diff options
Diffstat (limited to 'examples/pybullet/examples/quadruped_setup_playback.py')
| -rw-r--r-- | examples/pybullet/examples/quadruped_setup_playback.py | 52 |
1 files changed, 37 insertions, 15 deletions
diff --git a/examples/pybullet/examples/quadruped_setup_playback.py b/examples/pybullet/examples/quadruped_setup_playback.py index a2b041888..5db18cb07 100644 --- a/examples/pybullet/examples/quadruped_setup_playback.py +++ b/examples/pybullet/examples/quadruped_setup_playback.py @@ -1,21 +1,43 @@ import pybullet as p p.connect(p.SHARED_MEMORY) -objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,-.300000,0.000000,0.000000,0.000000,1.000000)] -objects = [p.loadURDF("quadruped/minitaur.urdf", [-0.000046,-0.000068,0.200774],[-0.000701,0.000387,-0.000252,1.000000],useFixedBase=False)] +objects = [ + p.loadURDF("plane.urdf", 0.000000, 0.000000, -.300000, 0.000000, 0.000000, 0.000000, 1.000000) +] +objects = [ + p.loadURDF("quadruped/minitaur.urdf", [-0.000046, -0.000068, 0.200774], + [-0.000701, 0.000387, -0.000252, 1.000000], + useFixedBase=False) +] ob = objects[0] -jointPositions=[ 0.000000, 1.531256, 0.000000, -2.240112, 1.527979, 0.000000, -2.240646, 1.533105, 0.000000, -2.238254, 1.530335, 0.000000, -2.238298, 0.000000, -1.528038, 0.000000, 2.242656, -1.525193, 0.000000, 2.244008, -1.530011, 0.000000, 2.240683, -1.528687, 0.000000, 2.240517 ] -for ji in range (p.getNumJoints(ob)): - p.resetJointState(ob,ji,jointPositions[ji]) - p.setJointMotorControl2(bodyIndex=ob, jointIndex=ji, controlMode=p.VELOCITY_CONTROL, force=0) +jointPositions = [ + 0.000000, 1.531256, 0.000000, -2.240112, 1.527979, 0.000000, -2.240646, 1.533105, 0.000000, + -2.238254, 1.530335, 0.000000, -2.238298, 0.000000, -1.528038, 0.000000, 2.242656, -1.525193, + 0.000000, 2.244008, -1.530011, 0.000000, 2.240683, -1.528687, 0.000000, 2.240517 +] +for ji in range(p.getNumJoints(ob)): + p.resetJointState(ob, ji, jointPositions[ji]) + p.setJointMotorControl2(bodyIndex=ob, jointIndex=ji, controlMode=p.VELOCITY_CONTROL, force=0) -cid0 = p.createConstraint(1,3,1,6,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.200000],[0.000000,0.010000,0.200000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid0,maxForce=500.000000) -cid1 = p.createConstraint(1,16,1,19,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.200000],[0.000000,0.010000,0.200000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid1,maxForce=500.000000) -cid2 = p.createConstraint(1,9,1,12,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.200000],[0.000000,0.010000,0.200000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid2,maxForce=500.000000) -cid3 = p.createConstraint(1,22,1,25,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.200000],[0.000000,0.010000,0.200000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid3,maxForce=500.000000) -p.setGravity(0.000000,0.000000,0.000000) +cid0 = p.createConstraint(1, 3, 1, 6, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000], + [0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000], + [0.000000, 0.000000, 0.000000, 1.000000], + [0.000000, 0.000000, 0.000000, 1.000000]) +p.changeConstraint(cid0, maxForce=500.000000) +cid1 = p.createConstraint(1, 16, 1, 19, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000], + [0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000], + [0.000000, 0.000000, 0.000000, 1.000000], + [0.000000, 0.000000, 0.000000, 1.000000]) +p.changeConstraint(cid1, maxForce=500.000000) +cid2 = p.createConstraint(1, 9, 1, 12, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000], + [0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000], + [0.000000, 0.000000, 0.000000, 1.000000], + [0.000000, 0.000000, 0.000000, 1.000000]) +p.changeConstraint(cid2, maxForce=500.000000) +cid3 = p.createConstraint(1, 22, 1, 25, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000], + [0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000], + [0.000000, 0.000000, 0.000000, 1.000000], + [0.000000, 0.000000, 0.000000, 1.000000]) +p.changeConstraint(cid3, maxForce=500.000000) +p.setGravity(0.000000, 0.000000, 0.000000) p.stepSimulation() p.disconnect() |