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- import pybullet as p
- p.connect(p.GUI) #or p.SHARED_MEMORY or p.DIRECT
- p.loadURDF("plane.urdf")
- p.setGravity(0,0,-10)
- huskypos = [0,0,0.1]
- husky = p.loadURDF("husky/husky.urdf",huskypos[0],huskypos[1],huskypos[2])
- numJoints = p.getNumJoints(husky)
- for joint in range (numJoints) :
- print (p.getJointInfo(husky,joint))
- targetVel = 10 #rad/s
- maxForce = 100 #Newton
- for joint in range (2,6) :
- p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
- for step in range (300):
- p.stepSimulation()
- targetVel=-10
- for joint in range (2,6) :
- p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
- for step in range (400):
- p.stepSimulation()
- p.getContactPointData(husky)
- p.disconnect()
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