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expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz])

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erwincoumans
2017-12-20 16:56:31 -08:00
parent eb35cba740
commit 41f9bb89e5
6 changed files with 64 additions and 7 deletions
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21
examples/pybullet/examples/quadruped.py
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@@ -114,11 +114,6 @@ motor_back_leftL_link = jointNameToId['motor_back_leftL_link']
knee_back_leftL_link = jointNameToId['knee_back_leftL_link']
drawInertiaBox(quadruped,-1, [1,0,0])
#drawInertiaBox(quadruped,motor_front_rightR_joint, [1,0,0])
for i in range (nJoints):
drawInertiaBox(quadruped,i, [0,1,0])
#fixtorso = p.createConstraint(-1,-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,0])
@@ -128,6 +123,22 @@ halfpi = 1.57079632679
twopi = 4*halfpi
kneeangle = -2.1834
mass, friction, localInertiaDiagonal = p.getDynamicsInfo(quadruped,-1, flags=p.DYNAMICS_INFO_REPORT_INERTIA )
print("localInertiaDiagonal",localInertiaDiagonal)
#this is a no-op, just to show the API
p.changeDynamics(quadruped,-1,localInertiaDiagonal=localInertiaDiagonal)
#for i in range (nJoints):
# p.changeDynamics(quadruped,i,localInertiaDiagonal=[0.000001,0.000001,0.000001])
drawInertiaBox(quadruped,-1, [1,0,0])
#drawInertiaBox(quadruped,motor_front_rightR_joint, [1,0,0])
for i in range (nJoints):
drawInertiaBox(quadruped,i, [0,1,0])
if (useMaximalCoordinates):
steps = 400