22 lines
848 B
Python
22 lines
848 B
Python
import pybullet as p
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import time
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import pybullet_data
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p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.loadURDF("plane.urdf")
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p.setGravity(0,0,-10)
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visualShift = [0,0,0]
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collisionShift = [0,0,0]
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inertiaShift = [0,0,-0.5]
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meshScale=[1,1,1]
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visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="cube.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=visualShift, meshScale=meshScale)
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collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="cube.obj", collisionFramePosition=collisionShift,meshScale=meshScale)
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p.createMultiBody(baseMass=1,baseInertialFramePosition=inertiaShift,baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [0,0,1], useMaximalCoordinates=False)
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while (1):
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p.stepSimulation()
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time.sleep(1./240.)
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