29280ed8 Mon Sep 17 00:00:00 2001
From: dtotsila <dionisistotsilas@gmail.com>
Date: Fri, 30 Aug 2024 13:50:12 +0200
Subject: [PATCH] vx300 python examples

---
 src/examples/python/vx300.py | 28 ++++++++++++++++++++++++++++
 src/examples/vx300.cpp       |  2 ++
 2 files changed, 30 insertions(+)
 create mode 100644 src/examples/python/vx300.py

diff --git a/src/examples/python/vx300.py b/src/examples/python/vx300.py
new file mode 100644
index 00000000..f86e7a92
--- /dev/null
+++ b/src/examples/python/vx300.py
@@ -0,0 +1,28 @@
+import RobotDART as rd
+
+# @VX300_PYTHON@
+robot = rd.Vx300()
+# @VX300_PYTHON_END@
+robot.set_actuator_types("servo")
+
+ctrl = [0.0, 1.0, -1.5, 1.0, 0.5, 0.]
+
+controller = rd.PDControl(ctrl)
+robot.add_controller(controller)
+
+simu = rd.RobotDARTSimu()
+simu.set_collision_detector("fcl")
+
+simu.set_graphics(rd.gui.Graphics())
+simu.add_robot(robot)
+simu.add_checkerboard_floor()
+
+for n in robot.dof_names():
+    print(n)
+
+simu.run(2.5)
+
+ctrl = [0.0, -0.5, 0.5, -0.5, 0., 1.]
+controller.set_parameters(ctrl)
+controller.set_pd(20., 0.)
+simu.run(2.5)
diff --git a/src/examples/vx300.cpp b/src/examples/vx300.cpp
index 0c158567..43c8a674 100644
--- a/src/examples/vx300.cpp
+++ b/src/examples/vx300.cpp
@@ -8,7 +8,9 @@
 
 int main()
 {
+    // @VX300@
     auto robot = std::make_shared<robot_dart::robots::Vx300>();
+    // @VX300_END@
     robot->set_actuator_types("servo");
 
     Eigen::VectorXd ctrl = robot_dart::make_vector({0.0, 1.0, -1.5, 1.0, 0.5, 0.});