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

examples\pybullet\examples\humanoid_knee_position_control.py : allow both knees to be actuated against limit

Browse Source
This commit is contained in:
Erwin Coumans
2017-05-21 11:35:06 -07:00
parent fd40ba424b
commit aa2787520b
1 changed files with 12 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
examples/pybullet/examples/humanoid_knee_position_control.py
View File

@@ -11,7 +11,7 @@ useRealTime = 0
p.setRealTimeSimulation(useRealTime)
p.setGravity(0,0,0)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf")
@@ -21,17 +21,26 @@ human = obUids[0]
for i in range (p.getNumJoints(human)):
p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=50)
p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=500)
kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
maxForceId = p.addUserDebugParameter("maxForce",0,100,10)
maxForceId = p.addUserDebugParameter("maxForce",0,500,10)
kneeAngleTargetLeftId = p.addUserDebugParameter("kneeAngleL",-4,4,-1)
maxForceLeftId = p.addUserDebugParameter("maxForceL",0,500,10)
kneeJointIndex=11
kneeJointIndexLeft=18
while (1):
time.sleep(0.01)
kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
kneeAngleTargetLeft = p.readUserDebugParameter(kneeAngleTargetLeftId)
maxForceLeft = p.readUserDebugParameter(maxForceLeftId)
p.setJointMotorControl2(human,kneeJointIndexLeft,p.POSITION_CONTROL,targetPosition=kneeAngleTargetLeft,force=maxForceLeft)
if (useRealTime==0):
p.stepSimulation()