diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py')
| -rw-r--r-- | examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py | 23 |
1 files changed, 23 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py b/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py new file mode 100644 index 000000000..c30c981ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py @@ -0,0 +1,23 @@ +import pybullet as p +import pybullet_data as pd +import time + +p.connect(p.GUI) +p.setGravity(0,0,-9.8) +p.setAdditionalSearchPath(pd.getDataPath()) +floor = p.loadURDF("plane.urdf") +startPos = [0,0,0.5] +robot = p.loadURDF("mini_cheetah/mini_cheetah.urdf",startPos) +numJoints = p.getNumJoints(robot) +p.changeVisualShape(robot,-1,rgbaColor=[1,1,1,1]) +for j in range (numJoints): + p.changeVisualShape(robot,j,rgbaColor=[1,1,1,1]) + force=200 + pos=0 + p.setJointMotorControl2(robot,j,p.POSITION_CONTROL,pos,force=force) +dt = 1./240. +p.setTimeStep(dt) +while (1): + p.stepSimulation() + time.sleep(dt) + |