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debug pybullet setup

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This commit is contained in:
jyc-n
2021-12-01 22:39:23 -05:00
parent 96605f7a8c
commit a018d63fb3
3 changed files with 32 additions and 10 deletions
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12
examples/RobotSimulator/HelloBulletRobotics.cpp
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@@ -18,7 +18,8 @@ int main(int argc, char* argv[])
}
//remove all existing objects (if any)
sim->resetSimulation();
// sim->resetSimulation();
sim->resetSimulation(RESET_USE_REDUCED_DEFORMABLE_WORLD);
sim->setGravity(btVector3(0, 0, -9.8));
sim->setNumSolverIterations(100);
b3RobotSimulatorSetPhysicsEngineParameters args;
@@ -27,10 +28,11 @@ int main(int argc, char* argv[])
int planeUid = sim->loadURDF("plane.urdf");
printf("planeUid = %d\n", planeUid);
int r2d2Uid = sim->loadURDF("r2d2.urdf");
printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
int r2d2Uid = sim->loadURDF("reduced_bottle_coarse/reduced_bottle_coarse.urdf");
// int r2d2Uid = sim->loadURDF("r2d2.urdf");
// printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
btVector3 basePosition = btVector3(0, 0, 0.5);
btVector3 basePosition = btVector3(0, 0.5, 0.2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);
sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);
@@ -40,7 +42,7 @@ int main(int argc, char* argv[])
btVector3 basePos;
btQuaternion baseOrn;
sim->getBasePositionAndOrientation(r2d2Uid, basePos, baseOrn);
printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
// printf("r2d2 basePosition = [%f,%f,%f]\n", basePos[0], basePos[1], basePos[2]);
sim->stepSimulation();
}