29 lines
1.3 KiB
Python
29 lines
1.3 KiB
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.loadURDF("plane.urdf",[0,0,-0.25])
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minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf",useFixedBase=True)
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print(p.getNumJoints(minitaur))
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p.resetDebugVisualizerCamera(cameraDistance=1, cameraYaw=23.2, cameraPitch=-6.6,cameraTargetPosition=[-0.064,.621,-0.2])
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motorJointId = 1
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p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=100000,force=0)
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p.resetJointState(minitaur,motorJointId,targetValue=0, targetVelocity=1)
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angularDampingSlider = p.addUserDebugParameter("angularDamping", 0,1,0)
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jointFrictionForceSlider = p.addUserDebugParameter("jointFrictionForce", 0,0.1,0)
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textId = p.addUserDebugText("jointVelocity=0",[0,0,-0.2])
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p.setRealTimeSimulation(1)
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while (1):
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frictionForce = p.readUserDebugParameter(jointFrictionForceSlider)
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angularDamping = p.readUserDebugParameter(angularDampingSlider)
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p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=0,force=frictionForce)
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p.changeDynamics(minitaur,motorJointId,linearDamping=0, angularDamping=angularDamping)
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time.sleep(0.01)
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txt = "jointVelocity="+str(p.getJointState(minitaur,motorJointId)[1])
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prevTextId = textId
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textId = p.addUserDebugText(txt,[0,0,-0.2])
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p.removeUserDebugItem(prevTextId)
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