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tweak gear (mimic) constraint example, enable erp (to avoid positional relative drift) and position camera at the gears.

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This commit is contained in:
Erwin Coumans 2021-10-03 15:18:40 -07:00
parent 87605ca4c8
commit 34d77242e5
1 changed files with 5 additions and 3 deletions
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8
examples/pybullet/examples/mimicJointConstraint.py
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@ -7,6 +7,8 @@ import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetDebugVisualizerCamera(cameraDistance=1.1, cameraYaw = 3.6,cameraPitch=-27, cameraTargetPosition=[0.19,1.21,-0.44])
p.loadURDF("plane.urdf", 0, 0, -2)
wheelA = p.loadURDF("differential/diff_ring.urdf", [0, 0, 0])
for i in range(p.getNumJoints(wheelA)):
@ -21,7 +23,7 @@ c = p.createConstraint(wheelA,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=1, maxForce=10000)
p.changeConstraint(c, gearRatio=1, maxForce=10000,erp=0.2)
c = p.createConstraint(wheelA,
2,
@ -31,7 +33,7 @@ c = p.createConstraint(wheelA,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=10000)
p.changeConstraint(c, gearRatio=-1, maxForce=10000,erp=0.2)
c = p.createConstraint(wheelA,
1,
@ -41,7 +43,7 @@ c = p.createConstraint(wheelA,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=10000)
p.changeConstraint(c, gearRatio=-1, maxForce=10000,erp=0.2)
p.setRealTimeSimulation(1)
while (1):