SITL: walking robot script direction fix

5 years ago · e21e720b12
1 changed files with 4 additions and 1 deletions
--- a/libraries/SITL/examples/JSON/pybullet/walking_robot.py
+++ b/libraries/SITL/examples/JSON/pybullet/walking_robot.py
@ -38,7 +38,10 @@ p.changeDynamics(FixedBase,-1,lateralFriction=1.,
				@@ -38,7 +38,10 @@ p.changeDynamics(FixedBase,-1,lateralFriction=1.,

 last_angles = [0.0] * 12
 force = [500] * 12
-servo_direction = [1,1,1,-1,-1,-1,-1,-1,1,1,1,-1]
+servo_direction = [1,-1, 1,
+                   1, 1,-1,
+                   1,-1, 1,
+                   1, 1,-1]
 def control_joints(pwm):
    '''control a joint based bot'''
    global last_angles