36 lines
1.5 KiB
Python
36 lines
1.5 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,
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cameraYaw=23.2,
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cameraPitch=-6.6,
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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,
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motorJointId,
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p.VELOCITY_CONTROL,
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targetVelocity=0,
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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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