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add jointFrictionDamping.py example

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modify testrender.py to add shadow for tiny renderer
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Erwin Coumans
2017-10-23 12:25:04 -07:00
parent 618deae3e4
commit ca7d599838
2 changed files with 32 additions and 3 deletions
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examples/pybullet/examples/jointFrictionDamping.py Normal file
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import pybullet as p
import time
p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.25])
minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf",useFixedBase=True)
print(p.getNumJoints(minitaur))
p.resetDebugVisualizerCamera(cameraDistance=1, cameraYaw=23.2, cameraPitch=-6.6,cameraTargetPosition=[-0.064,.621,-0.2])
motorJointId = 1
p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=100000,force=0)
p.resetJointState(minitaur,motorJointId,targetValue=0, targetVelocity=1)
angularDampingSlider = p.addUserDebugParameter("angularDamping", 0,1,0)
jointFrictionForceSlider = p.addUserDebugParameter("jointFrictionForce", 0,0.1,0)
textId = p.addUserDebugText("jointVelocity=0",[0,0,-0.2])
p.setRealTimeSimulation(1)
while (1):
frictionForce = p.readUserDebugParameter(jointFrictionForceSlider)
angularDamping = p.readUserDebugParameter(angularDampingSlider)
p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=0,force=frictionForce)
p.changeDynamics(minitaur,motorJointId,linearDamping=0, angularDamping=angularDamping)
time.sleep(0.01)
txt = "jointVelocity="+str(p.getJointState(minitaur,motorJointId)[1])
prevTextId = textId
textId = p.addUserDebugText(txt,[0,0,-0.2])
p.removeUserDebugItem(prevTextId)