ed4515ae17
(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
21 lines
419 B
Python
21 lines
419 B
Python
import pybullet as p
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import math
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import time
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dt = 1./240.
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p.connect(p.GUI)
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p.loadURDF("r2d2.urdf",[0,0,1])
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p.loadURDF("plane.urdf")
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p.setGravity(0,0,-10)
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radius=5
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t = 0
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p.configureDebugVisualizer(shadowMapWorldSize=5)
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p.configureDebugVisualizer(shadowMapResolution=8192)
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while (1):
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t+=dt
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p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3])
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p.stepSimulation()
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time.sleep(dt) |