mirror of
https://github.com/bulletphysics/bullet3.git
synced 2026-10-08 09:55:32 +00:00
29 lines
794 B
Python
29 lines
794 B
Python
import pybullet as p
|
|
import pybullet_data
|
|
|
|
p.connect(p.GUI)
|
|
p.setAdditionalSearchPath(pybullet_data.getDataPath())
|
|
hinge = p.loadURDF("hinge.urdf")
|
|
print("mass of linkA = 1kg, linkB = 1kg, total mass = 2kg")
|
|
|
|
hingeJointIndex = 0
|
|
|
|
#by default, joint motors are enabled, maintaining zero velocity
|
|
p.setJointMotorControl2(hinge, hingeJointIndex, p.VELOCITY_CONTROL, 0, 0, 0)
|
|
|
|
p.setGravity(0, 0, -10)
|
|
p.stepSimulation()
|
|
print("joint state without sensor")
|
|
|
|
print(p.getJointState(0, 0))
|
|
p.enableJointForceTorqueSensor(hinge, hingeJointIndex)
|
|
p.stepSimulation()
|
|
print("joint state with force/torque sensor, gravity [0,0,-10]")
|
|
print(p.getJointState(0, 0))
|
|
p.setGravity(0, 0, 0)
|
|
p.stepSimulation()
|
|
print("joint state with force/torque sensor, no gravity")
|
|
print(p.getJointState(0, 0))
|
|
|
|
p.disconnect()
|