25 lines
783 B
Python
25 lines
783 B
Python
import pybullet as p
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import time
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#by default, PyBullet runs at 240Hz
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p.connect(p.GUI, options="--mp4=\"test.mp4\" --mp4fps=240")
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p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
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p.loadURDF("plane.urdf")
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#in 3 seconds, the object travels about 0.5*g*t^2 meter ~ 45 meter.
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r2d2 = p.loadURDF("r2d2.urdf",[0,0,45])
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#disable linear damping
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p.changeDynamics(r2d2,-1, linearDamping=0)
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p.setGravity(0,0,-10)
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for i in range (3*240):
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txt = "frame "+str(i)
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item = p.addUserDebugText(txt, [0,1,0])
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p.stepSimulation()
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#synchronize the visualizer (rendering frames for the video mp4) with stepSimulation
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p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
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#print("r2d2 vel=", p.getBaseVelocity(r2d2)[0][2])
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p.removeUserDebugItem(item)
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p.disconnect()
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