35 lines
1.2 KiB
Python
35 lines
1.2 KiB
Python
import pybullet as p
|
|
import time
|
|
import pybullet_data
|
|
|
|
p.connect(p.GUI)
|
|
p.setAdditionalSearchPath(pybullet_data.getDataPath())
|
|
|
|
p.loadURDF("plane.urdf")
|
|
p.setGravity(0, 0, -10)
|
|
visualShift = [0, 0, 0]
|
|
collisionShift = [0, 0, 0]
|
|
inertiaShift = [0, 0, -0.5]
|
|
|
|
meshScale = [1, 1, 1]
|
|
visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,
|
|
fileName="cube.obj",
|
|
rgbaColor=[1, 1, 1, 1],
|
|
specularColor=[0.4, .4, 0],
|
|
visualFramePosition=visualShift,
|
|
meshScale=meshScale)
|
|
collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH,
|
|
fileName="cube.obj",
|
|
collisionFramePosition=collisionShift,
|
|
meshScale=meshScale)
|
|
|
|
p.createMultiBody(baseMass=1,
|
|
baseInertialFramePosition=inertiaShift,
|
|
baseCollisionShapeIndex=collisionShapeId,
|
|
baseVisualShapeIndex=visualShapeId,
|
|
basePosition=[0, 0, 1],
|
|
useMaximalCoordinates=False)
|
|
while (1):
|
|
p.stepSimulation()
|
|
time.sleep(1. / 240.)
|