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also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody

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updated createMultiBodyLinks.py example.
This commit is contained in:
Erwin Coumans
2017-06-19 17:13:20 -07:00
parent 7441515c0e
commit 61f27a5c72
4 changed files with 31 additions and 31 deletions
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14
examples/pybullet/examples/createMultiBodyLinks.py
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@@ -13,10 +13,9 @@ colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRad
mass = 1
visualShapeId = -1
#"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
#"linkPositions", "linkOrientations","linkParentIndices", "linkJointTypes","linkJointAxis",
linkMasses=[1]
link_Masses=[1]
linkCollisionShapeIndices=[colBoxId]
linkVisualShapeIndices=[-1]
linkPositions=[[0,0,0.11]]
@@ -35,7 +34,7 @@ for i in range (3):
if (k&2):
sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,basePosition,baseOrientation)
else:
sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses,linkCollisionShapeIndices,linkVisualShapeIndices,linkPositions,linkOrientations,linkInertialFramePositions, linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)
sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)
p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
for joint in range (p.getNumJoints(sphereUid)):
@@ -43,15 +42,12 @@ for i in range (3):
p.setGravity(0,0,-10)
#p.setRealTimeSimulation(1)
p.setRealTimeSimulation(1)
p.getNumJoints(sphereUid)
for i in range (p.getNumJoints(sphereUid)):
p.getJointInfo(sphereUid,i)
while (1):
events = p.getKeyboardEvents()
if (len(events)):
p.stepSimulation()
time.sleep(0.01)