5158c1ae98
don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
32 lines
974 B
Python
32 lines
974 B
Python
import pybullet as p
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import time
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conid = p.connect(p.SHARED_MEMORY)
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if (conid<0):
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p.connect(p.GUI)
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p.setInternalSimFlags(0)
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p.resetSimulation()
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p.loadURDF("plane.urdf",useMaximalCoordinates=True)
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p.loadURDF("tray/traybox.urdf",useMaximalCoordinates=True)
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gravXid = p.addUserDebugParameter("gravityX",-10,10,0)
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gravYid = p.addUserDebugParameter("gravityY",-10,10,0)
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gravZid = p.addUserDebugParameter("gravityZ",-10,10,-10)
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p.setPhysicsEngineParameter(numSolverIterations=10)
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p.setPhysicsEngineParameter(contactBreakingThreshold=0.001)
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for i in range (10):
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for j in range (10):
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for k in range (10):
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ob = p.loadURDF("sphere_1cm.urdf",[0.02*i,0.02*j,0.2+0.02*k],useMaximalCoordinates=True)
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p.setGravity(0,0,-10)
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p.setRealTimeSimulation(1)
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while True:
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gravX = p.readUserDebugParameter(gravXid)
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gravY = p.readUserDebugParameter(gravYid)
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gravZ = p.readUserDebugParameter(gravZid)
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p.setGravity(gravX,gravY,gravZ)
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time.sleep(0.01)
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