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add a pybullet example to compare the result of soft body and deformable body

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This commit is contained in:
Xuchen Han 2019-11-21 00:09:32 -08:00
parent fa7cb25c95
commit f237a40621
1 changed files with 28 additions and 0 deletions
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examples/pybullet/examples/test_inertia.py Normal file
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import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
useDeformable = True
if useDeformable:
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
gravZ=-10
p.setGravity(0, 0, gravZ)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
clothId = p.loadSoftBody("bunny.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1, useMassSpring=1, springElasticStiffness=100, springDampingStiffness=.001, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
p.setTimeStep(0.0005)
p.setRealTimeSimulation(1)
while p.isConnected():
p.setGravity(0,0,gravZ)
sleep(1./240.)