30 lines
1.1 KiB
Python
30 lines
1.1 KiB
Python
#a mimic joint can act as a gear between two joints
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#you can control the gear ratio in magnitude and sign (>0 reverses direction)
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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,-2)
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wheelA = p.loadURDF("differential/diff_ring.urdf",[0,0,0])
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for i in range(p.getNumJoints(wheelA)):
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print(p.getJointInfo(wheelA,i))
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p.setJointMotorControl2(wheelA,i,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
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c = p.createConstraint(wheelA,1,wheelA,3,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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p.changeConstraint(c,gearRatio=1, maxForce=10000)
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c = p.createConstraint(wheelA,2,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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c = p.createConstraint(wheelA,1,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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p.setRealTimeSimulation(1)
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while(1):
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p.setGravity(0,0,-10)
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time.sleep(0.01)
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#p.removeConstraint(c)
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