From b2edd81ef630067e00c5a6a40c92ff5036699fe5 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 7 Oct 2017 19:00:44 -0700 Subject: [PATCH] touch up createVisualShape.py example --- examples/pybullet/examples/createVisualShape.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/examples/pybullet/examples/createVisualShape.py b/examples/pybullet/examples/createVisualShape.py index 8f618b086..75c89ece7 100644 --- a/examples/pybullet/examples/createVisualShape.py +++ b/examples/pybullet/examples/createVisualShape.py @@ -3,22 +3,19 @@ import time p.connect(p.GUI) p.setPhysicsEngineParameter(numSolverIterations=10) p.setTimeStep(1./120.) - logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json") #useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone) p.loadURDF("plane100.urdf", useMaximalCoordinates=True) #disable rendering during creation. p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) +p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) #disable tinyrenderer, software (CPU) renderer, we don't use it here p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0) shift = [0,-0.02,0] meshScale=[0.1,0.1,0.1] +#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing) visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="duck.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale) -#boxHalfWidth=.5 -#boxHalfHeight=.5 -#boxHalfLength=.5 -#collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_BOX, halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight]) collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale) rangex = 40