29 lines
736 B
Python
29 lines
736 B
Python
import pybullet as p
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p.connect(p.GUI) #or p.SHARED_MEMORY or p.DIRECT
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p.loadURDF("plane.urdf")
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p.setGravity(0, 0, -10)
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huskypos = [0, 0, 0.1]
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husky = p.loadURDF("husky/husky.urdf", huskypos[0], huskypos[1], huskypos[2])
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numJoints = p.getNumJoints(husky)
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for joint in range(numJoints):
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print(p.getJointInfo(husky, joint))
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targetVel = 10 #rad/s
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maxForce = 100 #Newton
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for joint in range(2, 6):
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p.setJointMotorControl(husky, joint, p.VELOCITY_CONTROL, targetVel, maxForce)
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for step in range(300):
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p.stepSimulation()
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targetVel = -10
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for joint in range(2, 6):
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p.setJointMotorControl(husky, joint, p.VELOCITY_CONTROL, targetVel, maxForce)
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for step in range(400):
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p.stepSimulation()
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p.getContactPoints(husky)
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p.disconnect()
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