39 lines
1.1 KiB
Python
39 lines
1.1 KiB
Python
import pybullet as p
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import pybullet_data
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import os
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import time
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GRAVITY = -9.8
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dt = 1e-3
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iters = 2000
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physicsClient = p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.resetSimulation()
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#p.setRealTimeSimulation(True)
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p.setGravity(0, 0, GRAVITY)
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p.setTimeStep(dt)
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planeId = p.loadURDF("plane.urdf")
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cubeStartPos = [0, 0, 1.13]
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cubeStartOrientation = p.getQuaternionFromEuler([0., 0, 0])
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botId = p.loadURDF("biped/biped2d_pybullet.urdf", cubeStartPos, cubeStartOrientation)
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#disable the default velocity motors
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#and set some position control with small force to emulate joint friction/return to a rest pose
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jointFrictionForce = 1
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for joint in range(p.getNumJoints(botId)):
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p.setJointMotorControl2(botId, joint, p.POSITION_CONTROL, force=jointFrictionForce)
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#for i in range(10000):
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# p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
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# p.stepSimulation()
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#import ipdb
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#ipdb.set_trace()
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import time
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p.setRealTimeSimulation(1)
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while (1):
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#p.stepSimulation()
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#p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
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p.setGravity(0, 0, GRAVITY)
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time.sleep(1 / 240.)
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time.sleep(1000)
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