実際のところ
import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf")
xarm = p.loadURDF("/path/to/xarm7.urdf", useFixedBase=True)
joint1 = 0
joint2 = 1
for i in range (10000):
p.setJointMotorControl2(bodyUniqueId=xarm,
jointIndex=joint1,
controlMode=p.POSITION_CONTROL,
targetPosition=0.5 * p.sin(i * 0.01),
force=500)
p.setJointMotorControl2(bodyUniqueId=xarm,
jointIndex=joint2,
controlMode=p.POSITION_CONTROL,
targetPosition=0.5 * p.cos(i * 0.01),
force=500)
p.stepSimulation()
time.sleep(1./240.)
p.disconnect()