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[pybullet] add example for roll, pitch, yaw

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Erwin Coumans
2017-02-08 09:27:51 -08:00
parent 04b3e88cde
commit 0c464e6848
1 changed files with 26 additions and 0 deletions
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examples/pybullet/rollPitchYaw.py Normal file
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import pybullet as p
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
q = p.loadURDF("quadruped/quadruped.urdf",useFixedBase=True)
rollId = p.addUserDebugParameter("roll",-1.5,1.5,0)
pitchId = p.addUserDebugParameter("pitch",-1.5,1.5,0)
yawId = p.addUserDebugParameter("yaw",-1.5,1.5,0)
fwdxId = p.addUserDebugParameter("fwd_x",-1,1,0)
fwdyId = p.addUserDebugParameter("fwd_y",-1,1,0)
fwdzId = p.addUserDebugParameter("fwd_z",-1,1,0)
while True:
roll = p.readUserDebugParameter(rollId)
pitch = p.readUserDebugParameter(pitchId)
yaw = p.readUserDebugParameter(yawId)
x = p.readUserDebugParameter(fwdxId)
y = p.readUserDebugParameter(fwdyId)
z = p.readUserDebugParameter(fwdzId)
orn = p.getQuaternionFromEuler([roll,pitch,yaw])
p.resetBasePositionAndOrientation(q,[x,y,z],orn)
#p.stepSimulation()#not really necessary for this demo, no physics used