74 lines
2.6 KiB
Python
74 lines
2.6 KiB
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.createCollisionShape(p.GEOM_PLANE)
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p.createMultiBody(0, 0)
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sphereRadius = 0.05
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colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
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colBoxId = p.createCollisionShape(p.GEOM_BOX,
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halfExtents=[sphereRadius, sphereRadius, sphereRadius])
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mass = 1
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visualShapeId = -1
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link_Masses = [1]
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linkCollisionShapeIndices = [colBoxId]
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linkVisualShapeIndices = [-1]
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linkPositions = [[0, 0, 0.11]]
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linkOrientations = [[0, 0, 0, 1]]
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linkInertialFramePositions = [[0, 0, 0]]
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linkInertialFrameOrientations = [[0, 0, 0, 1]]
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indices = [0]
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jointTypes = [p.JOINT_REVOLUTE]
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axis = [[0, 0, 1]]
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for i in range(3):
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for j in range(3):
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for k in range(3):
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basePosition = [
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1 + i * 5 * sphereRadius, 1 + j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
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]
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baseOrientation = [0, 0, 0, 1]
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if (k & 2):
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sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
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baseOrientation)
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else:
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sphereUid = p.createMultiBody(mass,
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colBoxId,
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visualShapeId,
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basePosition,
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baseOrientation,
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linkMasses=link_Masses,
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linkCollisionShapeIndices=linkCollisionShapeIndices,
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linkVisualShapeIndices=linkVisualShapeIndices,
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linkPositions=linkPositions,
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linkOrientations=linkOrientations,
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linkInertialFramePositions=linkInertialFramePositions,
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linkInertialFrameOrientations=linkInertialFrameOrientations,
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linkParentIndices=indices,
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linkJointTypes=jointTypes,
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linkJointAxis=axis)
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p.changeDynamics(sphereUid,
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-1,
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spinningFriction=0.001,
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rollingFriction=0.001,
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linearDamping=0.0)
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for joint in range(p.getNumJoints(sphereUid)):
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p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
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p.setGravity(0, 0, -10)
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p.setRealTimeSimulation(1)
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p.getNumJoints(sphereUid)
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for i in range(p.getNumJoints(sphereUid)):
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p.getJointInfo(sphereUid, i)
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while (1):
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keys = p.getKeyboardEvents()
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print(keys)
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time.sleep(0.01)
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