diff options
Diffstat (limited to 'examples/pybullet/examples/reduced_deformable_torus.py')
| -rw-r--r-- | examples/pybullet/examples/reduced_deformable_torus.py | 32 |
1 files changed, 32 insertions, 0 deletions
diff --git a/examples/pybullet/examples/reduced_deformable_torus.py b/examples/pybullet/examples/reduced_deformable_torus.py new file mode 100644 index 000000000..8f42e0372 --- /dev/null +++ b/examples/pybullet/examples/reduced_deformable_torus.py @@ -0,0 +1,32 @@ +import pybullet as p +from time import sleep +import pybullet_data + +physicsClient = p.connect(p.GUI) + +p.setAdditionalSearchPath(pybullet_data.getDataPath()) + +p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD) +p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0]) +p.setGravity(0, 0, -10) + +tex = p.loadTexture("uvmap.png") +planeId = p.loadURDF("plane.urdf", [0,0,-2]) + +box1 = p.loadURDF("cube.urdf", [1,1,3],useMaximalCoordinates = True) +box2 = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) + +# p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_torus.mp4") +reduced_obj1= p.loadURDF("reduced_torus/reduced_torus.urdf", [1,1,1]) +p.changeVisualShape(reduced_obj1, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0) + +reduced_obj2 = p.loadURDF("reduced_torus/reduced_torus.urdf", [1,2,1]) +p.changeVisualShape(reduced_obj2, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0) + +p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25) +p.setRealTimeSimulation(0) + +while p.isConnected(): + p.stepSimulation() + p.getCameraImage(320,200) + p.setGravity(0,0,-10) |