33 lines
717 B
Python
33 lines
717 B
Python
import pybullet as p
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import time
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#p.connect(p.DIRECT)
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#p.connect(p.DART)
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p.connect(p.MuJoCo)
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#p.connect(p.GUI)
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bodies = p.loadMJCF("mjcf/capsule.xml")
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print("bodies=",bodies)
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numBodies = p.getNumBodies()
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print("numBodies=",numBodies)
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for i in range (numBodies):
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print("bodyInfo[",i,"]=",p.getBodyInfo(i))
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p.setGravity(0,0,-10)
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timeStep = 1./240.
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p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
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#while (p.isConnected()):
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for i in range (1000):
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p.stepSimulation()
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for b in bodies:
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pos,orn=p.getBasePositionAndOrientation(b)
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print("pos[",b,"]=",pos)
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print("orn[",b,"]=",orn)
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linvel,angvel=p.getBaseVelocity(b)
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print("linvel[",b,"]=",linvel)
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print("angvel[",b,"]=",angvel)
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time.sleep(timeStep)
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