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mimicJointConstraint.py creates actual differential drive

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See https://www.youtube.com/watch?v=pK3PTPlRTGA  :-)
This commit is contained in:
erwincoumans
2017-06-09 10:15:05 -07:00
parent 0aeb4d5058
commit b2a46a7edd
16 changed files with 219 additions and 8 deletions
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6
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -323,8 +323,10 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger* logger)
{
btAssert(g);
// btAssert(g);
if (g==0)
return false;
TiXmlElement *shape = g->FirstChildElement();
if (!shape)
{

21
examples/pybullet/examples/mimicJointConstraint.py
View File

@@ -4,13 +4,22 @@
import pybullet as p
import time
p.connect(p.GUI)
wheelA = p.loadURDF("wheel.urdf",[0,0,0])
wheelB = p.loadURDF("wheel.urdf",[0,0,1])
p.setJointMotorControl2(wheelA,0,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
p.setJointMotorControl2(wheelB,0,p.VELOCITY_CONTROL,targetVelocity=1,force=1)
p.loadURDF("plane.urdf",0,0,-2)
wheelA = p.loadURDF("differential/diff_ring.urdf",[0,0,0])
for i in range(p.getNumJoints(wheelA)):
print(p.getJointInfo(wheelA,i))
p.setJointMotorControl2(wheelA,i,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
c = p.createConstraint(wheelA,1,wheelA,3,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(wheelA,2,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(wheelA,1,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(wheelA,0,wheelB,0,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-0.1, maxForce=10000)
p.setRealTimeSimulation(1)
while(1):