53 lines
1.8 KiB
Python
53 lines
1.8 KiB
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.createCollisionShape(p.GEOM_PLANE)
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p.createMultiBody(0,0)
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sphereRadius = 0.05
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colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
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colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
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mass = 1
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visualShapeId = -1
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link_Masses=[1]
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linkCollisionShapeIndices=[colBoxId]
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linkVisualShapeIndices=[-1]
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linkPositions=[[0,0,0.11]]
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linkOrientations=[[0,0,0,1]]
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linkInertialFramePositions=[[0,0,0]]
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linkInertialFrameOrientations=[[0,0,0,1]]
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indices=[0]
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jointTypes=[p.JOINT_REVOLUTE]
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axis=[[0,0,1]]
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for i in range (3):
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for j in range (3):
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for k in range (3):
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basePosition = [1+i*5*sphereRadius,1+j*5*sphereRadius,1+k*5*sphereRadius+1]
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baseOrientation = [0,0,0,1]
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if (k&2):
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sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,basePosition,baseOrientation)
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else:
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sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)
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p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
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for joint in range (p.getNumJoints(sphereUid)):
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p.setJointMotorControl2(sphereUid,joint,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
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p.setGravity(0,0,-10)
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p.setRealTimeSimulation(1)
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p.getNumJoints(sphereUid)
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for i in range (p.getNumJoints(sphereUid)):
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p.getJointInfo(sphereUid,i)
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while (1):
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time.sleep(0.01)
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