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Code Issues Releases Wiki Activity

disable cone friction in example

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This commit is contained in:
Erwin Coumans 2021-01-15 14:42:12 -08:00
parent 10020baa71
commit 21bc93a084
1 changed files with 6 additions and 1 deletions
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7
examples/pybullet/examples/inverse_kinematics_husky_kuka.py
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@ -10,7 +10,12 @@ clid = p.connect(p.SHARED_MEMORY)
if (clid < 0):
p.connect(p.GUI)
p.setPhysicsEngineParameter(enableConeFriction=0)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf", [0, 0, -0.3])
husky = p.loadURDF("husky/husky.urdf", [0.290388, 0.329902, -0.310270],
[0.002328, -0.000984, 0.996491, 0.083659])
@ -62,7 +67,7 @@ useNullSpace = 0
useOrientation = 0
#If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
#This can be used to test the IK result accuracy.
useSimulation = 0
useSimulation = 1
useRealTimeSimulation = 1
p.setRealTimeSimulation(useRealTimeSimulation)
#trailDuration is duration (in seconds) after debug lines will be removed automatically