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Merge pull request #797 from erwincoumans/master

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add simple pybullet robotcontrol.py example
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erwincoumans 2016-09-21 08:14:30 -07:00 committed by GitHub
commit ffa1e39d28
1 changed files with 30 additions and 0 deletions
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examples/pybullet/robotcontrol.py Normal file
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import pybullet as p
p.connect(p.GUI) #or p.SHARED_MEMORY or p.DIRECT
p.loadURDF("plane.urdf")
p.setGravity(0,0,-10)
huskypos = [0,0,0.1]
husky = p.loadURDF("husky/husky.urdf",huskypos[0],huskypos[1],huskypos[2])
numJoints = p.getNumJoints(husky)
for joint in range (numJoints) :
print (p.getJointInfo(husky,joint))
targetVel = 10 #rad/s
maxForce = 100 #Newton
for joint in range (2,6) :
p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
for step in range (300):
p.stepSimulation()
targetVel=-10
for joint in range (2,6) :
p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
for step in range (400):
p.stepSimulation()
p.getContactPointData(husky)
p.disconnect()