From 23f235e44929ccdfa8284c0f63cdfa10e20eac2b Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sun, 1 Jul 2018 14:49:34 -0700
Subject: [PATCH] PyBullet: add example to enable another physics engine
 backend (DART, MuJoCo)

---
 .../pybullet/examples/otherPhysicsEngine.py   | 32 +++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 examples/pybullet/examples/otherPhysicsEngine.py

diff --git a/examples/pybullet/examples/otherPhysicsEngine.py b/examples/pybullet/examples/otherPhysicsEngine.py
new file mode 100644
index 000000000..2786b1c66
--- /dev/null
+++ b/examples/pybullet/examples/otherPhysicsEngine.py
@@ -0,0 +1,32 @@
+import pybullet as p
+import time
+
+#p.connect(p.DIRECT)
+#p.connect(p.DART)
+p.connect(p.MuJoCo)
+
+#p.connect(p.GUI)
+bodies = p.loadMJCF("mjcf/capsule.xml")
+print("bodies=",bodies)
+
+numBodies = p.getNumBodies()
+print("numBodies=",numBodies)
+for i in range (numBodies):
+	print("bodyInfo[",i,"]=",p.getBodyInfo(i))
+	
+p.setGravity(0,0,-10)
+timeStep = 1./240.
+p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
+
+#while (p.isConnected()):
+for i in range (1000):
+	p.stepSimulation()
+
+	for b in bodies:
+		pos,orn=p.getBasePositionAndOrientation(b)
+		print("pos[",b,"]=",pos)
+		print("orn[",b,"]=",orn)
+		linvel,angvel=p.getBaseVelocity(b)
+		print("linvel[",b,"]=",linvel)
+		print("angvel[",b,"]=",angvel)
+	time.sleep(timeStep)