diff options
Diffstat (limited to 'examples/pybullet/examples/restitution.py')
| -rw-r--r-- | examples/pybullet/examples/restitution.py | 52 |
1 files changed, 26 insertions, 26 deletions
diff --git a/examples/pybullet/examples/restitution.py b/examples/pybullet/examples/restitution.py index 3b12185a8..dc169fe48 100644 --- a/examples/pybullet/examples/restitution.py +++ b/examples/pybullet/examples/restitution.py @@ -5,36 +5,36 @@ import pybullet as p import time cid = p.connect(p.SHARED_MEMORY) -if (cid<0): - cid = p.connect(p.GUI) -restitutionId = p.addUserDebugParameter("restitution",0,1,1) -restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold",0,3,0.2) +if (cid < 0): + cid = p.connect(p.GUI) +restitutionId = p.addUserDebugParameter("restitution", 0, 1, 1) +restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold", 0, 3, 0.2) -lateralFrictionId = p.addUserDebugParameter("lateral friction",0,1,0.5) -spinningFrictionId = p.addUserDebugParameter("spinning friction",0,1,0.03) -rollingFrictionId = p.addUserDebugParameter("rolling friction",0,1,0.03) +lateralFrictionId = p.addUserDebugParameter("lateral friction", 0, 1, 0.5) +spinningFrictionId = p.addUserDebugParameter("spinning friction", 0, 1, 0.03) +rollingFrictionId = p.addUserDebugParameter("rolling friction", 0, 1, 0.03) plane = p.loadURDF("plane_with_restitution.urdf") -sphere = p.loadURDF("sphere_with_restitution.urdf",[0,0,2]) +sphere = p.loadURDF("sphere_with_restitution.urdf", [0, 0, 2]) p.setRealTimeSimulation(1) -p.setGravity(0,0,-10) +p.setGravity(0, 0, -10) while (1): - restitution = p.readUserDebugParameter(restitutionId) - restitutionVelocityThreshold = p.readUserDebugParameter(restitutionVelocityThresholdId) - p.setPhysicsEngineParameter(restitutionVelocityThreshold=restitutionVelocityThreshold) + restitution = p.readUserDebugParameter(restitutionId) + restitutionVelocityThreshold = p.readUserDebugParameter(restitutionVelocityThresholdId) + p.setPhysicsEngineParameter(restitutionVelocityThreshold=restitutionVelocityThreshold) - lateralFriction = p.readUserDebugParameter(lateralFrictionId) - spinningFriction = p.readUserDebugParameter(spinningFrictionId) - rollingFriction = p.readUserDebugParameter(rollingFrictionId) - p.changeDynamics(plane,-1,lateralFriction=1) - p.changeDynamics(sphere,-1,lateralFriction=lateralFriction) - p.changeDynamics(sphere,-1,spinningFriction=spinningFriction) - p.changeDynamics(sphere,-1,rollingFriction=rollingFriction) - - p.changeDynamics(plane,-1,restitution=restitution) - p.changeDynamics(sphere,-1,restitution=restitution) - pos,orn=p.getBasePositionAndOrientation(sphere) - #print("pos=") - #print(pos) - time.sleep(0.01)
\ No newline at end of file + lateralFriction = p.readUserDebugParameter(lateralFrictionId) + spinningFriction = p.readUserDebugParameter(spinningFrictionId) + rollingFriction = p.readUserDebugParameter(rollingFrictionId) + p.changeDynamics(plane, -1, lateralFriction=1) + p.changeDynamics(sphere, -1, lateralFriction=lateralFriction) + p.changeDynamics(sphere, -1, spinningFriction=spinningFriction) + p.changeDynamics(sphere, -1, rollingFriction=rollingFriction) + + p.changeDynamics(plane, -1, restitution=restitution) + p.changeDynamics(sphere, -1, restitution=restitution) + pos, orn = p.getBasePositionAndOrientation(sphere) + #print("pos=") + #print(pos) + time.sleep(0.01) |