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Add kuka grasping block playback.

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yunfeibai
2017-05-22 22:23:01 -07:00
parent 945b9b1b1d
commit 3eb974f66f
11 changed files with 1094 additions and 3 deletions
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6
examples/pybullet/examples/reset_dynamic_info.py
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@@ -6,15 +6,15 @@ p.connect(p.GUI)
planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
#p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
#p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=0.1)
p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=100.0)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(0)
t=0
while 1:
t=t+1
if t > 400:
p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
p.changeDynamics(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
print mass1,frictionCoeff1