1import pybullet as p
2import pybullet_data as pd
3import time
4
5p.connect(p.GUI)
6p.setGravity(0,0,-9.8)
7p.setAdditionalSearchPath(pd.getDataPath())
8floor = p.loadURDF("plane.urdf")
9startPos = [0,0,0.5]
10robot = p.loadURDF("mini_cheetah/mini_cheetah.urdf",startPos)
11numJoints = p.getNumJoints(robot)
12p.changeVisualShape(robot,-1,rgbaColor=[1,1,1,1])
13for j in range (numJoints):
14	p.changeVisualShape(robot,j,rgbaColor=[1,1,1,1])
15	force=200
16	pos=0
17	p.setJointMotorControl2(robot,j,p.POSITION_CONTROL,pos,force=force)
18dt = 1./240.
19p.setTimeStep(dt)
20while (1):
21  p.stepSimulation()
22  time.sleep(dt)
23
24