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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2018-05-31 16:06:33 -07:00
parent edc70582dd 8567f6bb7c
commit 3463d0a879
8 changed files with 38 additions and 4 deletions
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25
examples/pybullet/examples/sleeping.py Normal file
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@@ -0,0 +1,25 @@
import pybullet as p
import time
useMaximalCoordinates=False
flags = p.URDF_ENABLE_SLEEPING
p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane100.urdf",flags=flags, useMaximalCoordinates=useMaximalCoordinates)
#p.loadURDF("cube_small.urdf", [0,0,0.5], flags=flags)
for k in range (5):
for i in range (5):
r2d2=p.loadURDF("r2d2.urdf",[k*2,i*2,1], useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES+flags)
for j in range (p.getNumJoints(r2d2)):
p.setJointMotorControl2(r2d2,j,p.VELOCITY_CONTROL,targetVelocity=0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
timestep = 1./240.
p.setTimeStep(timestep)
p.setGravity(0,0,-10)
while p.isConnected():
p.stepSimulation()
time.sleep(timestep)

1
examples/pybullet/pybullet.c
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@@ -9313,6 +9313,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);