26 lines
720 B
Python
26 lines
720 B
Python
import pybullet as p
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p.connect(p.DIRECT)
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hinge = p.loadURDF("hinge.urdf")
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print("mass of linkA = 1kg, linkB = 1kg, total mass = 2kg")
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hingeJointIndex = 0
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#by default, joint motors are enabled, maintaining zero velocity
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p.setJointMotorControl2(hinge, hingeJointIndex, p.VELOCITY_CONTROL, 0, 0, 0)
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p.setGravity(0, 0, -10)
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p.stepSimulation()
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print("joint state without sensor")
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print(p.getJointState(0, 0))
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p.enableJointForceTorqueSensor(hinge, hingeJointIndex)
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p.stepSimulation()
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print("joint state with force/torque sensor, gravity [0,0,-10]")
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print(p.getJointState(0, 0))
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p.setGravity(0, 0, 0)
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p.stepSimulation()
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print("joint state with force/torque sensor, no gravity")
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print(p.getJointState(0, 0))
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p.disconnect()
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