43 lines
1.0 KiB
Python
43 lines
1.0 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")
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p.loadURDF("quadruped/quadruped.urdf",0,0,0.2)
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#p.getNumJoints(1)
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#right front leg
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p.resetJointState(1,0,1.57)
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p.resetJointState(1,2,-2.2)
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p.resetJointState(1,3,-1.57)
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p.resetJointState(1,5,2.2)
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p.createConstraint(1,2,1,5,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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#left front leg
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p.resetJointState(1,6,1.57)
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p.resetJointState(1,8,-2.2)
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p.resetJointState(1,9,-1.57)
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p.resetJointState(1,11,2.2)
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p.createConstraint(1,8,1,11,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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#right back leg
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p.resetJointState(1,12,1.57)
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p.resetJointState(1,14,-2.2)
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p.resetJointState(1,15,-1.57)
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p.resetJointState(1,17,2.2)
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p.createConstraint(1,14,1,17,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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#left back leg
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p.resetJointState(1,18,1.57)
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p.resetJointState(1,20,-2.2)
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p.resetJointState(1,21,-1.57)
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p.resetJointState(1,23,2.2)
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p.createConstraint(1,20,1,23,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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p.setGravity(0,0,-10)
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t_end = time.time() + 120
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i=0
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while time.time() < t_end:
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i = p.getNumJoints(0)
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p.stepSimulation()
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