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https://github.com/bulletphysics/bullet3
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37 lines
766 B
Python
37 lines
766 B
Python
import pybullet
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import time
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#choose connection method: GUI, DIRECT, SHARED_MEMORY
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pybullet.connect(pybullet.GUI)
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#load URDF, given a relative or absolute file+path
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obj = pybullet.loadURDF("r2d2.urdf")
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posX=0
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posY=3
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posZ=2
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obj2 = pybullet.loadURDF("kuka_lwr/kuka.urdf",posX,posY,posZ)
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#query the number of joints of the object
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numJoints = pybullet.getNumJoints(obj)
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print (numJoints)
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#set the gravity acceleration
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pybullet.setGravity(0,0,-9.8)
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#step the simulation for 5 seconds
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t_end = time.time() + 5
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while time.time() < t_end:
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pybullet.stepSimulation()
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posAndOrn = pybullet.getBasePositionAndOrientation(obj)
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print (posAndOrn)
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print ("finished")
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#remove all objects
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pybullet.resetSimulation()
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#disconnect from the physics server
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pybullet.disconnect()
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