24 lines
591 B
Python
24 lines
591 B
Python
import pybullet as p
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import pybullet_data as pd
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import time
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p.connect(p.GUI)
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p.setGravity(0,0,-9.8)
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p.setAdditionalSearchPath(pd.getDataPath())
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floor = p.loadURDF("plane.urdf")
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startPos = [0,0,0.5]
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robot = p.loadURDF("mini_cheetah/mini_cheetah.urdf",startPos)
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numJoints = p.getNumJoints(robot)
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p.changeVisualShape(robot,-1,rgbaColor=[1,1,1,1])
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for j in range (numJoints):
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p.changeVisualShape(robot,j,rgbaColor=[1,1,1,1])
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force=200
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pos=0
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p.setJointMotorControl2(robot,j,p.POSITION_CONTROL,pos,force=force)
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dt = 1./240.
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p.setTimeStep(dt)
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while (1):
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p.stepSimulation()
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time.sleep(dt)
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