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https://github.com/bulletphysics/bullet3
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6afa0a463d
add cube_convex.urdf for testing this collisionMargin. Test script: import pybullet as p import time p.connect(p.GUI) plane = p.loadURDF("plane_implicit.urdf") cube = p.loadURDF("cube_convex.urdf",[0,0,1]) p.setGravity(0,0,-10) while (1): p.stepSimulation() pts = p.getContactPoints() p.changeDynamics(plane,-1,collisionMargin=0.3) p.changeDynamics(cube,-1,collisionMargin=0.3) print("===================") print("cube pos=", p.getBasePositionAndOrientation(cube)[0]) print("margin=", p.getDynamicsInfo(plane,-1)[11]) #time.sleep(1./10.)
33 lines
805 B
XML
33 lines
805 B
XML
<?xml version="1.0" ?>
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<robot name="cube">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<contact_cfm value="0.0"/>
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<contact_erp value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="1.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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</robot>
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