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allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies

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change snake.py to use useMaximalCoordinate = True by default
This commit is contained in:
erwincoumans
2019-03-08 09:20:32 -08:00
committed by fuchuyuan
parent 53979b1b7b
commit ce531e6015
3 changed files with 57 additions and 30 deletions
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9
examples/pybullet/examples/snake.py
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@@ -12,9 +12,10 @@ plane = p.createCollisionShape(p.GEOM_PLANE)
p.createMultiBody(0,plane)
useMaximalCoordinates = False
useMaximalCoordinates = True
sphereRadius = 0.25
colBoxId = p.createCollisionShapeArray([p.GEOM_BOX, p.GEOM_SPHERE],radii=[sphereRadius+0.03,sphereRadius+0.03], halfExtents=[[sphereRadius,sphereRadius,sphereRadius],[sphereRadius,sphereRadius,sphereRadius]])
#colBoxId = p.createCollisionShapeArray([p.GEOM_BOX, p.GEOM_SPHERE],radii=[sphereRadius+0.03,sphereRadius+0.03], halfExtents=[[sphereRadius,sphereRadius,sphereRadius],[sphereRadius,sphereRadius,sphereRadius]])
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
mass = 1
visualShapeId = -1
@@ -49,10 +50,12 @@ sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrien
p.setGravity(0,0,-10)
p.setRealTimeSimulation(0)
anistropicFriction = [1,0.01,0.01]
p.changeDynamics(sphereUid,-1,lateralFriction=2,anisotropicFriction=anistropicFriction)
p.getNumJoints(sphereUid)
for i in range (p.getNumJoints(sphereUid)):
p.getJointInfo(sphereUid,i)
p.changeDynamics(sphereUid,i,lateralFriction=2,anisotropicFriction=[1,0.01,0.01])#0,0,0])#1,0.01,0.01])
p.changeDynamics(sphereUid,i,lateralFriction=2,anisotropicFriction=anistropicFriction)
dt = 1./240.
SNAKE_NORMAL_PERIOD=0.1#1.5