Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo

Browse Source 
allow VR physics server to run with or without 'realTimeSimulation'
This commit is contained in:
Erwin Coumans
2016-12-11 09:28:36 -08:00
parent 27d38a1ba8
commit 17570c4700
7 changed files with 70 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
examples/pybullet/quadruped.py
View File

@@ -4,9 +4,10 @@ import math
p.connect(p.SHARED_MEMORY)
p.loadURDF("plane.urdf")
quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
p.setGravity(0,0,-1)
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/quadruped.urdf",10,-2,2)
#p.getNumJoints(1)
#right front leg
p.resetJointState(quadruped,0,1.57)
p.resetJointState(quadruped,2,-2.2)
@@ -64,16 +65,17 @@ p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
p.setGravity(0,0,-10)
p_gain = 2
speed = 10
amplitude = 1.3
#stand still
t_end = time.time() + 5
t_end = time.time() + 2
while time.time() < t_end:
p.stepSimulation()
p.setGravity(0,0,-10)
jump_amp = 0.5
@@ -125,4 +127,4 @@ while time.time() < t_end:
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
p.stepSimulation()
p.setRealTimeSimulation(1)