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28 lines
909 B
Python
28 lines
909 B
Python
import pybullet as p
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import time
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import pybullet_data
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p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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door = p.loadURDF("door.urdf")
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#linear/angular damping for base and all children=0
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p.changeDynamics(door, -1, linearDamping=0, angularDamping=0)
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for j in range(p.getNumJoints(door)):
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p.changeDynamics(door, j, linearDamping=0, angularDamping=0)
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print(p.getJointInfo(door, j))
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frictionId = p.addUserDebugParameter("jointFriction", 0, 20, 10)
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torqueId = p.addUserDebugParameter("joint torque", 0, 20, 5)
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while (1):
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frictionForce = p.readUserDebugParameter(frictionId)
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jointTorque = p.readUserDebugParameter(torqueId)
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#set the joint friction
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p.setJointMotorControl2(door, 1, p.VELOCITY_CONTROL, targetVelocity=0, force=frictionForce)
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#apply a joint torque
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p.setJointMotorControl2(door, 1, p.TORQUE_CONTROL, force=jointTorque)
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p.stepSimulation()
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time.sleep(0.01)
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