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Add profile markers for BenchmarkDemo raytest.

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Implement pybullet enableJointForceTorqueSensor, add forcetorquesensor.py example.
This commit is contained in:
erwincoumans
2017-01-31 10:14:00 -08:00
parent 690bd4f265
commit 3a42b356e2
4 changed files with 104 additions and 7 deletions
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26
examples/pybullet/forcetorquesensor.py Normal file
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import pybullet as p
p.connect(p.DIRECT)
hinge = p.loadURDF("hinge.urdf")
print("mass of linkA = 1kg, linkB = 1kg, total mass = 2kg")
hingeJointIndex = 0
#by default, joint motors are enabled, maintaining zero velocity
p.setJointMotorControl2(hinge,hingeJointIndex,p.VELOCITY_CONTROL,0,0,0)
p.setGravity(0,0,-10)
p.stepSimulation()
print("joint state without sensor")
print(p.getJointState(0,0))
p.enableJointForceTorqueSensor(hinge,hingeJointIndex)
p.stepSimulation()
print("joint state with force/torque sensor, gravity [0,0,-10]")
print(p.getJointState(0,0))
p.setGravity(0,0,0)
p.stepSimulation()
print("joint state with force/torque sensor, no gravity")
print(p.getJointState(0,0))
p.disconnect()