example of joint motor with friction

examples/pybullet/examples/jointFrictionAndMotor.py

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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)
+