37 lines
1.3 KiB
Python
37 lines
1.3 KiB
Python
import pybullet_data as pd
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import pybullet_utils as pu
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import pybullet
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import pybullet_utils.bullet_client as bc
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import time
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p = bc.BulletClient(connection_mode=pybullet.GUI)
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p.setAdditionalSearchPath(pd.getDataPath())
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p.loadURDF("plane_transparent.urdf", useMaximalCoordinates=True)
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p#.setPhysicsEngineParameter(numSolverIterations=10, fixedTimeStep=0.01)
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p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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y2z = p.getQuaternionFromEuler([0,0,1.57])
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meshScale = [1,1,1]
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visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="domino/domino.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFrameOrientation=y2z, meshScale=meshScale)
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boxDimensions = [0.5*0.00635, 0.5*0.0254, 0.5*0.0508]
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collisionShapeId = p.createCollisionShape(p.GEOM_BOX,halfExtents=boxDimensions)
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for j in range (12):
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print("j=",j)
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for i in range (35):
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#p.loadURDF("domino/domino.urdf",[i*0.04,0, 0.06])
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p.createMultiBody(baseMass=0.025,baseCollisionShapeIndex = collisionShapeId,baseVisualShapeIndex = visualShapeId, basePosition = [i*0.04,j*0.05, 0.06], useMaximalCoordinates=True)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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p.setGravity(0,0,-9.8)
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p.setRealTimeSimulation(1)
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while (1):
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p.setGravity(0,0,-9.8)
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#p.stepSimulation(1./100.)
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time.sleep(1./240.) |