1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
|
#a mimic joint can act as a gear between two joints
#you can control the gear ratio in magnitude and sign (>0 reverses direction)
import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetDebugVisualizerCamera(cameraDistance=1.1, cameraYaw = 3.6,cameraPitch=-27, cameraTargetPosition=[0.19,1.21,-0.44])
p.loadURDF("plane.urdf", 0, 0, -2)
wheelA = p.loadURDF("differential/diff_ring.urdf", [0, 0, 0])
for i in range(p.getNumJoints(wheelA)):
print(p.getJointInfo(wheelA, i))
p.setJointMotorControl2(wheelA, i, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
c = p.createConstraint(wheelA,
1,
wheelA,
3,
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=1, maxForce=10000,erp=0.2)
c = p.createConstraint(wheelA,
2,
wheelA,
4,
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=10000,erp=0.2)
c = p.createConstraint(wheelA,
1,
wheelA,
4,
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=10000,erp=0.2)
p.setRealTimeSimulation(1)
while (1):
p.setGravity(0, 0, -10)
time.sleep(0.01)
#p.removeConstraint(c)
|