34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
import pybullet as p
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import time
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useMaximalCoordinates=False
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flags = p.URDF_ENABLE_SLEEPING
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p.connect(p.GUI)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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p.loadURDF("plane100.urdf",flags=flags, useMaximalCoordinates=useMaximalCoordinates)
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#p.loadURDF("cube_small.urdf", [0,0,0.5], flags=flags)
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r2d2 = -1
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for k in range (5):
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for i in range (5):
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r2d2=p.loadURDF("r2d2.urdf",[k*2,i*2,1], useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES+flags)
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#enable sleeping: you can pass the flag during URDF loading, or do it afterwards
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#p.changeDynamics(r2d2,-1,activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING)
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for j in range (p.getNumJoints(r2d2)):
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p.setJointMotorControl2(r2d2,j,p.VELOCITY_CONTROL,targetVelocity=0)
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print("r2d2=",r2d2)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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timestep = 1./240.
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p.setTimeStep(timestep)
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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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#force the object to wake up
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p.changeDynamics(r2d2,-1,activationState=p.ACTIVATION_STATE_WAKE_UP)
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