44 lines
2.3 KiB
Python
44 lines
2.3 KiB
Python
import pybullet as p
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p.connect(p.SHARED_MEMORY)
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objects = [
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p.loadURDF("plane.urdf", 0.000000, 0.000000, -.300000, 0.000000, 0.000000, 0.000000, 1.000000)
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]
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objects = [
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p.loadURDF("quadruped/minitaur.urdf", [-0.000046, -0.000068, 0.200774],
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[-0.000701, 0.000387, -0.000252, 1.000000],
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useFixedBase=False)
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]
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ob = objects[0]
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jointPositions = [
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0.000000, 1.531256, 0.000000, -2.240112, 1.527979, 0.000000, -2.240646, 1.533105, 0.000000,
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-2.238254, 1.530335, 0.000000, -2.238298, 0.000000, -1.528038, 0.000000, 2.242656, -1.525193,
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0.000000, 2.244008, -1.530011, 0.000000, 2.240683, -1.528687, 0.000000, 2.240517
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]
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for ji in range(p.getNumJoints(ob)):
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p.resetJointState(ob, ji, jointPositions[ji])
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p.setJointMotorControl2(bodyIndex=ob, jointIndex=ji, controlMode=p.VELOCITY_CONTROL, force=0)
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cid0 = p.createConstraint(1, 3, 1, 6, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000],
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[0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000],
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[0.000000, 0.000000, 0.000000, 1.000000],
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[0.000000, 0.000000, 0.000000, 1.000000])
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p.changeConstraint(cid0, maxForce=500.000000)
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cid1 = p.createConstraint(1, 16, 1, 19, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000],
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[0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000],
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[0.000000, 0.000000, 0.000000, 1.000000],
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[0.000000, 0.000000, 0.000000, 1.000000])
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p.changeConstraint(cid1, maxForce=500.000000)
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cid2 = p.createConstraint(1, 9, 1, 12, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000],
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[0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000],
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[0.000000, 0.000000, 0.000000, 1.000000],
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[0.000000, 0.000000, 0.000000, 1.000000])
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p.changeConstraint(cid2, maxForce=500.000000)
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cid3 = p.createConstraint(1, 22, 1, 25, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000],
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[0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000],
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[0.000000, 0.000000, 0.000000, 1.000000],
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[0.000000, 0.000000, 0.000000, 1.000000])
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p.changeConstraint(cid3, maxForce=500.000000)
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p.setGravity(0.000000, 0.000000, 0.000000)
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p.stepSimulation()
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p.disconnect()
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