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