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