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| author | Erwin Coumans <erwincoumans@google.com> | 2021-01-15 14:42:12 -0800 |
|---|---|---|
| committer | Erwin Coumans <erwincoumans@google.com> | 2021-01-15 14:42:12 -0800 |
| commit | 21bc93a084be94a2dbc278064a92b87d81495cba (patch) | |
| tree | f3096acea766ba204fcdbc54e0207d83210059a3 | |
| parent | 10020baa71d9f63251c26395c60b8e0459659789 (diff) | |
| download | bullet3-21bc93a084be94a2dbc278064a92b87d81495cba.tar.gz | |
disable cone friction in example
| -rw-r--r-- | examples/pybullet/examples/inverse_kinematics_husky_kuka.py | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py b/examples/pybullet/examples/inverse_kinematics_husky_kuka.py index 2d0dce2f6..bb0e26eaa 100644 --- a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py +++ b/examples/pybullet/examples/inverse_kinematics_husky_kuka.py @@ -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 |