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import pybullet as p
p.connect(p.GUI) #or p.SHARED_MEMORY or p.DIRECT
p.loadURDF("plane.urdf")
p.setGravity(0, 0, -10)
huskypos = [0, 0, 0.1]
husky = p.loadURDF("husky/husky.urdf", huskypos[0], huskypos[1], huskypos[2])
numJoints = p.getNumJoints(husky)
for joint in range(numJoints):
print(p.getJointInfo(husky, joint))
targetVel = 10 #rad/s
maxForce = 100 #Newton
for joint in range(2, 6):
p.setJointMotorControl(husky, joint, p.VELOCITY_CONTROL, targetVel, maxForce)
for step in range(300):
p.stepSimulation()
targetVel = -10
for joint in range(2, 6):
p.setJointMotorControl(husky, joint, p.VELOCITY_CONTROL, targetVel, maxForce)
for step in range(400):
p.stepSimulation()
p.getContactPoints(husky)
p.disconnect()
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