24 lines
832 B
Python
24 lines
832 B
Python
import pybullet as p
|
|
import time
|
|
import math
|
|
|
|
p.connect(p.GUI)
|
|
planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
|
|
p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
|
|
cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
|
|
#p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=0.1)
|
|
p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=100.0)
|
|
p.setGravity(0,0,-10)
|
|
p.setRealTimeSimulation(0)
|
|
t=0
|
|
while 1:
|
|
t=t+1
|
|
if t > 400:
|
|
p.changeDynamics(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
|
|
mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
|
|
mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
|
|
print mass1,frictionCoeff1
|
|
print mass2,frictionCoeff2
|
|
time.sleep(.01)
|
|
p.stepSimulation()
|