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31 lines
736 B
Python
31 lines
736 B
Python
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import pybullet as p
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p.connect(p.GUI) #or p.SHARED_MEMORY or p.DIRECT
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p.loadURDF("plane.urdf")
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p.setGravity(0,0,-10)
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huskypos = [0,0,0.1]
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husky = p.loadURDF("husky/husky.urdf",huskypos[0],huskypos[1],huskypos[2])
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numJoints = p.getNumJoints(husky)
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for joint in range (numJoints) :
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print (p.getJointInfo(husky,joint))
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targetVel = 10 #rad/s
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maxForce = 100 #Newton
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for joint in range (2,6) :
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p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
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for step in range (300):
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p.stepSimulation()
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targetVel=-10
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for joint in range (2,6) :
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p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
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for step in range (400):
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p.stepSimulation()
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p.getContactPointData(husky)
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p.disconnect()
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