Python PyBullet.control_joints示例

示例#1

def test_control_joints():
    from panda_gym.pybullet import PyBullet

    pybullet = PyBullet()
    pybullet.loadURDF(
        body_name="panda",
        fileName="franka_panda/panda.urdf",
        basePosition=[0.0, 0.0, 0.0],
        useFixedBase=True,
    )
    pybullet.control_joints("panda", [5], [0.3], [5.0])
    pybullet.step()

示例#2

def test_get_joint_angle():
    from panda_gym.pybullet import PyBullet

    pybullet = PyBullet()
    pybullet.loadURDF(
        body_name="panda",
        fileName="franka_panda/panda.urdf",
        basePosition=[0.0, 0.0, 0.0],
        useFixedBase=True,
    )
    pybullet.control_joints("panda", [5], [0.3], [5.0])
    pybullet.step()
    joint_angle = pybullet.get_joint_angle("panda", 5)
    assert np.allclose(joint_angle, 0.063, atol=1e-3)
    pybullet.close()

示例#3

def test_get_link_velocity():
    from panda_gym.pybullet import PyBullet

    pybullet = PyBullet()
    pybullet.loadURDF(
        body_name="panda",
        fileName="franka_panda/panda.urdf",
        basePosition=[0.0, 0.0, 0.0],
        useFixedBase=True,
    )
    pybullet.control_joints("panda", [5], [0.3], [5.0])
    pybullet.step()
    link_velocity = pybullet.get_link_velocity("panda", 5)
    assert np.allclose(link_velocity, [-0.0068, 0.0000, 0.1186], atol=1e-3)
    pybullet.close()