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example of joint motor with friction

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Erwin Coumans
2018-01-06 13:43:07 -08:00
parent 02e5d51052
commit 9a9aa5e9e7
1 changed files with 26 additions and 0 deletions
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examples/pybullet/examples/jointFrictionAndMotor.py Normal file
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import pybullet as p
import time
p.connect(p.GUI)
door=p.loadURDF("door.urdf")
#linear/angular damping for base and all children=0
p.changeDynamics(door,-1,linearDamping=0, angularDamping=0)
for j in range (p.getNumJoints(door)):
p.changeDynamics(door,j,linearDamping=0, angularDamping=0)
print(p.getJointInfo(door,j))
frictionId = p.addUserDebugParameter("jointFriction",0,20,10)
torqueId = p.addUserDebugParameter("joint torque",0,20,5)
while (1):
frictionForce = p.readUserDebugParameter(frictionId)
jointTorque = p.readUserDebugParameter(torqueId)
#set the joint friction
p.setJointMotorControl2(door,1,p.VELOCITY_CONTROL,targetVelocity=0,force=frictionForce)
#apply a joint torque
p.setJointMotorControl2(door,1,p.TORQUE_CONTROL,force=jointTorque)
p.stepSimulation()
time.sleep(0.01)