4db6fa9e29
added test urdf files for minitaur with all fixed joints, or fixed knees. added some stiffness/damping to minitaur legs (testing) tiny_obj_loader, don't crash on invalid texture coordinates btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
21 lines
375 B
Python
21 lines
375 B
Python
import pybullet as p
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import time
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import math
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import sys
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sys.path.append(".")
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from minitaur import Minitaur
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p.connect(p.GUI)
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p.setTimeOut(5)
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#p.setPhysicsEngineParameter(numSolverIterations=50)
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p.setGravity(0,0,-10)
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p.setTimeStep(0.01)
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urdfRoot = ''
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p.loadURDF("%s/plane.urdf" % urdfRoot)
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minitaur = Minitaur(urdfRoot)
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while (True):
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p.stepSimulation()
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time.sleep(0.01)
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