31 lines
890 B
Python
31 lines
890 B
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
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p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG,
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globalCFM=0.000001)
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#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
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p.loadURDF("plane.urdf")
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radius = 0.025
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distance = 1.86
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yaw = 135
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pitch = -11
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targetPos = [0, 0, 0]
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p.setPhysicsEngineParameter(solverResidualThreshold=0.001, numSolverIterations=200)
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p.resetDebugVisualizerCamera(distance, yaw, pitch, targetPos)
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objectId = -1
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for i in range(10):
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objectId = p.loadURDF("cube_small.urdf", [1, 1, radius + i * 2 * radius])
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p.changeDynamics(objectId, -1, 100)
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timeStep = 1. / 240.
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p.setGravity(0, 0, -10)
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while (p.isConnected()):
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p.stepSimulation()
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time.sleep(timeStep)
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