3987bdd333
allow plane collision shape in SDF load the Roboschool stadium.sdf in humanoid_knee_position_control.py
46 lines
1.2 KiB
Python
46 lines
1.2 KiB
Python
import pybullet as p
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import time
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cid = p.connect(p.SHARED_MEMORY)
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if (cid<0):
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cid = p.connect(p.GUI)
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p.resetSimulation()
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useRealTime = 0
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p.setRealTimeSimulation(useRealTime)
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p.setGravity(0,0,-10)
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p.loadSDF("stadium.sdf")
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obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
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human = obUids[0]
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for i in range (p.getNumJoints(human)):
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p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=500)
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kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
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maxForceId = p.addUserDebugParameter("maxForce",0,500,10)
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kneeAngleTargetLeftId = p.addUserDebugParameter("kneeAngleL",-4,4,-1)
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maxForceLeftId = p.addUserDebugParameter("maxForceL",0,500,10)
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kneeJointIndex=11
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kneeJointIndexLeft=18
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while (1):
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time.sleep(0.01)
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kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
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maxForce = p.readUserDebugParameter(maxForceId)
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p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
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kneeAngleTargetLeft = p.readUserDebugParameter(kneeAngleTargetLeftId)
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maxForceLeft = p.readUserDebugParameter(maxForceLeftId)
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p.setJointMotorControl2(human,kneeJointIndexLeft,p.POSITION_CONTROL,targetPosition=kneeAngleTargetLeft,force=maxForceLeft)
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if (useRealTime==0):
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p.stepSimulation() |