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23 lines
682 B
Python
23 lines
682 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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cartpole = p.loadURDF("cartpole.urdf")
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p.setRealTimeSimulation(1)
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p.setJointMotorControl2(cartpole,
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1,
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p.POSITION_CONTROL,
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targetPosition=1000,
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targetVelocity=0,
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force=1000,
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positionGain=1,
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velocityGain=0,
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maxVelocity=0.5)
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while (1):
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p.setGravity(0, 0, -10)
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js = p.getJointState(cartpole, 1)
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print("position=", js[0], "velocity=", js[1])
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time.sleep(0.01)
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