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20 lines
720 B
Python
20 lines
720 B
Python
import pybullet as p
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import time
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import pybullet_data
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physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
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p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
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p.setGravity(0,0,-10)
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planeId = p.loadURDF("plane.urdf")
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cubeStartPos = [0,0,0]
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cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
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robotId = p.loadURDF("olympian.urdf",cubeStartPos, cubeStartOrientation,
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# useMaximalCoordinates=1, ## New feature in Pybullet
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flags=p.URDF_USE_INERTIA_FROM_FILE)
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for i in range (10000):
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p.stepSimulation()
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time.sleep(1./240.)
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cubePos, cubeOrn = p.getBasePositionAndOrientation(robotId)
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print(cubePos,cubeOrn)
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p.disconnect()
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