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allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE

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fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
This commit is contained in:
Erwin Coumans
2018-01-11 21:04:08 -08:00
parent 22b4809891
commit 79051b7611
13 changed files with 986 additions and 55 deletions
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13
examples/pybullet/examples/quadruped.py
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@@ -4,7 +4,10 @@ import math
def drawInertiaBox(parentUid, parentLinkIndex, color):
mass,frictionCoeff, inertia =p.getDynamicsInfo(bodyUniqueId=parentUid,linkIndex=parentLinkIndex, flags = p.DYNAMICS_INFO_REPORT_INERTIA)
dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
mass=dyn[0]
frictionCoeff=dyn[1]
inertia = dyn[2]
if (mass>0):
Ixx = inertia[0]
Iyy = inertia[1]
@@ -79,7 +82,7 @@ p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0,0,0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_USE_IMPLICIT_CYLINDER)
nJoints = p.getNumJoints(quadruped)
jointNameToId = {}
@@ -123,7 +126,11 @@ halfpi = 1.57079632679
twopi = 4*halfpi
kneeangle = -2.1834
mass, friction, localInertiaDiagonal = p.getDynamicsInfo(quadruped,-1, flags=p.DYNAMICS_INFO_REPORT_INERTIA )
dyn = p.getDynamicsInfo(quadruped,-1)
mass=dyn[0]
friction=dyn[1]
localInertiaDiagonal = dyn[2]
print("localInertiaDiagonal",localInertiaDiagonal)
#this is a no-op, just to show the API