28 lines
827 B
Python
28 lines
827 B
Python
import pybullet as p
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from time import sleep
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physicsClient = p.connect(p.GUI)
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p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
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p.setGravity(0, 0, -10)
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planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
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planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
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boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
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ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5)
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p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
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p.setRealTimeSimulation(1)
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#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "perf.json")
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while p.isConnected():
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p.setGravity(0,0,-10)
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sleep(1./240.)
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#p.resetSimulation()
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#p.stopStateLogging(logId)
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