41 lines
1.6 KiB
Python
41 lines
1.6 KiB
Python
#you can set the restitution (bouncyness) of an object in the URDF file
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#or using changeDynamics
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import pybullet as p
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import time
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cid = p.connect(p.SHARED_MEMORY)
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if (cid < 0):
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cid = p.connect(p.GUI)
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restitutionId = p.addUserDebugParameter("restitution", 0, 1, 1)
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restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold", 0, 3, 0.2)
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lateralFrictionId = p.addUserDebugParameter("lateral friction", 0, 1, 0.5)
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spinningFrictionId = p.addUserDebugParameter("spinning friction", 0, 1, 0.03)
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rollingFrictionId = p.addUserDebugParameter("rolling friction", 0, 1, 0.03)
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plane = p.loadURDF("plane_with_restitution.urdf")
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sphere = p.loadURDF("sphere_with_restitution.urdf", [0, 0, 2])
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p.setRealTimeSimulation(1)
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p.setGravity(0, 0, -10)
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while (1):
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restitution = p.readUserDebugParameter(restitutionId)
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restitutionVelocityThreshold = p.readUserDebugParameter(restitutionVelocityThresholdId)
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p.setPhysicsEngineParameter(restitutionVelocityThreshold=restitutionVelocityThreshold)
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lateralFriction = p.readUserDebugParameter(lateralFrictionId)
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spinningFriction = p.readUserDebugParameter(spinningFrictionId)
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rollingFriction = p.readUserDebugParameter(rollingFrictionId)
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p.changeDynamics(plane, -1, lateralFriction=1)
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p.changeDynamics(sphere, -1, lateralFriction=lateralFriction)
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p.changeDynamics(sphere, -1, spinningFriction=spinningFriction)
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p.changeDynamics(sphere, -1, rollingFriction=rollingFriction)
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p.changeDynamics(plane, -1, restitution=restitution)
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p.changeDynamics(sphere, -1, restitution=restitution)
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pos, orn = p.getBasePositionAndOrientation(sphere)
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#print("pos=")
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#print(pos)
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time.sleep(0.01)
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