26 lines
922 B
Python
26 lines
922 B
Python
import pybullet as p
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import time
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cid = p.connect(p.SHARED_MEMORY)
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if (cid < 0):
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p.connect(p.GUI)
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q = p.loadURDF("quadruped/quadruped.urdf", useFixedBase=True)
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rollId = p.addUserDebugParameter("roll", -1.5, 1.5, 0)
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pitchId = p.addUserDebugParameter("pitch", -1.5, 1.5, 0)
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yawId = p.addUserDebugParameter("yaw", -1.5, 1.5, 0)
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fwdxId = p.addUserDebugParameter("fwd_x", -1, 1, 0)
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fwdyId = p.addUserDebugParameter("fwd_y", -1, 1, 0)
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fwdzId = p.addUserDebugParameter("fwd_z", -1, 1, 0)
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while True:
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roll = p.readUserDebugParameter(rollId)
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pitch = p.readUserDebugParameter(pitchId)
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yaw = p.readUserDebugParameter(yawId)
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x = p.readUserDebugParameter(fwdxId)
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y = p.readUserDebugParameter(fwdyId)
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z = p.readUserDebugParameter(fwdzId)
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orn = p.getQuaternionFromEuler([roll, pitch, yaw])
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p.resetBasePositionAndOrientation(q, [x, y, z], orn)
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#p.stepSimulation()#not really necessary for this demo, no physics used
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