Pybullet permute ground plane

run.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
@author: Caleb Hyde
@date: November, 2020
"""

import numpy as np
import pybullet as pb
import pybullet_data
import time
import logging

pb.connect(pb.GUI)
pb.setAdditionalSearchPath(pybullet_data.getDataPath())
pb.setGravity(0, 0, -9.81)

ALPHA = 0.1
POSITION = [0, 0, -0.1]
groundId = pb.createCollisionShape(pb.GEOM_BOX, halfExtents=[1, 1, 0.1])
shapeID = pb.createVisualShape(pb.GEOM_BOX, halfExtents=[1, 1, 0.1])
ground = pb.createMultiBody(
    baseMass=0,
    baseCollisionShapeIndex=groundId,
    basePosition=POSITION,
    baseVisualShapeIndex=shapeID,
)


def permute_ground(gnd):
    force = [ALPHA * np.sin(now), ALPHA * np.cos(now), 0]
    orientation = pb.getQuaternionFromEuler(force)
    # logging.debug(orientation)

    pb.resetBasePositionAndOrientation(
        bodyUniqueId=gnd,
        ornObj=orientation,
        posObj=POSITION,
    )


while True:
    now = time.time()
    permute_ground(ground)
    pb.stepSimulation()
    time.sleep(0.05)