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add shiftCenterOfMass.py example.

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erwincoumans
2018-11-23 18:01:00 -08:00
parent 121cdc91b0
commit 7669fc92c5
1 changed files with 22 additions and 0 deletions
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examples/pybullet/examples/shiftCenterOfMass.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf")
p.setGravity(0,0,-10)
visualShift = [0,0,0]
collisionShift = [0,0,0]
inertiaShift = [0,0,-0.5]
meshScale=[1,1,1]
visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="cube.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=visualShift, meshScale=meshScale)
collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="cube.obj", collisionFramePosition=collisionShift,meshScale=meshScale)
p.createMultiBody(baseMass=1,baseInertialFramePosition=inertiaShift,baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [0,0,1], useMaximalCoordinates=False)
while (1):
p.stepSimulation()
time.sleep(1./240.)