From 976fea4eca7100edafc2b642675d26865633825f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 15 Jun 2018 08:31:39 -0700 Subject: [PATCH] fix saveRestoreState.py example --- examples/pybullet/examples/manyspheres.py | 4 ++++ examples/pybullet/examples/saveRestoreState.py | 1 + 2 files changed, 5 insertions(+) diff --git a/examples/pybullet/examples/manyspheres.py b/examples/pybullet/examples/manyspheres.py index 942bd02a7..f6f435f9a 100644 --- a/examples/pybullet/examples/manyspheres.py +++ b/examples/pybullet/examples/manyspheres.py @@ -16,11 +16,15 @@ gravYid = p.addUserDebugParameter("gravityY",-10,10,0) gravZid = p.addUserDebugParameter("gravityZ",-10,10,-10) p.setPhysicsEngineParameter(numSolverIterations=10) p.setPhysicsEngineParameter(contactBreakingThreshold=0.001) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) for i in range (10): for j in range (10): for k in range (10): ob = p.loadURDF("sphere_1cm.urdf",[0.02*i,0.02*j,0.2+0.02*k],useMaximalCoordinates=True) + +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) p.setGravity(0,0,-10) + p.setRealTimeSimulation(1) while True: gravX = p.readUserDebugParameter(gravXid) diff --git a/examples/pybullet/examples/saveRestoreState.py b/examples/pybullet/examples/saveRestoreState.py index b0f53ac28..3f8736c04 100644 --- a/examples/pybullet/examples/saveRestoreState.py +++ b/examples/pybullet/examples/saveRestoreState.py @@ -12,6 +12,7 @@ logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "saveRestoreTimings def setupWorld(): p.resetSimulation() + p.setPhysicsEngineParameter(deterministicOverlappingPairs=1) p.loadURDF("planeMesh.urdf") kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10]) for i in range (p.getNumJoints(kukaId)):