diff options
Diffstat (limited to 'examples/pybullet/examples/manyspheres.py')
| -rw-r--r-- | examples/pybullet/examples/manyspheres.py | 44 |
1 files changed, 22 insertions, 22 deletions
diff --git a/examples/pybullet/examples/manyspheres.py b/examples/pybullet/examples/manyspheres.py index f6f435f9a..55af537a8 100644 --- a/examples/pybullet/examples/manyspheres.py +++ b/examples/pybullet/examples/manyspheres.py @@ -2,34 +2,34 @@ import pybullet as p import time conid = p.connect(p.SHARED_MEMORY) -if (conid<0): - p.connect(p.GUI) - +if (conid < 0): + p.connect(p.GUI) + p.setInternalSimFlags(0) p.resetSimulation() - -p.loadURDF("plane.urdf",useMaximalCoordinates=True) -p.loadURDF("tray/traybox.urdf",useMaximalCoordinates=True) -gravXid = p.addUserDebugParameter("gravityX",-10,10,0) -gravYid = p.addUserDebugParameter("gravityY",-10,10,0) -gravZid = p.addUserDebugParameter("gravityZ",-10,10,-10) +p.loadURDF("plane.urdf", useMaximalCoordinates=True) +p.loadURDF("tray/traybox.urdf", useMaximalCoordinates=True) + +gravXid = p.addUserDebugParameter("gravityX", -10, 10, 0) +gravYid = p.addUserDebugParameter("gravityY", -10, 10, 0) +gravZid = p.addUserDebugParameter("gravityZ", -10, 10, -10) p.setPhysicsEngineParameter(numSolverIterations=10) p.setPhysicsEngineParameter(contactBreakingThreshold=0.001) -p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) -for i in range (10): - for j in range (10): - for k in range (10): - ob = p.loadURDF("sphere_1cm.urdf",[0.02*i,0.02*j,0.2+0.02*k],useMaximalCoordinates=True) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0) +for i in range(10): + for j in range(10): + for k in range(10): + ob = p.loadURDF("sphere_1cm.urdf", [0.02 * i, 0.02 * j, 0.2 + 0.02 * k], + useMaximalCoordinates=True) -p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) -p.setGravity(0,0,-10) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1) +p.setGravity(0, 0, -10) p.setRealTimeSimulation(1) while True: - gravX = p.readUserDebugParameter(gravXid) - gravY = p.readUserDebugParameter(gravYid) - gravZ = p.readUserDebugParameter(gravZid) - p.setGravity(gravX,gravY,gravZ) - time.sleep(0.01) - + gravX = p.readUserDebugParameter(gravXid) + gravY = p.readUserDebugParameter(gravYid) + gravZ = p.readUserDebugParameter(gravZid) + p.setGravity(gravX, gravY, gravZ) + time.sleep(0.01) |