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Merge pull request #3339 from erwincoumans/master

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add pybullet_examples, fix pybullet_envs.minitaur.envs_v2, bump up pybullet 3.1.2
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erwincoumans 2021-04-05 19:53:38 -07:00 committed by GitHub
commit 21d1b8fc71
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GPG Key ID: 4AEE18F83AFDEB23
94 changed files with 26551 additions and 3 deletions
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1
examples/pybullet/examples/__init__.py Normal file
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1
examples/pybullet/examples/biped2d_pybullet.py
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@ -7,7 +7,6 @@ dt = 1e-3
iters = 2000
import pybullet_data
p.setAdditionalSearchPath(pybullet_data.getDataPath())
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation()

182
examples/pybullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from TwoJointRobot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
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<joint name="link_12" type="fixed">
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<parent link="link_1"/>
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<joint name="joint_1" type="revolute">
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<dynamics damping="0" friction="0"/>
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<parent link="base_link"/>
<child link="link_01_cyl"/>
</joint>
<joint name="joint_2" type="revolute">
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<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
<parent link="link_12_cyl"/>
<child link="link_21_cyl"/>
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110
examples/pybullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
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<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
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<origin rpy="0 0 0" xyz="0 0 0.025"/>
</collision>
<inertial>
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</inertial>
</link>
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</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
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<inertial>
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<visual>
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<material name="blue"/>
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<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
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</geometry>
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<material name="white"/>
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<parent link="base_link"/>
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5681
examples/pybullet/gym/pybullet_data/ball.vtk Normal file
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13
examples/pybullet/gym/pybullet_data/cloth_z_up.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
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Ka 1.000000 1.000000 1.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
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illum 2
map_Kd cube.png

89
examples/pybullet/gym/pybullet_data/cloth_z_up.obj Normal file
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# Blender v2.79 (sub 0) OBJ File: ''
# www.blender.org
mtllib cloth_z_up.mtl
o Plane_Plane.001
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v 0.500000 -1.000000 -0.000000
v 0.500000 -0.500000 -0.000000
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32
examples/pybullet/gym/pybullet_data/cloth_z_up.urdf Normal file
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<?xml version="1.0" ?>
<robot name="cube">
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<contact>
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<rolling_friction value="0.0"/>
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<visual>
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<geometry>
<mesh filename="cloth_z_up.obj" scale="1 1 1"/>
</geometry>
<material name="white">
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<geometry>
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0
examples/pybullet/gym/pybullet_data/configs/__init__.py Normal file
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examples/pybullet/gym/pybullet_data/configs_v2/base/__init__.py Normal file
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examples/pybullet/gym/pybullet_data/configs_v2/wrappers/__init__.py Normal file
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32
examples/pybullet/gym/pybullet_data/cube.urdf Normal file
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<?xml version="1.0" ?>
<robot name="cube">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
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</visual>
<collision>
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</link>
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29
examples/pybullet/gym/pybullet_data/cube_collisionfilter.urdf Normal file
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<?xml version="1.0" ?>
<robot name="cube">
<link name="baseLink">
<contact>
<lateral_friction value="1"/>
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
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<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision group="0" mask="0">
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<geometry>
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</robot>

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<?xml version="1.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
</robot>

32
examples/pybullet/gym/pybullet_data/sphere_transparent.urdf Normal file
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<?xml version="1.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<contact>
<rolling_friction value="0.03"/>
<spinning_friction value="0.03"/>
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<visual>
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<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="red_transparent">
<color rgba="1 0 0 0.5"/>
<specular rgb="11 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
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Ks 0.8 0.8 0.8
d 1
illum 2

32
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# Blender v2.78 (sub 0) OBJ File: ''
# www.blender.org
mtllib stone.mtl
o Cube
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vn 0.0000 0.0000 -1.0000
vn 0.0000 0.0000 1.0000
usemtl None
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f 8//3 5//3 7//3
f 6//4 1//4 5//4
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<?xml version="1.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
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<lateral_friction value="0.5"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.07 0.05 0.03"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
</geometry>
<material name="red">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
</geometry>
</collision>
</link>
</robot>

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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
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<?xml version="1.0"?>
<robot name="torus">
<deformable name="torus">
<inertial>
<mass value="3" />
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision_margin value="0.006"/>
<repulsion_stiffness value="800.0"/>
<friction value= "0.5"/>
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examples/pybullet/gym/pybullet_data/toys/LICENSE.txt Normal file
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URDF created by Erwin Coumans
Bullet Continuous Collision Detection and Physics Library
http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.

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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd ../checker_grid.jpg

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30
examples/pybullet/gym/pybullet_data/toys/concave_box.urdf Normal file
View File

@ -0,0 +1,30 @@
<?xml version="1.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="concave_box.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cdf filename="concave_box.cdf" scale="1 1 1"/>
</geometry>
</collision>
</link>
</robot>

11
examples/pybullet/gym/pybullet_data/toys/cube.mtl Normal file
View File

@ -0,0 +1,11 @@
# Blender MTL File: 'shape_sort.blend'
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examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/__init__.py Normal file
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examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/__init__.py Normal file
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examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/__init__.py Normal file
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examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/__init__.py Normal file
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examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/__init__.py Normal file
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examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/__init__.py Normal file
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examples/pybullet/gym/pybullet_envs/minitaur/vision/__init__.py Normal file
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examples/pybullet/gym/pybullet_examples/__init__.py Normal file
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examples/pybullet/gym/pybullet_examples/biped2d_pybullet.py Normal file
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import pybullet as p
import pybullet_data
import os
import time
GRAVITY = -9.8
dt = 1e-3
iters = 2000
import pybullet_data
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation()
#p.setRealTimeSimulation(True)
p.setGravity(0, 0, GRAVITY)
p.setTimeStep(dt)
planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0, 0, 1.13]
cubeStartOrientation = p.getQuaternionFromEuler([0., 0, 0])
botId = p.loadURDF("biped/biped2d_pybullet.urdf", cubeStartPos, cubeStartOrientation)
#disable the default velocity motors
#and set some position control with small force to emulate joint friction/return to a rest pose
jointFrictionForce = 1
for joint in range(p.getNumJoints(botId)):
p.setJointMotorControl2(botId, joint, p.POSITION_CONTROL, force=jointFrictionForce)
#for i in range(10000):
# p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
# p.stepSimulation()
#import ipdb
#ipdb.set_trace()
import time
p.setRealTimeSimulation(1)
while (1):
#p.stepSimulation()
#p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
p.setGravity(0, 0, GRAVITY)
time.sleep(1 / 240.)
time.sleep(1000)

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examples/pybullet/gym/pybullet_examples/collisionFilter.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
planeId = p.loadURDF("plane.urdf", useMaximalCoordinates=False)
cubeId = p.loadURDF("cube_collisionfilter.urdf", [0, 0, 3], useMaximalCoordinates=False)
collisionFilterGroup = 0
collisionFilterMask = 0
p.setCollisionFilterGroupMask(cubeId, -1, collisionFilterGroup, collisionFilterMask)
enableCollision = 1
p.setCollisionFilterPair(planeId, cubeId, -1, -1, enableCollision)
p.setRealTimeSimulation(1)
p.setGravity(0, 0, -10)
while (p.isConnected()):
time.sleep(1. / 240.)
p.setGravity(0, 0, -10)

27
examples/pybullet/gym/pybullet_examples/constraint.py Normal file
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import pybullet as p
import time
import math
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf")
cubeId = p.loadURDF("cube_small.urdf", 0, 0, 1)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
cid = p.createConstraint(cubeId, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0, 0, 1])
print(cid)
print(p.getConstraintUniqueId(0))
a = -math.pi
while 1:
a = a + 0.01
if (a > math.pi):
a = -math.pi
time.sleep(.01)
p.setGravity(0, 0, -10)
pivot = [a, 0, 1]
orn = p.getQuaternionFromEuler([a, 0, 0])
p.changeConstraint(cid, pivot, jointChildFrameOrientation=orn, maxForce=50)
p.removeConstraint(cid)

143
examples/pybullet/gym/pybullet_examples/createMultiBodyBatch.py Normal file
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import pybullet as p
import time
import math
import pybullet_data
cid = p.connect(p.SHARED_MEMORY)
if (cid < 0):
p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=16000")
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024)
p.setTimeStep(1. / 120.)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "createMultiBodyBatch.json")
#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
#disable rendering during creation.
p.setPhysicsEngineParameter(contactBreakingThreshold=0.04)
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]
vertices = [[-1.000000, -1.000000, 1.000000], [1.000000, -1.000000, 1.000000],
[1.000000, 1.000000, 1.000000], [-1.000000, 1.000000, 1.000000],
[-1.000000, -1.000000, -1.000000], [1.000000, -1.000000, -1.000000],
[1.000000, 1.000000, -1.000000], [-1.000000, 1.000000, -1.000000],
[-1.000000, -1.000000, -1.000000], [-1.000000, 1.000000, -1.000000],
[-1.000000, 1.000000, 1.000000], [-1.000000, -1.000000, 1.000000],
[1.000000, -1.000000, -1.000000], [1.000000, 1.000000, -1.000000],
[1.000000, 1.000000, 1.000000], [1.000000, -1.000000, 1.000000],
[-1.000000, -1.000000, -1.000000], [-1.000000, -1.000000, 1.000000],
[1.000000, -1.000000, 1.000000], [1.000000, -1.000000, -1.000000],
[-1.000000, 1.000000, -1.000000], [-1.000000, 1.000000, 1.000000],
[1.000000, 1.000000, 1.000000], [1.000000, 1.000000, -1.000000]]
normals = [[0.000000, 0.000000, 1.000000], [0.000000, 0.000000, 1.000000],
[0.000000, 0.000000, 1.000000], [0.000000, 0.000000, 1.000000],
[0.000000, 0.000000, -1.000000], [0.000000, 0.000000, -1.000000],
[0.000000, 0.000000, -1.000000], [0.000000, 0.000000, -1.000000],
[-1.000000, 0.000000, 0.000000], [-1.000000, 0.000000, 0.000000],
[-1.000000, 0.000000, 0.000000], [-1.000000, 0.000000, 0.000000],
[1.000000, 0.000000, 0.000000], [1.000000, 0.000000, 0.000000],
[1.000000, 0.000000, 0.000000], [1.000000, 0.000000, 0.000000],
[0.000000, -1.000000, 0.000000], [0.000000, -1.000000, 0.000000],
[0.000000, -1.000000, 0.000000], [0.000000, -1.000000, 0.000000],
[0.000000, 1.000000, 0.000000], [0.000000, 1.000000, 0.000000],
[0.000000, 1.000000, 0.000000], [0.000000, 1.000000, 0.000000]]
uvs = [[0.750000, 0.250000], [1.000000, 0.250000], [1.000000, 0.000000], [0.750000, 0.000000],
[0.500000, 0.250000], [0.250000, 0.250000], [0.250000, 0.000000], [0.500000, 0.000000],
[0.500000, 0.000000], [0.750000, 0.000000], [0.750000, 0.250000], [0.500000, 0.250000],
[0.250000, 0.500000], [0.250000, 0.250000], [0.000000, 0.250000], [0.000000, 0.500000],
[0.250000, 0.500000], [0.250000, 0.250000], [0.500000, 0.250000], [0.500000, 0.500000],
[0.000000, 0.000000], [0.000000, 0.250000], [0.250000, 0.250000], [0.250000, 0.000000]]
indices = [
0,
1,
2,
0,
2,
3, #//ground face
6,
5,
4,
7,
6,
4, #//top face
10,
9,
8,
11,
10,
8,
12,
13,
14,
12,
14,
15,
18,
17,
16,
19,
18,
16,
20,
21,
22,
20,
22,
23
]
#p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,
rgbaColor=[1, 1, 1, 1],
specularColor=[0.4, .4, 0],
visualFramePosition=shift,
meshScale=meshScale,
vertices=vertices,
indices=indices,
uvs=uvs,
normals=normals)
collisionShapeId = p.createCollisionShape(
shapeType=p.GEOM_BOX, halfExtents=meshScale
) #MESH, vertices=vertices, collisionFramePosition=shift,meshScale=meshScale)
texUid = p.loadTexture("tex256.png")
batchPositions = []
for x in range(32):
for y in range(32):
for z in range(10):
batchPositions.append(
[x * meshScale[0] * 5.5, y * meshScale[1] * 5.5, (0.5 + z) * meshScale[2] * 2.5])
bodyUids = p.createMultiBody(baseMass=0,
baseInertialFramePosition=[0, 0, 0],
baseCollisionShapeIndex=collisionShapeId,
baseVisualShapeIndex=visualShapeId,
basePosition=[0, 0, 2],
batchPositions=batchPositions,
useMaximalCoordinates=True)
p.changeVisualShape(bodyUids[0], -1, textureUniqueId=texUid)
p.syncBodyInfo()
print("numBodies=", p.getNumBodies())
p.stopStateLogging(logId)
p.setGravity(0, 0, -10)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
currentColor = 0
while (1):
p.stepSimulation()
#time.sleep(1./120.)
#p.getCameraImage(320,200)

130
examples/pybullet/gym/pybullet_examples/createObstacleCourse.py Normal file
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import pybullet as p
import time
import math
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
#don't create a ground plane, to allow for gaps etc
p.resetSimulation()
#p.createCollisionShape(p.GEOM_PLANE)
#p.createMultiBody(0,0)
#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
p.resetDebugVisualizerCamera(15, -346, -16, [-15, 0, 1])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
#a few different ways to create a mesh:
#convex mesh from obj
stoneId = p.createCollisionShape(p.GEOM_MESH, fileName="stone.obj")
boxHalfLength = 0.5
boxHalfWidth = 2.5
boxHalfHeight = 0.1
segmentLength = 5
colBoxId = p.createCollisionShape(p.GEOM_BOX,
halfExtents=[boxHalfLength, boxHalfWidth, boxHalfHeight])
mass = 1
visualShapeId = -1
segmentStart = 0
for i in range(segmentLength):
p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=colBoxId,
basePosition=[segmentStart, 0, -0.1])
segmentStart = segmentStart - 1
for i in range(segmentLength):
height = 0
if (i % 2):
height = 1
p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=colBoxId,
basePosition=[segmentStart, 0, -0.1 + height])
segmentStart = segmentStart - 1
baseOrientation = p.getQuaternionFromEuler([math.pi / 2., 0, math.pi / 2.])
for i in range(segmentLength):
p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=colBoxId,
basePosition=[segmentStart, 0, -0.1])
segmentStart = segmentStart - 1
if (i % 2):
p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=colBoxId,
basePosition=[segmentStart, i % 3, -0.1 + height + boxHalfWidth],
baseOrientation=baseOrientation)
for i in range(segmentLength):
p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=colBoxId,
basePosition=[segmentStart, 0, -0.1])
width = 4
for j in range(width):
p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=stoneId,
basePosition=[segmentStart, 0.5 * (i % 2) + j - width / 2., 0])
segmentStart = segmentStart - 1
link_Masses = [1]
linkCollisionShapeIndices = [colBoxId]
linkVisualShapeIndices = [-1]
linkPositions = [[0, 0, 0]]
linkOrientations = [[0, 0, 0, 1]]
linkInertialFramePositions = [[0, 0, 0]]
linkInertialFrameOrientations = [[0, 0, 0, 1]]
indices = [0]
jointTypes = [p.JOINT_REVOLUTE]
axis = [[1, 0, 0]]
baseOrientation = [0, 0, 0, 1]
for i in range(segmentLength):
boxId = p.createMultiBody(0,
colSphereId,
-1, [segmentStart, 0, -0.1],
baseOrientation,
linkMasses=link_Masses,
linkCollisionShapeIndices=linkCollisionShapeIndices,
linkVisualShapeIndices=linkVisualShapeIndices,
linkPositions=linkPositions,
linkOrientations=linkOrientations,
linkInertialFramePositions=linkInertialFramePositions,
linkInertialFrameOrientations=linkInertialFrameOrientations,
linkParentIndices=indices,
linkJointTypes=jointTypes,
linkJointAxis=axis)
p.changeDynamics(boxId, -1, spinningFriction=0.001, rollingFriction=0.001, linearDamping=0.0)
print(p.getNumJoints(boxId))
for joint in range(p.getNumJoints(boxId)):
targetVelocity = 10
if (i % 2):
targetVelocity = -10
p.setJointMotorControl2(boxId,
joint,
p.VELOCITY_CONTROL,
targetVelocity=targetVelocity,
force=100)
segmentStart = segmentStart - 1.1
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
while (1):
camData = p.getDebugVisualizerCamera()
viewMat = camData[2]
projMat = camData[3]
p.getCameraImage(256,
256,
viewMatrix=viewMat,
projectionMatrix=projMat,
renderer=p.ER_BULLET_HARDWARE_OPENGL)
keys = p.getKeyboardEvents()
p.stepSimulation()
#print(keys)
time.sleep(0.01)

115
examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py Normal file
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import pybullet as p
import time
import math
import pybullet_data
def getRayFromTo(mouseX, mouseY):
width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
)
camPos = [
camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
camTarget[2] - dist * camForward[2]
]
farPlane = 10000
rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
invLen = farPlane * 1. / (math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] *
rayForward[1] + rayForward[2] * rayForward[2]))
rayForward = [invLen * rayForward[0], invLen * rayForward[1], invLen * rayForward[2]]
rayFrom = camPos
oneOverWidth = float(1) / float(width)
oneOverHeight = float(1) / float(height)
dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
rayToCenter = [
rayFrom[0] + rayForward[0], rayFrom[1] + rayForward[1], rayFrom[2] + rayForward[2]
]
rayTo = [
rayFrom[0] + rayForward[0] - 0.5 * horizon[0] + 0.5 * vertical[0] + float(mouseX) * dHor[0] -
float(mouseY) * dVer[0], rayFrom[1] + rayForward[1] - 0.5 * horizon[1] + 0.5 * vertical[1] +
float(mouseX) * dHor[1] - float(mouseY) * dVer[1], rayFrom[2] + rayForward[2] -
0.5 * horizon[2] + 0.5 * vertical[2] + float(mouseX) * dHor[2] - float(mouseY) * dVer[2]
]
return rayFrom, rayTo
cid = p.connect(p.SHARED_MEMORY)
if (cid < 0):
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
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]
shift1 = [0, 0.1, 0]
shift2 = [0, 0, 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.createVisualShapeArray(shapeTypes=[p.GEOM_MESH, p.GEOM_BOX],
halfExtents=[[0, 0, 0], [0.1, 0.1, 0.1]],
fileNames=["duck.obj", ""],
visualFramePositions=[
shift1,
shift2,
],
meshScales=[meshScale, meshScale])
collisionShapeId = p.createCollisionShapeArray(shapeTypes=[p.GEOM_MESH, p.GEOM_BOX],
halfExtents=[[0, 0, 0], [0.1, 0.1, 0.1]],
fileNames=["duck_vhacd.obj", ""],
collisionFramePositions=[
shift1,
shift2,
],
meshScales=[meshScale, meshScale])
rangex = 2
rangey = 2
for i in range(rangex):
for j in range(rangey):
mb = p.createMultiBody(baseMass=1,
baseInertialFramePosition=[0, 0, 0],
baseCollisionShapeIndex=collisionShapeId,
baseVisualShapeIndex=visualShapeId,
basePosition=[((-rangex / 2) + i * 2) * meshScale[0] * 2,
(-rangey / 2 + j) * meshScale[1] * 4, 1],
useMaximalCoordinates=False)
p.changeVisualShape(mb, -1, rgbaColor=[1, 1, 1, 1])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
p.stopStateLogging(logId)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
currentColor = 0
p.getCameraImage(64, 64, renderer=p.ER_BULLET_HARDWARE_OPENGL)
while (1):
mouseEvents = p.getMouseEvents()
for e in mouseEvents:
if ((e[0] == 2) and (e[3] == 0) and (e[4] & p.KEY_WAS_TRIGGERED)):
mouseX = e[1]
mouseY = e[2]
rayFrom, rayTo = getRayFromTo(mouseX, mouseY)
rayInfo = p.rayTest(rayFrom, rayTo)
#p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
for l in range(len(rayInfo)):
hit = rayInfo[l]
objectUid = hit[0]
if (objectUid >= 0):
#p.removeBody(objectUid)
p.changeVisualShape(objectUid, -1, rgbaColor=colors[currentColor])
currentColor += 1
if (currentColor >= len(colors)):
currentColor = 0

55
examples/pybullet/gym/pybullet_examples/deformable_anchor.py Normal file
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import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
import pybullet_data
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
gravZ=-10
p.setGravity(0, 0, gravZ)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
#planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
clothId = p.loadSoftBody("cloth_z_up.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1,useMassSpring=1, springElasticStiffness=40, springDampingStiffness=.1, springDampingAllDirections = 1, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
p.changeVisualShape(clothId, -1, flags=p.VISUAL_SHAPE_DOUBLE_SIDED)
p.createSoftBodyAnchor(clothId ,24,-1,-1)
p.createSoftBodyAnchor(clothId ,20,-1,-1)
p.createSoftBodyAnchor(clothId ,15,boxId,-1, [0.5,-0.5,0])
p.createSoftBodyAnchor(clothId ,19,boxId,-1, [-0.5,-0.5,0])
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
debug = True
if debug:
data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
print("--------------")
print("data=",data)
print(data[0])
print(data[1])
text_uid = []
for i in range(data[0]):
pos = data[1][i]
uid = p.addUserDebugText(str(i), pos, textColorRGB=[1,1,1])
text_uid.append(uid)
while p.isConnected():
p.getCameraImage(320,200)
if debug:
data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
for i in range(data[0]):
pos = data[1][i]
uid = p.addUserDebugText(str(i), pos, textColorRGB=[1,1,1], replaceItemUniqueId=text_uid[i])
p.setGravity(0,0,gravZ)
p.stepSimulation()
#p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
#sleep(1./240.)

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examples/pybullet/gym/pybullet_examples/deformable_torus.py Normal file
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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_DEFORMABLE_WORLD)
p.resetDebugVisualizerCamera(3,-420,-30,[0.3,0.9,-2])
p.setGravity(0, 0, -10)
tex = p.loadTexture("uvmap.png")
planeId = p.loadURDF("plane.urdf", [0,0,-2])
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("torus/torus_textured.obj", simFileName="torus.vtk", mass = 3, useNeoHookean = 1, NeoHookeanMu = 180, NeoHookeanLambda = 600, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
p.changeVisualShape(bunnyId, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
bunny2 = p.loadURDF("torus_deform.urdf", [0,1,0.2], flags=p.URDF_USE_SELF_COLLISION)
p.changeVisualShape(bunny2, -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)

55
examples/pybullet/gym/pybullet_examples/experimentalCcdSphereRadius.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setPhysicsEngineParameter(allowedCcdPenetration=0.0)
terrain_mass = 0
terrain_visual_shape_id = -1
terrain_position = [0, 0, 0]
terrain_orientation = [0, 0, 0, 1]
terrain_collision_shape_id = p.createCollisionShape(shapeType=p.GEOM_MESH,
fileName="terrain.obj",
flags=p.GEOM_FORCE_CONCAVE_TRIMESH |
p.GEOM_CONCAVE_INTERNAL_EDGE,
meshScale=[0.5, 0.5, 0.5])
p.createMultiBody(terrain_mass, terrain_collision_shape_id, terrain_visual_shape_id,
terrain_position, terrain_orientation)
useMaximalCoordinates = True
sphereRadius = 0.005
colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,
halfExtents=[sphereRadius, sphereRadius, sphereRadius])
mass = 1
visualShapeId = -1
for i in range(5):
for j in range(5):
for k in range(5):
#if (k&2):
sphereUid = p.createMultiBody(
mass,
colSphereId,
visualShapeId, [-i * 5 * sphereRadius, j * 5 * sphereRadius, k * 2 * sphereRadius + 1],
useMaximalCoordinates=useMaximalCoordinates)
#else:
# sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1], useMaximalCoordinates=useMaximalCoordinates)
p.changeDynamics(sphereUid,
-1,
spinningFriction=0.001,
rollingFriction=0.001,
linearDamping=0.0)
p.changeDynamics(sphereUid, -1, ccdSweptSphereRadius=0.002)
p.setGravity(0, 0, -10)
pts = p.getContactPoints()
print("num points=", len(pts))
print(pts)
while (p.isConnected()):
time.sleep(1. / 240.)
p.stepSimulation()

23
examples/pybullet/gym/pybullet_examples/fileIOPlugin.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
fileIO = p.loadPlugin("fileIOPlugin")
if (fileIO >= 0):
#we can have a zipfile (pickup.zip) inside a zipfile (pickup2.zip)
p.executePluginCommand(fileIO, pybullet_data.getDataPath()+"/pickup2.zip", [p.AddFileIOAction, p.ZipFileIO])
p.executePluginCommand(fileIO, "pickup.zip", [p.AddFileIOAction, p.ZipFileIO])
objs = p.loadSDF("pickup/model.sdf")
dobot = objs[0]
p.changeVisualShape(dobot, -1, rgbaColor=[1, 1, 1, 1])
else:
print("fileIOPlugin is disabled.")
p.setPhysicsEngineParameter(enableFileCaching=False)
while (1):
p.stepSimulation()
time.sleep(1. / 240.)

75
examples/pybullet/gym/pybullet_examples/getClosestPoints.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
useCollisionShapeQuery = True
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
geom = p.createCollisionShape(p.GEOM_SPHERE, radius=0.1)
geomBox = p.createCollisionShape(p.GEOM_BOX, halfExtents=[0.2, 0.2, 0.2])
baseOrientationB = p.getQuaternionFromEuler([0, 0.3, 0]) #[0,0.5,0.5,0]
basePositionB = [1.5, 0, 1]
obA = -1
obB = -1
obA = p.createMultiBody(baseMass=0, baseCollisionShapeIndex=geom, basePosition=[0.5, 0, 1])
obB = p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=geomBox,
basePosition=basePositionB,
baseOrientation=baseOrientationB)
lineWidth = 3
colorRGB = [1, 0, 0]
lineId = p.addUserDebugLine(lineFromXYZ=[0, 0, 0],
lineToXYZ=[0, 0, 0],
lineColorRGB=colorRGB,
lineWidth=lineWidth,
lifeTime=0)
pitch = 0
yaw = 0
while (p.isConnected()):
pitch += 0.01
if (pitch >= 3.1415 * 2.):
pitch = 0
yaw += 0.01
if (yaw >= 3.1415 * 2.):
yaw = 0
baseOrientationB = p.getQuaternionFromEuler([yaw, pitch, 0])
if (obB >= 0):
p.resetBasePositionAndOrientation(obB, basePositionB, baseOrientationB)
if (useCollisionShapeQuery):
pts = p.getClosestPoints(bodyA=-1,
bodyB=-1,
distance=100,
collisionShapeA=geom,
collisionShapeB=geomBox,
collisionShapePositionA=[0.5, 0, 1],
collisionShapePositionB=basePositionB,
collisionShapeOrientationB=baseOrientationB)
#pts = p.getClosestPoints(bodyA=obA, bodyB=-1, distance=100, collisionShapeB=geomBox, collisionShapePositionB=basePositionB, collisionShapeOrientationB=baseOrientationB)
else:
pts = p.getClosestPoints(bodyA=obA, bodyB=obB, distance=100)
if len(pts) > 0:
#print(pts)
distance = pts[0][8]
#print("distance=",distance)
ptA = pts[0][5]
ptB = pts[0][6]
p.addUserDebugLine(lineFromXYZ=ptA,
lineToXYZ=ptB,
lineColorRGB=colorRGB,
lineWidth=lineWidth,
lifeTime=0,
replaceItemUniqueId=lineId)
#time.sleep(1./240.)
#removeCollisionShape is optional:
#only use removeCollisionShape if the collision shape is not used to create a body
#and if you want to keep on creating new collision shapes for different queries (not recommended)
p.removeCollisionShape(geom)
p.removeCollisionShape(geomBox)

21
examples/pybullet/gym/pybullet_examples/getTextureUid.py Normal file
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import pybullet as p
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
plane = p.loadURDF("plane.urdf")
visualData = p.getVisualShapeData(plane, p.VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS)
print(visualData)
curTexUid = visualData[0][8]
print(curTexUid)
texUid = p.loadTexture("tex256.png")
print("texUid=", texUid)
p.changeVisualShape(plane, -1, textureUniqueId=texUid)
for i in range(100):
p.getCameraImage(320, 200)
p.changeVisualShape(plane, -1, textureUniqueId=curTexUid)
for i in range(100):
p.getCameraImage(320, 200)

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examples/pybullet/gym/pybullet_examples/heightfield.py Normal file
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import pybullet as p
import pybullet_data as pd
import math
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
textureId = -1
useProgrammatic = 0
useTerrainFromPNG = 1
useDeepLocoCSV = 2
updateHeightfield = False
heightfieldSource = useProgrammatic
import random
random.seed(10)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
heightPerturbationRange = 0.05
if heightfieldSource==useProgrammatic:
numHeightfieldRows = 256
numHeightfieldColumns = 256
heightfieldData = [0]*numHeightfieldRows*numHeightfieldColumns
for j in range (int(numHeightfieldColumns/2)):
for i in range (int(numHeightfieldRows/2) ):
height = random.uniform(0,heightPerturbationRange)
heightfieldData[2*i+2*j*numHeightfieldRows]=height
heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns)
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
if heightfieldSource==useDeepLocoCSV:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
if heightfieldSource==useTerrainFromPNG:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
terrain = p.createMultiBody(0, terrainShape)
p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,
halfExtents=[sphereRadius, sphereRadius, sphereRadius])
mass = 1
visualShapeId = -1
link_Masses = [1]
linkCollisionShapeIndices = [colBoxId]
linkVisualShapeIndices = [-1]
linkPositions = [[0, 0, 0.11]]
linkOrientations = [[0, 0, 0, 1]]
linkInertialFramePositions = [[0, 0, 0]]
linkInertialFrameOrientations = [[0, 0, 0, 1]]
indices = [0]
jointTypes = [p.JOINT_REVOLUTE]
axis = [[0, 0, 1]]
for i in range(3):
for j in range(3):
for k in range(3):
basePosition = [
i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
]
baseOrientation = [0, 0, 0, 1]
if (k & 2):
sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
baseOrientation)
else:
sphereUid = p.createMultiBody(mass,
colBoxId,
visualShapeId,
basePosition,
baseOrientation,
linkMasses=link_Masses,
linkCollisionShapeIndices=linkCollisionShapeIndices,
linkVisualShapeIndices=linkVisualShapeIndices,
linkPositions=linkPositions,
linkOrientations=linkOrientations,
linkInertialFramePositions=linkInertialFramePositions,
linkInertialFrameOrientations=linkInertialFrameOrientations,
linkParentIndices=indices,
linkJointTypes=jointTypes,
linkJointAxis=axis)
p.changeDynamics(sphereUid,
-1,
spinningFriction=0.001,
rollingFriction=0.001,
linearDamping=0.0)
for joint in range(p.getNumJoints(sphereUid)):
p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
p.getNumJoints(sphereUid)
for i in range(p.getNumJoints(sphereUid)):
p.getJointInfo(sphereUid, i)
while (p.isConnected()):
keys = p.getKeyboardEvents()
if updateHeightfield and heightfieldSource==useProgrammatic:
for j in range (int(numHeightfieldColumns/2)):
for i in range (int(numHeightfieldRows/2) ):
height = random.uniform(0,heightPerturbationRange)#+math.sin(time.time())
heightfieldData[2*i+2*j*numHeightfieldRows]=height
heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
#GEOM_CONCAVE_INTERNAL_EDGE may help avoid getting stuck at an internal (shared) edge of the triangle/heightfield.
#GEOM_CONCAVE_INTERNAL_EDGE is a bit slower to build though.
#flags = p.GEOM_CONCAVE_INTERNAL_EDGE
flags = 0
terrainShape2 = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, flags = flags, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, replaceHeightfieldIndex = terrainShape)
#print(keys)
#getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
#p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
time.sleep(0.01)

614
examples/pybullet/gym/pybullet_examples/humanoidMotionCapture.py Normal file
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import pybullet as p
import json
import time
import pybullet_data
useGUI = True
if useGUI:
p.connect(p.GUI)
else:
p.connect(p.DIRECT)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
useZUp = False
useYUp = not useZUp
showJointMotorTorques = False
if useYUp:
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP, 1)
from pybullet_examples.pdControllerExplicit import PDControllerExplicitMultiDof
from pybullet_examples.pdControllerStable import PDControllerStableMultiDof
explicitPD = PDControllerExplicitMultiDof(p)
stablePD = PDControllerStableMultiDof(p)
p.resetDebugVisualizerCamera(cameraDistance=7.4,
cameraYaw=-94,
cameraPitch=-14,
cameraTargetPosition=[0.24, -0.02, -0.09])
import pybullet_data
p.setTimeOut(10000)
useMotionCapture = False
useMotionCaptureReset = False #not useMotionCapture
useExplicitPD = True
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setPhysicsEngineParameter(numSolverIterations=30)
#p.setPhysicsEngineParameter(solverResidualThreshold=1e-30)
#explicit PD control requires small timestep
timeStep = 1. / 600.
#timeStep = 1./240.
p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt"
#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
#p.loadURDF("plane.urdf",[0,0,-1.03])
print("path = ", path)
with open(path, 'r') as f:
motion_dict = json.load(f)
#print("motion_dict = ", motion_dict)
print("len motion=", len(motion_dict))
print(motion_dict['Loop'])
numFrames = len(motion_dict['Frames'])
print("#frames = ", numFrames)
frameId = p.addUserDebugParameter("frame", 0, numFrames - 1, 0)
erpId = p.addUserDebugParameter("erp", 0, 1, 0.2)
kpMotorId = p.addUserDebugParameter("kpMotor", 0, 1, .2)
forceMotorId = p.addUserDebugParameter("forceMotor", 0, 2000, 1000)
jointTypes = [
"JOINT_REVOLUTE", "JOINT_PRISMATIC", "JOINT_SPHERICAL", "JOINT_PLANAR", "JOINT_FIXED"
]
startLocations = [[0, 0, 2], [0, 0, 0], [0, 0, -2], [0, 0, -4], [0, 0, 4]]
p.addUserDebugText("Stable PD",
[startLocations[0][0], startLocations[0][1] + 1, startLocations[0][2]],
[0, 0, 0])
p.addUserDebugText("Spherical Drive",
[startLocations[1][0], startLocations[1][1] + 1, startLocations[1][2]],
[0, 0, 0])
p.addUserDebugText("Explicit PD",
[startLocations[2][0], startLocations[2][1] + 1, startLocations[2][2]],
[0, 0, 0])
p.addUserDebugText("Kinematic",
[startLocations[3][0], startLocations[3][1] + 1, startLocations[3][2]],
[0, 0, 0])
p.addUserDebugText("Stable PD (Py)",
[startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]],
[0, 0, 0])
flags=p.URDF_MAINTAIN_LINK_ORDER+p.URDF_USE_SELF_COLLISION
humanoid = p.loadURDF("humanoid/humanoid.urdf",
startLocations[0],
globalScaling=0.25,
useFixedBase=False,
flags=flags)
humanoid2 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[1],
globalScaling=0.25,
useFixedBase=False,
flags=flags)
humanoid3 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[2],
globalScaling=0.25,
useFixedBase=False,
flags=flags)
humanoid4 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[3],
globalScaling=0.25,
useFixedBase=False,
flags=flags)
humanoid5 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[4],
globalScaling=0.25,
useFixedBase=False,
flags=flags)
humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[0], [0, 0, 0, 1])
humanoid2_fix = p.createConstraint(humanoid2, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[1], [0, 0, 0, 1])
humanoid3_fix = p.createConstraint(humanoid3, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[2], [0, 0, 0, 1])
humanoid3_fix = p.createConstraint(humanoid4, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[3], [0, 0, 0, 1])
humanoid4_fix = p.createConstraint(humanoid5, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[4], [0, 0, 0, 1])
startPose = [
2, 0.847532, 0, 0.9986781045, 0.01410400148, -0.0006980000731, -0.04942300517, 0.9988133229,
0.009485003066, -0.04756001538, -0.004475001447, 1, 0, 0, 0, 0.9649395871, 0.02436898957,
-0.05755497537, 0.2549218909, -0.249116, 0.9993661511, 0.009952001505, 0.03265400494,
0.01009800153, 0.9854981188, -0.06440700776, 0.09324301124, -0.1262970152, 0.170571,
0.9927545808, -0.02090099117, 0.08882396249, -0.07817796699, -0.391532, 0.9828788495,
0.1013909845, -0.05515999155, 0.143618978, 0.9659421276, 0.1884590249, -0.1422460188,
0.105854014, 0.581348
]
startVel = [
1.235314324, -0.008525509087, 0.1515293946, -1.161516553, 0.1866449799, -0.1050802848, 0,
0.935706195, 0.08277326387, 0.3002461862, 0, 0, 0, 0, 0, 1.114409628, 0.3618553952,
-0.4505575061, 0, -1.725374735, -0.5052852598, -0.8555179722, -0.2221173515, 0, -0.1837617357,
0.00171895706, 0.03912837591, 0, 0.147945294, 1.837653345, 0.1534535548, 1.491385941, 0,
-4.632454387, -0.9111172777, -1.300648184, -1.345694622, 0, -1.084238535, 0.1313680236,
-0.7236998534, 0, -0.5278312973
]
p.resetBasePositionAndOrientation(humanoid, startLocations[0], [0, 0, 0, 1])
p.resetBasePositionAndOrientation(humanoid2, startLocations[1], [0, 0, 0, 1])
p.resetBasePositionAndOrientation(humanoid3, startLocations[2], [0, 0, 0, 1])
p.resetBasePositionAndOrientation(humanoid4, startLocations[3], [0, 0, 0, 1])
p.resetBasePositionAndOrientation(humanoid5, startLocations[4], [0, 0, 0, 1])
index0 = 7
for j in range(p.getNumJoints(humanoid)):
ji = p.getJointInfo(humanoid, j)
targetPosition = [0]
jointType = ji[2]
if (jointType == p.JOINT_SPHERICAL):
targetPosition = [
startPose[index0 + 1], startPose[index0 + 2], startPose[index0 + 3], startPose[index0 + 0]
]
targetVel = [startVel[index0 + 0], startVel[index0 + 1], startVel[index0 + 2]]
index0 += 4
print("spherical position: ", targetPosition)
print("spherical velocity: ", targetVel)
p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid5, j, targetValue=targetPosition, targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
targetPosition = [startPose[index0]]
targetVel = [startVel[index0]]
index0 += 1
print("revolute:", targetPosition)
print("revolute velocity:", targetVel)
p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid5, j, targetValue=targetPosition, targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
for j in range(p.getNumJoints(humanoid)):
ji = p.getJointInfo(humanoid, j)
targetPosition = [0]
jointType = ji[2]
if (jointType == p.JOINT_SPHERICAL):
targetPosition = [0, 0, 0, 1]
p.setJointMotorControlMultiDof(humanoid,
j,
p.POSITION_CONTROL,
targetPosition,
targetVelocity=[0, 0, 0],
positionGain=0,
velocityGain=1,
force=[0, 0, 0])
p.setJointMotorControlMultiDof(humanoid5,
j,
p.POSITION_CONTROL,
targetPosition,
targetVelocity=[0, 0, 0],
positionGain=0,
velocityGain=1,
force=[0, 0, 0])
p.setJointMotorControlMultiDof(humanoid3,
j,
p.POSITION_CONTROL,
targetPosition,
targetVelocity=[0, 0, 0],
positionGain=0,
velocityGain=1,
force=[31, 31, 31])
p.setJointMotorControlMultiDof(humanoid4,
j,
p.POSITION_CONTROL,
targetPosition,
targetVelocity=[0, 0, 0],
positionGain=0,
velocityGain=1,
force=[1, 1, 1])
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
p.setJointMotorControl2(humanoid, j, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
p.setJointMotorControl2(humanoid3, j, p.VELOCITY_CONTROL, targetVelocity=0, force=31)
p.setJointMotorControl2(humanoid4, j, p.VELOCITY_CONTROL, targetVelocity=0, force=10)
p.setJointMotorControl2(humanoid5, j, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
#print(ji)
print("joint[", j, "].type=", jointTypes[ji[2]])
print("joint[", j, "].name=", ji[1])
jointIds = []
paramIds = []
for j in range(p.getNumJoints(humanoid)):
#p.changeDynamics(humanoid,j,linearDamping=0, angularDamping=0)
p.changeVisualShape(humanoid, j, rgbaColor=[1, 1, 1, 1])
info = p.getJointInfo(humanoid, j)
#print(info)
if (not useMotionCapture):
jointName = info[1]
jointType = info[2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
jointIds.append(j)
#paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,0))
#print("jointName=",jointName, "at ", j)
p.changeVisualShape(humanoid, 2, rgbaColor=[1, 0, 0, 1])
chest = 1
neck = 2
rightHip = 3
rightKnee = 4
rightAnkle = 5
rightShoulder = 6
rightElbow = 7
leftHip = 9
leftKnee = 10
leftAnkle = 11
leftShoulder = 12
leftElbow = 13
#rightShoulder=3
#rightElbow=4
#leftShoulder=6
#leftElbow = 7
#rightHip = 9
#rightKnee=10
#rightAnkle=11
#leftHip = 12
#leftKnee=13
#leftAnkle=14
import time
kpOrg = [
0, 0, 0, 0, 0, 0, 0, 1000, 1000, 1000, 1000, 100, 100, 100, 100, 500, 500, 500, 500, 500, 400,
400, 400, 400, 400, 400, 400, 400, 300, 500, 500, 500, 500, 500, 400, 400, 400, 400, 400, 400,
400, 400, 300
]
kdOrg = [
0, 0, 0, 0, 0, 0, 0, 100, 100, 100, 100, 10, 10, 10, 10, 50, 50, 50, 50, 50, 40, 40, 40, 40,
40, 40, 40, 40, 30, 50, 50, 50, 50, 50, 40, 40, 40, 40, 40, 40, 40, 40, 30
]
once = True
p.getCameraImage(320, 200)
while (p.isConnected()):
if useGUI:
erp = p.readUserDebugParameter(erpId)
kpMotor = p.readUserDebugParameter(kpMotorId)
maxForce = p.readUserDebugParameter(forceMotorId)
frameReal = p.readUserDebugParameter(frameId)
else:
erp = 0.2
kpMotor = 0.2
maxForce = 1000
frameReal = 0
kp = kpMotor
frame = int(frameReal)
frameNext = frame + 1
if (frameNext >= numFrames):
frameNext = frame
frameFraction = frameReal - frame
#print("frameFraction=",frameFraction)
#print("frame=",frame)
#print("frameNext=", frameNext)
#getQuaternionSlerp
frameData = motion_dict['Frames'][frame]
frameDataNext = motion_dict['Frames'][frameNext]
#print("duration=",frameData[0])
#print(pos=[frameData])
basePos1Start = [frameData[1], frameData[2], frameData[3]]
basePos1End = [frameDataNext[1], frameDataNext[2], frameDataNext[3]]
basePos1 = [
basePos1Start[0] + frameFraction * (basePos1End[0] - basePos1Start[0]),
basePos1Start[1] + frameFraction * (basePos1End[1] - basePos1Start[1]),
basePos1Start[2] + frameFraction * (basePos1End[2] - basePos1Start[2])
]
baseOrn1Start = [frameData[5], frameData[6], frameData[7], frameData[4]]
baseOrn1Next = [frameDataNext[5], frameDataNext[6], frameDataNext[7], frameDataNext[4]]
baseOrn1 = p.getQuaternionSlerp(baseOrn1Start, baseOrn1Next, frameFraction)
#pre-rotate to make z-up
if (useZUp):
y2zPos = [0, 0, 0.0]
y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
p.resetBasePositionAndOrientation(humanoid, basePos, baseOrn)
y2zPos = [0, 2, 0.0]
y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
p.resetBasePositionAndOrientation(humanoid2, basePos, baseOrn)
chestRotStart = [frameData[9], frameData[10], frameData[11], frameData[8]]
chestRotEnd = [frameDataNext[9], frameDataNext[10], frameDataNext[11], frameDataNext[8]]
chestRot = p.getQuaternionSlerp(chestRotStart, chestRotEnd, frameFraction)
neckRotStart = [frameData[13], frameData[14], frameData[15], frameData[12]]
neckRotEnd = [frameDataNext[13], frameDataNext[14], frameDataNext[15], frameDataNext[12]]
neckRot = p.getQuaternionSlerp(neckRotStart, neckRotEnd, frameFraction)
rightHipRotStart = [frameData[17], frameData[18], frameData[19], frameData[16]]
rightHipRotEnd = [frameDataNext[17], frameDataNext[18], frameDataNext[19], frameDataNext[16]]
rightHipRot = p.getQuaternionSlerp(rightHipRotStart, rightHipRotEnd, frameFraction)
rightKneeRotStart = [frameData[20]]
rightKneeRotEnd = [frameDataNext[20]]
rightKneeRot = [
rightKneeRotStart[0] + frameFraction * (rightKneeRotEnd[0] - rightKneeRotStart[0])
]
rightAnkleRotStart = [frameData[22], frameData[23], frameData[24], frameData[21]]
rightAnkleRotEnd = [frameDataNext[22], frameDataNext[23], frameDataNext[24], frameDataNext[21]]
rightAnkleRot = p.getQuaternionSlerp(rightAnkleRotStart, rightAnkleRotEnd, frameFraction)
rightShoulderRotStart = [frameData[26], frameData[27], frameData[28], frameData[25]]
rightShoulderRotEnd = [
frameDataNext[26], frameDataNext[27], frameDataNext[28], frameDataNext[25]
]
rightShoulderRot = p.getQuaternionSlerp(rightShoulderRotStart, rightShoulderRotEnd,
frameFraction)
rightElbowRotStart = [frameData[29]]
rightElbowRotEnd = [frameDataNext[29]]
rightElbowRot = [
rightElbowRotStart[0] + frameFraction * (rightElbowRotEnd[0] - rightElbowRotStart[0])
]
leftHipRotStart = [frameData[31], frameData[32], frameData[33], frameData[30]]
leftHipRotEnd = [frameDataNext[31], frameDataNext[32], frameDataNext[33], frameDataNext[30]]
leftHipRot = p.getQuaternionSlerp(leftHipRotStart, leftHipRotEnd, frameFraction)
leftKneeRotStart = [frameData[34]]
leftKneeRotEnd = [frameDataNext[34]]
leftKneeRot = [leftKneeRotStart[0] + frameFraction * (leftKneeRotEnd[0] - leftKneeRotStart[0])]
leftAnkleRotStart = [frameData[36], frameData[37], frameData[38], frameData[35]]
leftAnkleRotEnd = [frameDataNext[36], frameDataNext[37], frameDataNext[38], frameDataNext[35]]
leftAnkleRot = p.getQuaternionSlerp(leftAnkleRotStart, leftAnkleRotEnd, frameFraction)
leftShoulderRotStart = [frameData[40], frameData[41], frameData[42], frameData[39]]
leftShoulderRotEnd = [frameDataNext[40], frameDataNext[41], frameDataNext[42], frameDataNext[39]]
leftShoulderRot = p.getQuaternionSlerp(leftShoulderRotStart, leftShoulderRotEnd, frameFraction)
leftElbowRotStart = [frameData[43]]
leftElbowRotEnd = [frameDataNext[43]]
leftElbowRot = [
leftElbowRotStart[0] + frameFraction * (leftElbowRotEnd[0] - leftElbowRotStart[0])
]
if (0): #if (once):
p.resetJointStateMultiDof(humanoid, chest, chestRot)
p.resetJointStateMultiDof(humanoid, neck, neckRot)
p.resetJointStateMultiDof(humanoid, rightHip, rightHipRot)
p.resetJointStateMultiDof(humanoid, rightKnee, rightKneeRot)
p.resetJointStateMultiDof(humanoid, rightAnkle, rightAnkleRot)
p.resetJointStateMultiDof(humanoid, rightShoulder, rightShoulderRot)
p.resetJointStateMultiDof(humanoid, rightElbow, rightElbowRot)
p.resetJointStateMultiDof(humanoid, leftHip, leftHipRot)
p.resetJointStateMultiDof(humanoid, leftKnee, leftKneeRot)
p.resetJointStateMultiDof(humanoid, leftAnkle, leftAnkleRot)
p.resetJointStateMultiDof(humanoid, leftShoulder, leftShoulderRot)
p.resetJointStateMultiDof(humanoid, leftElbow, leftElbowRot)
once = False
#print("chestRot=",chestRot)
p.setGravity(0, 0, -10)
kp = kpMotor
if (useExplicitPD):
jointDofCounts = [4, 4, 4, 1, 4, 4, 1, 4, 1, 4, 4, 1]
#[x,y,z] base position and [x,y,z,w] base orientation!
totalDofs = 7
for dof in jointDofCounts:
totalDofs += dof
jointIndicesAll = [
chest, neck, rightHip, rightKnee, rightAnkle, rightShoulder, rightElbow, leftHip, leftKnee,
leftAnkle, leftShoulder, leftElbow
]
basePos, baseOrn = p.getBasePositionAndOrientation(humanoid)
pose = [
basePos[0], basePos[1], basePos[2], baseOrn[0], baseOrn[1], baseOrn[2], baseOrn[3],
chestRot[0], chestRot[1], chestRot[2], chestRot[3], neckRot[0], neckRot[1], neckRot[2],
neckRot[3], rightHipRot[0], rightHipRot[1], rightHipRot[2], rightHipRot[3],
rightKneeRot[0], rightAnkleRot[0], rightAnkleRot[1], rightAnkleRot[2], rightAnkleRot[3],
rightShoulderRot[0], rightShoulderRot[1], rightShoulderRot[2], rightShoulderRot[3],
rightElbowRot[0], leftHipRot[0], leftHipRot[1], leftHipRot[2], leftHipRot[3],
leftKneeRot[0], leftAnkleRot[0], leftAnkleRot[1], leftAnkleRot[2], leftAnkleRot[3],
leftShoulderRot[0], leftShoulderRot[1], leftShoulderRot[2], leftShoulderRot[3],
leftElbowRot[0]
]
#print("pose=")
#for po in pose:
# print(po)
taus = stablePD.computePD(bodyUniqueId=humanoid5,
jointIndices=jointIndicesAll,
desiredPositions=pose,
desiredVelocities=[0] * totalDofs,
kps=kpOrg,
kds=kdOrg,
maxForces=[maxForce] * totalDofs,
timeStep=timeStep)
indices = [chest, neck, rightHip, rightKnee,
rightAnkle, rightShoulder, rightElbow,
leftHip, leftKnee, leftAnkle,
leftShoulder, leftElbow]
targetPositions = [chestRot,neckRot,rightHipRot, rightKneeRot,
rightAnkleRot, rightShoulderRot, rightElbowRot,
leftHipRot, leftKneeRot, leftAnkleRot,
leftShoulderRot, leftElbowRot]
maxForces = [ [maxForce,maxForce,maxForce], [maxForce,maxForce,maxForce],[maxForce,maxForce,maxForce],[maxForce],
[maxForce,maxForce,maxForce],[maxForce,maxForce,maxForce],[maxForce],
[maxForce,maxForce,maxForce], [maxForce], [maxForce,maxForce,maxForce],
[maxForce,maxForce,maxForce], [maxForce]]
kps = [1000]*12
kds = [100]*12
p.setJointMotorControlMultiDofArray(humanoid,
indices,
p.STABLE_PD_CONTROL,
targetPositions=targetPositions,
positionGains=kps,
velocityGains=kds,
forces=maxForces)
taus3 = explicitPD.computePD(bodyUniqueId=humanoid3,
jointIndices=jointIndicesAll,
desiredPositions=pose,
desiredVelocities=[0] * totalDofs,
kps=kpOrg,
kds=kdOrg,
maxForces=[maxForce * 0.05] * totalDofs,
timeStep=timeStep)
#taus=[0]*43
dofIndex = 7
for index in range(len(jointIndicesAll)):
jointIndex = jointIndicesAll[index]
if jointDofCounts[index] == 4:
p.setJointMotorControlMultiDof(
humanoid5,
jointIndex,
p.TORQUE_CONTROL,
force=[taus[dofIndex + 0], taus[dofIndex + 1], taus[dofIndex + 2]])
p.setJointMotorControlMultiDof(
humanoid3,
jointIndex,
p.TORQUE_CONTROL,
force=[taus3[dofIndex + 0], taus3[dofIndex + 1], taus3[dofIndex + 2]])
if jointDofCounts[index] == 1:
p.setJointMotorControlMultiDof(humanoid5,
jointIndex,
controlMode=p.TORQUE_CONTROL,
force=[taus[dofIndex]])
p.setJointMotorControlMultiDof(humanoid3,
jointIndex,
controlMode=p.TORQUE_CONTROL,
force=[taus3[dofIndex]])
dofIndex += jointDofCounts[index]
#print("len(taus)=",len(taus))
#print("taus=",taus)
p.setJointMotorControlMultiDof(humanoid2,
chest,
p.POSITION_CONTROL,
targetPosition=chestRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
neck,
p.POSITION_CONTROL,
targetPosition=neckRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightHip,
p.POSITION_CONTROL,
targetPosition=rightHipRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightKnee,
p.POSITION_CONTROL,
targetPosition=rightKneeRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightAnkle,
p.POSITION_CONTROL,
targetPosition=rightAnkleRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightShoulder,
p.POSITION_CONTROL,
targetPosition=rightShoulderRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightElbow,
p.POSITION_CONTROL,
targetPosition=rightElbowRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftHip,
p.POSITION_CONTROL,
targetPosition=leftHipRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftKnee,
p.POSITION_CONTROL,
targetPosition=leftKneeRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftAnkle,
p.POSITION_CONTROL,
targetPosition=leftAnkleRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftShoulder,
p.POSITION_CONTROL,
targetPosition=leftShoulderRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftElbow,
p.POSITION_CONTROL,
targetPosition=leftElbowRot,
positionGain=kp,
force=[maxForce])
kinematicHumanoid4 = True
if (kinematicHumanoid4):
p.resetJointStateMultiDof(humanoid4, chest, chestRot)
p.resetJointStateMultiDof(humanoid4, neck, neckRot)
p.resetJointStateMultiDof(humanoid4, rightHip, rightHipRot)
p.resetJointStateMultiDof(humanoid4, rightKnee, rightKneeRot)
p.resetJointStateMultiDof(humanoid4, rightAnkle, rightAnkleRot)
p.resetJointStateMultiDof(humanoid4, rightShoulder, rightShoulderRot)
p.resetJointStateMultiDof(humanoid4, rightElbow, rightElbowRot)
p.resetJointStateMultiDof(humanoid4, leftHip, leftHipRot)
p.resetJointStateMultiDof(humanoid4, leftKnee, leftKneeRot)
p.resetJointStateMultiDof(humanoid4, leftAnkle, leftAnkleRot)
p.resetJointStateMultiDof(humanoid4, leftShoulder, leftShoulderRot)
p.resetJointStateMultiDof(humanoid4, leftElbow, leftElbowRot)
p.stepSimulation()
if showJointMotorTorques:
for j in range(p.getNumJoints(humanoid2)):
jointState = p.getJointStateMultiDof(humanoid2, j)
print("jointStateMultiDof[", j, "].pos=", jointState[0])
print("jointStateMultiDof[", j, "].vel=", jointState[1])
print("jointStateMultiDof[", j, "].jointForces=", jointState[3])
time.sleep(timeStep)

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examples/pybullet/gym/pybullet_examples/inverse_dynamics.py Normal file
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import pybullet as bullet
import pybullet_data as pd
plot = True
import time
if (plot):
import matplotlib.pyplot as plt
import math
verbose = False
# Parameters:
robot_base = [0., 0., 0.]
robot_orientation = [0., 0., 0., 1.]
delta_t = 0.0001
# Initialize Bullet Simulator
id_simulator = bullet.connect(bullet.GUI) # or bullet.DIRECT for non-graphical version
bullet.setTimeStep(delta_t)
bullet.setAdditionalSearchPath(pd.getDataPath())
# Switch between URDF with/without FIXED joints
with_fixed_joints = True
if with_fixed_joints:
id_revolute_joints = [0, 3]
id_robot = bullet.loadURDF("TwoJointRobot_w_fixedJoints.urdf",
robot_base,
robot_orientation,
useFixedBase=True)
else:
id_revolute_joints = [0, 1]
id_robot = bullet.loadURDF("TwoJointRobot_wo_fixedJoints.urdf",
robot_base,
robot_orientation,
useFixedBase=True)
bullet.changeDynamics(id_robot, -1, linearDamping=0, angularDamping=0)
bullet.changeDynamics(id_robot, 0, linearDamping=0, angularDamping=0)
bullet.changeDynamics(id_robot, 1, linearDamping=0, angularDamping=0)
jointTypeNames = [
"JOINT_REVOLUTE", "JOINT_PRISMATIC", "JOINT_SPHERICAL", "JOINT_PLANAR", "JOINT_FIXED",
"JOINT_POINT2POINT", "JOINT_GEAR"
]
# Disable the motors for torque control:
bullet.setJointMotorControlArray(id_robot,
id_revolute_joints,
bullet.VELOCITY_CONTROL,
forces=[0.0, 0.0])
# Target Positions:
start = 0.0
end = 1.0
steps = int((end - start) / delta_t)
t = [0] * steps
q_pos_desired = [[0.] * steps, [0.] * steps]
q_vel_desired = [[0.] * steps, [0.] * steps]
q_acc_desired = [[0.] * steps, [0.] * steps]
for s in range(steps):
t[s] = start + s * delta_t
q_pos_desired[0][s] = 1. / (2. * math.pi) * math.sin(2. * math.pi * t[s]) - t[s]
q_pos_desired[1][s] = -1. / (2. * math.pi) * (math.cos(2. * math.pi * t[s]) - 1.0)
q_vel_desired[0][s] = math.cos(2. * math.pi * t[s]) - 1.
q_vel_desired[1][s] = math.sin(2. * math.pi * t[s])
q_acc_desired[0][s] = -2. * math.pi * math.sin(2. * math.pi * t[s])
q_acc_desired[1][s] = 2. * math.pi * math.cos(2. * math.pi * t[s])
q_pos = [[0.] * steps, [0.] * steps]
q_vel = [[0.] * steps, [0.] * steps]
q_tor = [[0.] * steps, [0.] * steps]
# Do Torque Control:
for i in range(len(t)):
# Read Sensor States:
joint_states = bullet.getJointStates(id_robot, id_revolute_joints)
q_pos[0][i] = joint_states[0][0]
a = joint_states[1][0]
if (verbose):
print("joint_states[1][0]")
print(joint_states[1][0])
q_pos[1][i] = a
q_vel[0][i] = joint_states[0][1]
q_vel[1][i] = joint_states[1][1]
# Computing the torque from inverse dynamics:
obj_pos = [q_pos[0][i], q_pos[1][i]]
obj_vel = [q_vel[0][i], q_vel[1][i]]
obj_acc = [q_acc_desired[0][i], q_acc_desired[1][i]]
if (verbose):
print("calculateInverseDynamics")
print("id_robot")
print(id_robot)
print("obj_pos")
print(obj_pos)
print("obj_vel")
print(obj_vel)
print("obj_acc")
print(obj_acc)
torque = bullet.calculateInverseDynamics(id_robot, obj_pos, obj_vel, obj_acc)
q_tor[0][i] = torque[0]
q_tor[1][i] = torque[1]
if (verbose):
print("torque=")
print(torque)
# Set the Joint Torques:
bullet.setJointMotorControlArray(id_robot,
id_revolute_joints,
bullet.TORQUE_CONTROL,
forces=[torque[0], torque[1]])
# Step Simulation
bullet.stepSimulation()
# Plot the Position, Velocity and Acceleration:
if plot:
figure = plt.figure(figsize=[15, 4.5])
figure.subplots_adjust(left=0.05, bottom=0.11, right=0.97, top=0.9, wspace=0.4, hspace=0.55)
ax_pos = figure.add_subplot(141)
ax_pos.set_title("Joint Position")
ax_pos.plot(t, q_pos_desired[0], '--r', lw=4, label='Desired q0')
ax_pos.plot(t, q_pos_desired[1], '--b', lw=4, label='Desired q1')
ax_pos.plot(t, q_pos[0], '-r', lw=1, label='Measured q0')
ax_pos.plot(t, q_pos[1], '-b', lw=1, label='Measured q1')
ax_pos.set_ylim(-1., 1.)
ax_pos.legend()
ax_vel = figure.add_subplot(142)
ax_vel.set_title("Joint Velocity")
ax_vel.plot(t, q_vel_desired[0], '--r', lw=4, label='Desired q0')
ax_vel.plot(t, q_vel_desired[1], '--b', lw=4, label='Desired q1')
ax_vel.plot(t, q_vel[0], '-r', lw=1, label='Measured q0')
ax_vel.plot(t, q_vel[1], '-b', lw=1, label='Measured q1')
ax_vel.set_ylim(-2., 2.)
ax_vel.legend()
ax_acc = figure.add_subplot(143)
ax_acc.set_title("Joint Acceleration")
ax_acc.plot(t, q_acc_desired[0], '--r', lw=4, label='Desired q0')
ax_acc.plot(t, q_acc_desired[1], '--b', lw=4, label='Desired q1')
ax_acc.set_ylim(-10., 10.)
ax_acc.legend()
ax_tor = figure.add_subplot(144)
ax_tor.set_title("Executed Torque")
ax_tor.plot(t, q_tor[0], '-r', lw=2, label='Torque q0')
ax_tor.plot(t, q_tor[1], '-b', lw=2, label='Torque q1')
ax_tor.set_ylim(-20., 20.)
ax_tor.legend()
plt.pause(0.01)
while (1):
bullet.stepSimulation()
time.sleep(0.01)

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import pybullet as p
import time
import math
from datetime import datetime
import pybullet_data
clid = p.connect(p.SHARED_MEMORY)
if (clid < 0):
p.connect(p.GUI)
#p.connect(p.SHARED_MEMORY_GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf", [0, 0, -0.3])
kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0])
p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])
kukaEndEffectorIndex = 6
numJoints = p.getNumJoints(kukaId)
if (numJoints != 7):
exit()
#lower limits for null space
ll = [-.967, -2, -2.96, 0.19, -2.96, -2.09, -3.05]
#upper limits for null space
ul = [.967, 2, 2.96, 2.29, 2.96, 2.09, 3.05]
#joint ranges for null space
jr = [5.8, 4, 5.8, 4, 5.8, 4, 6]
#restposes for null space
rp = [0, 0, 0, 0.5 * math.pi, 0, -math.pi * 0.5 * 0.66, 0]
#joint damping coefficents
jd = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
for i in range(numJoints):
p.resetJointState(kukaId, i, rp[i])
p.setGravity(0, 0, 0)
t = 0.
prevPose = [0, 0, 0]
prevPose1 = [0, 0, 0]
hasPrevPose = 0
useNullSpace = 1
useOrientation = 1
#If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
#This can be used to test the IK result accuracy.
useSimulation = 1
useRealTimeSimulation = 0
ikSolver = 0
p.setRealTimeSimulation(useRealTimeSimulation)
#trailDuration is duration (in seconds) after debug lines will be removed automatically
#use 0 for no-removal
trailDuration = 15
i=0
while 1:
i+=1
#p.getCameraImage(320,
# 200,
# flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
# renderer=p.ER_BULLET_HARDWARE_OPENGL)
if (useRealTimeSimulation):
dt = datetime.now()
t = (dt.second / 60.) * 2. * math.pi
else:
t = t + 0.01
if (useSimulation and useRealTimeSimulation == 0):
p.stepSimulation()
for i in range(1):
pos = [-0.4, 0.2 * math.cos(t), 0. + 0.2 * math.sin(t)]
#end effector points down, not up (in case useOrientation==1)
orn = p.getQuaternionFromEuler([0, -math.pi, 0])
if (useNullSpace == 1):
if (useOrientation == 1):
jointPoses = p.calculateInverseKinematics(kukaId, kukaEndEffectorIndex, pos, orn, ll, ul,
jr, rp)
else:
jointPoses = p.calculateInverseKinematics(kukaId,
kukaEndEffectorIndex,
pos,
lowerLimits=ll,
upperLimits=ul,
jointRanges=jr,
restPoses=rp)
else:
if (useOrientation == 1):
jointPoses = p.calculateInverseKinematics(kukaId,
kukaEndEffectorIndex,
pos,
orn,
jointDamping=jd,
solver=ikSolver,
maxNumIterations=100,
residualThreshold=.01)
else:
jointPoses = p.calculateInverseKinematics(kukaId,
kukaEndEffectorIndex,
pos,
solver=ikSolver)
if (useSimulation):
for i in range(numJoints):
p.setJointMotorControl2(bodyIndex=kukaId,
jointIndex=i,
controlMode=p.POSITION_CONTROL,
targetPosition=jointPoses[i],
targetVelocity=0,
force=500,
positionGain=0.03,
velocityGain=1)
else:
#reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range(numJoints):
p.resetJointState(kukaId, i, jointPoses[i])
ls = p.getLinkState(kukaId, kukaEndEffectorIndex)
if (hasPrevPose):
p.addUserDebugLine(prevPose, pos, [0, 0, 0.3], 1, trailDuration)
p.addUserDebugLine(prevPose1, ls[4], [1, 0, 0], 1, trailDuration)
prevPose = pos
prevPose1 = ls[4]
hasPrevPose = 1
p.disconnect()

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examples/pybullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py Normal file
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import pybullet as p
import time
import math
from datetime import datetime
from datetime import datetime
import pybullet_data
clid = p.connect(p.SHARED_MEMORY)
if (clid < 0):
p.connect(p.GUI)
p.setPhysicsEngineParameter(enableConeFriction=0)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf", [0, 0, -0.3])
husky = p.loadURDF("husky/husky.urdf", [0.290388, 0.329902, -0.310270],
[0.002328, -0.000984, 0.996491, 0.083659])
for i in range(p.getNumJoints(husky)):
print(p.getJointInfo(husky, i))
kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf", 0.193749, 0.345564, 0.120208, 0.002327,
-0.000988, 0.996491, 0.083659)
ob = kukaId
jointPositions = [3.559609, 0.411182, 0.862129, 1.744441, 0.077299, -1.129685, 0.006001]
for jointIndex in range(p.getNumJoints(ob)):
p.resetJointState(ob, jointIndex, jointPositions[jointIndex])
#put kuka on top of husky
cid = p.createConstraint(husky, -1, kukaId, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0., 0., -.5],
[0, 0, 0, 1])
baseorn = p.getQuaternionFromEuler([3.1415, 0, 0.3])
baseorn = [0, 0, 0, 1]
#[0, 0, 0.707, 0.707]
#p.resetBasePositionAndOrientation(kukaId,[0,0,0],baseorn)#[0,0,0,1])
kukaEndEffectorIndex = 6
numJoints = p.getNumJoints(kukaId)
if (numJoints != 7):
exit()
#lower limits for null space
ll = [-.967, -2, -2.96, 0.19, -2.96, -2.09, -3.05]
#upper limits for null space
ul = [.967, 2, 2.96, 2.29, 2.96, 2.09, 3.05]
#joint ranges for null space
jr = [5.8, 4, 5.8, 4, 5.8, 4, 6]
#restposes for null space
rp = [0, 0, 0, 0.5 * math.pi, 0, -math.pi * 0.5 * 0.66, 0]
#joint damping coefficents
jd = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
for i in range(numJoints):
p.resetJointState(kukaId, i, rp[i])
p.setGravity(0, 0, -10)
t = 0.
prevPose = [0, 0, 0]
prevPose1 = [0, 0, 0]
hasPrevPose = 0
useNullSpace = 0
useOrientation = 0
#If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
#This can be used to test the IK result accuracy.
useSimulation = 1
useRealTimeSimulation = 1
p.setRealTimeSimulation(useRealTimeSimulation)
#trailDuration is duration (in seconds) after debug lines will be removed automatically
#use 0 for no-removal
trailDuration = 15
basepos = [0, 0, 0]
ang = 0
ang = 0
def accurateCalculateInverseKinematics(kukaId, endEffectorId, targetPos, threshold, maxIter):
closeEnough = False
iter = 0
dist2 = 1e30
while (not closeEnough and iter < maxIter):
jointPoses = p.calculateInverseKinematics(kukaId, kukaEndEffectorIndex, targetPos)
for i in range(numJoints):
p.resetJointState(kukaId, i, jointPoses[i])
ls = p.getLinkState(kukaId, kukaEndEffectorIndex)
newPos = ls[4]
diff = [targetPos[0] - newPos[0], targetPos[1] - newPos[1], targetPos[2] - newPos[2]]
dist2 = (diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
closeEnough = (dist2 < threshold)
iter = iter + 1
#print ("Num iter: "+str(iter) + "threshold: "+str(dist2))
return jointPoses
wheels = [2, 3, 4, 5]
#(2, b'front_left_wheel', 0, 7, 6, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'front_left_wheel_link')
#(3, b'front_right_wheel', 0, 8, 7, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'front_right_wheel_link')
#(4, b'rear_left_wheel', 0, 9, 8, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'rear_left_wheel_link')
#(5, b'rear_right_wheel', 0, 10, 9, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'rear_right_wheel_link')
wheelVelocities = [0, 0, 0, 0]
wheelDeltasTurn = [1, -1, 1, -1]
wheelDeltasFwd = [1, 1, 1, 1]
while 1:
keys = p.getKeyboardEvents()
shift = 0.01
wheelVelocities = [0, 0, 0, 0]
speed = 1.0
for k in keys:
if ord('s') in keys:
p.saveWorld("state.py")
if ord('a') in keys:
basepos = basepos = [basepos[0], basepos[1] - shift, basepos[2]]
if ord('d') in keys:
basepos = basepos = [basepos[0], basepos[1] + shift, basepos[2]]
if p.B3G_LEFT_ARROW in keys:
for i in range(len(wheels)):
wheelVelocities[i] = wheelVelocities[i] - speed * wheelDeltasTurn[i]
if p.B3G_RIGHT_ARROW in keys:
for i in range(len(wheels)):
wheelVelocities[i] = wheelVelocities[i] + speed * wheelDeltasTurn[i]
if p.B3G_UP_ARROW in keys:
for i in range(len(wheels)):
wheelVelocities[i] = wheelVelocities[i] + speed * wheelDeltasFwd[i]
if p.B3G_DOWN_ARROW in keys:
for i in range(len(wheels)):
wheelVelocities[i] = wheelVelocities[i] - speed * wheelDeltasFwd[i]
baseorn = p.getQuaternionFromEuler([0, 0, ang])
for i in range(len(wheels)):
p.setJointMotorControl2(husky,
wheels[i],
p.VELOCITY_CONTROL,
targetVelocity=wheelVelocities[i],
force=1000)
#p.resetBasePositionAndOrientation(kukaId,basepos,baseorn)#[0,0,0,1])
if (useRealTimeSimulation):
t = time.time() #(dt, micro) = datetime.utcnow().strftime('%Y-%m-%d %H:%M:%S.%f').split('.')
#t = (dt.second/60.)*2.*math.pi
else:
t = t + 0.001
if (useSimulation and useRealTimeSimulation == 0):
p.stepSimulation()
for i in range(1):
#pos = [-0.4,0.2*math.cos(t),0.+0.2*math.sin(t)]
pos = [0.2 * math.cos(t), 0, 0. + 0.2 * math.sin(t) + 0.7]
#end effector points down, not up (in case useOrientation==1)
orn = p.getQuaternionFromEuler([0, -math.pi, 0])
if (useNullSpace == 1):
if (useOrientation == 1):
jointPoses = p.calculateInverseKinematics(kukaId, kukaEndEffectorIndex, pos, orn, ll, ul,
jr, rp)
else:
jointPoses = p.calculateInverseKinematics(kukaId,
kukaEndEffectorIndex,
pos,
lowerLimits=ll,
upperLimits=ul,
jointRanges=jr,
restPoses=rp)
else:
if (useOrientation == 1):
jointPoses = p.calculateInverseKinematics(kukaId,
kukaEndEffectorIndex,
pos,
orn,
jointDamping=jd)
else:
threshold = 0.001
maxIter = 100
jointPoses = accurateCalculateInverseKinematics(kukaId, kukaEndEffectorIndex, pos,
threshold, maxIter)
if (useSimulation):
for i in range(numJoints):
p.setJointMotorControl2(bodyIndex=kukaId,
jointIndex=i,
controlMode=p.POSITION_CONTROL,
targetPosition=jointPoses[i],
targetVelocity=0,
force=500,
positionGain=1,
velocityGain=0.1)
else:
#reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range(numJoints):
p.resetJointState(kukaId, i, jointPoses[i])
ls = p.getLinkState(kukaId, kukaEndEffectorIndex)
if (hasPrevPose):
p.addUserDebugLine(prevPose, pos, [0, 0, 0.3], 1, trailDuration)
p.addUserDebugLine(prevPose1, ls[4], [1, 0, 0], 1, trailDuration)
prevPose = pos
prevPose1 = ls[4]
hasPrevPose = 1

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import pybullet as p
import time
import math
from datetime import datetime
import pybullet_data
clid = p.connect(p.SHARED_MEMORY)
if (clid < 0):
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf", [0, 0, -1.3])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
sawyerId = p.loadURDF("pole.urdf", [0, 0, 0])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
p.resetBasePositionAndOrientation(sawyerId, [0, 0, 0], [0, 0, 0, 1])
sawyerEndEffectorIndex = 3
numJoints = p.getNumJoints(sawyerId)
#joint damping coefficents
jd = [0.1, 0.1, 0.1, 0.1]
p.setGravity(0, 0, 0)
t = 0.
prevPose = [0, 0, 0]
prevPose1 = [0, 0, 0]
hasPrevPose = 0
ikSolver = 0
useRealTimeSimulation = 0
p.setRealTimeSimulation(useRealTimeSimulation)
#trailDuration is duration (in seconds) after debug lines will be removed automatically
#use 0 for no-removal
trailDuration = 1
while 1:
if (useRealTimeSimulation):
dt = datetime.now()
t = (dt.second / 60.) * 2. * math.pi
else:
t = t + 0.01
time.sleep(0.01)
for i in range(1):
pos = [2. * math.cos(t), 2. * math.cos(t), 0. + 2. * math.sin(t)]
jointPoses = p.calculateInverseKinematics(sawyerId,
sawyerEndEffectorIndex,
pos,
jointDamping=jd,
solver=ikSolver,
maxNumIterations=100)
#reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range(numJoints):
jointInfo = p.getJointInfo(sawyerId, i)
qIndex = jointInfo[3]
if qIndex > -1:
p.resetJointState(sawyerId, i, jointPoses[qIndex - 7])
ls = p.getLinkState(sawyerId, sawyerEndEffectorIndex)
if (hasPrevPose):
p.addUserDebugLine(prevPose, pos, [0, 0, 0.3], 1, trailDuration)
p.addUserDebugLine(prevPose1, ls[4], [1, 0, 0], 1, trailDuration)
prevPose = pos
prevPose1 = ls[4]
hasPrevPose = 1

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import pybullet as p
import pybullet_data
def getJointStates(robot):
joint_states = p.getJointStates(robot, range(p.getNumJoints(robot)))
joint_positions = [state[0] for state in joint_states]
joint_velocities = [state[1] for state in joint_states]
joint_torques = [state[3] for state in joint_states]
return joint_positions, joint_velocities, joint_torques
def getMotorJointStates(robot):
joint_states = p.getJointStates(robot, range(p.getNumJoints(robot)))
joint_infos = [p.getJointInfo(robot, i) for i in range(p.getNumJoints(robot))]
joint_states = [j for j, i in zip(joint_states, joint_infos) if i[3] > -1]
joint_positions = [state[0] for state in joint_states]
joint_velocities = [state[1] for state in joint_states]
joint_torques = [state[3] for state in joint_states]
return joint_positions, joint_velocities, joint_torques
def setJointPosition(robot, position, kp=1.0, kv=0.3):
num_joints = p.getNumJoints(robot)
zero_vec = [0.0] * num_joints
if len(position) == num_joints:
p.setJointMotorControlArray(robot,
range(num_joints),
p.POSITION_CONTROL,
targetPositions=position,
targetVelocities=zero_vec,
positionGains=[kp] * num_joints,
velocityGains=[kv] * num_joints)
else:
print("Not setting torque. "
"Expected torque vector of "
"length {}, got {}".format(num_joints, len(torque)))
def multiplyJacobian(robot, jacobian, vector):
result = [0.0, 0.0, 0.0]
i = 0
for c in range(len(vector)):
if p.getJointInfo(robot, c)[3] > -1:
for r in range(3):
result[r] += jacobian[r][i] * vector[c]
i += 1
return result
clid = p.connect(p.SHARED_MEMORY)
if (clid < 0):
p.connect(p.DIRECT)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
time_step = 0.001
gravity_constant = -9.81
p.resetSimulation()
p.setTimeStep(time_step)
p.setGravity(0.0, 0.0, gravity_constant)
p.loadURDF("plane.urdf", [0, 0, -0.3])
kukaId = p.loadURDF("TwoJointRobot_w_fixedJoints.urdf", useFixedBase=True)
#kukaId = p.loadURDF("TwoJointRobot_w_fixedJoints.urdf",[0,0,0])
#kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
#kukaId = p.loadURDF("kuka_lwr/kuka.urdf",[0,0,0])
#kukaId = p.loadURDF("humanoid/nao.urdf",[0,0,0])
p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])
numJoints = p.getNumJoints(kukaId)
kukaEndEffectorIndex = numJoints - 1
# Set a joint target for the position control and step the sim.
setJointPosition(kukaId, [0.1] * numJoints)
p.stepSimulation()
# Get the joint and link state directly from Bullet.
pos, vel, torq = getJointStates(kukaId)
mpos, mvel, mtorq = getMotorJointStates(kukaId)
result = p.getLinkState(kukaId,
kukaEndEffectorIndex,
computeLinkVelocity=1,
computeForwardKinematics=1)
link_trn, link_rot, com_trn, com_rot, frame_pos, frame_rot, link_vt, link_vr = result
# Get the Jacobians for the CoM of the end-effector link.
# Note that in this example com_rot = identity, and we would need to use com_rot.T * com_trn.
# The localPosition is always defined in terms of the link frame coordinates.
zero_vec = [0.0] * len(mpos)
jac_t, jac_r = p.calculateJacobian(kukaId, kukaEndEffectorIndex, com_trn, mpos, zero_vec, zero_vec)
print("Link linear velocity of CoM from getLinkState:")
print(link_vt)
print("Link linear velocity of CoM from linearJacobian * q_dot:")
print(multiplyJacobian(kukaId, jac_t, vel))
print("Link angular velocity of CoM from getLinkState:")
print(link_vr)
print("Link angular velocity of CoM from angularJacobian * q_dot:")
print(multiplyJacobian(kukaId, jac_r, vel))

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examples/pybullet/gym/pybullet_examples/manyspheres.py Normal file
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import pybullet as p
import time
import pybullet_data
conid = p.connect(p.SHARED_MEMORY)
if (conid < 0):
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setInternalSimFlags(0)
p.resetSimulation()
p.loadURDF("plane.urdf", useMaximalCoordinates=True)
p.loadURDF("tray/traybox.urdf", useMaximalCoordinates=True)
gravXid = p.addUserDebugParameter("gravityX", -10, 10, 0)
gravYid = p.addUserDebugParameter("gravityY", -10, 10, 0)
gravZid = p.addUserDebugParameter("gravityZ", -10, 10, -10)
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setPhysicsEngineParameter(contactBreakingThreshold=0.001)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
for i in range(10):
for j in range(10):
for k in range(10):
ob = p.loadURDF("sphere_1cm.urdf", [0.02 * i, 0.02 * j, 0.2 + 0.02 * k],
useMaximalCoordinates=True)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
while True:
gravX = p.readUserDebugParameter(gravXid)
gravY = p.readUserDebugParameter(gravYid)
gravZ = p.readUserDebugParameter(gravZid)
p.setGravity(gravX, gravY, gravZ)
time.sleep(0.01)

50
examples/pybullet/gym/pybullet_examples/mimicJointConstraint.py Normal file
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#a mimic joint can act as a gear between two joints
#you can control the gear ratio in magnitude and sign (>0 reverses direction)
import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf", 0, 0, -2)
wheelA = p.loadURDF("differential/diff_ring.urdf", [0, 0, 0])
for i in range(p.getNumJoints(wheelA)):
print(p.getJointInfo(wheelA, i))
p.setJointMotorControl2(wheelA, i, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
c = p.createConstraint(wheelA,
1,
wheelA,
3,
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=1, maxForce=10000)
c = p.createConstraint(wheelA,
2,
wheelA,
4,
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=10000)
c = p.createConstraint(wheelA,
1,
wheelA,
4,
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=10000)
p.setRealTimeSimulation(1)
while (1):
p.setGravity(0, 0, -10)
time.sleep(0.01)
#p.removeConstraint(c)

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examples/pybullet/gym/pybullet_examples/motorMaxVelocity.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
cartpole = p.loadURDF("cartpole.urdf")
p.setRealTimeSimulation(1)
p.setJointMotorControl2(cartpole,
1,
p.POSITION_CONTROL,
targetPosition=1000,
targetVelocity=0,
force=1000,
positionGain=1,
velocityGain=0,
maxVelocity=0.5)
while (1):
p.setGravity(0, 0, -10)
js = p.getJointState(cartpole, 1)
print("position=", js[0], "velocity=", js[1])
time.sleep(0.01)

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examples/pybullet/gym/pybullet_examples/pdControl.py Normal file
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import pybullet as p
from pdControllerExplicit import PDControllerExplicitMultiDof
from pdControllerExplicit import PDControllerExplicit
from pdControllerStable import PDControllerStable
import time
useMaximalCoordinates = False
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
pole = p.loadURDF("cartpole.urdf", [0, 0, 0], useMaximalCoordinates=useMaximalCoordinates)
pole2 = p.loadURDF("cartpole.urdf", [0, 1, 0], useMaximalCoordinates=useMaximalCoordinates)
pole3 = p.loadURDF("cartpole.urdf", [0, 2, 0], useMaximalCoordinates=useMaximalCoordinates)
pole4 = p.loadURDF("cartpole.urdf", [0, 3, 0], useMaximalCoordinates=useMaximalCoordinates)
exPD = PDControllerExplicitMultiDof(p)
sPD = PDControllerStable(p)
for i in range(p.getNumJoints(pole2)):
#disable default constraint-based motors
p.setJointMotorControl2(pole, i, p.POSITION_CONTROL, targetPosition=0, force=0)
p.setJointMotorControl2(pole2, i, p.POSITION_CONTROL, targetPosition=0, force=0)
p.setJointMotorControl2(pole3, i, p.POSITION_CONTROL, targetPosition=0, force=0)
p.setJointMotorControl2(pole4, i, p.POSITION_CONTROL, targetPosition=0, force=0)
#print("joint",i,"=",p.getJointInfo(pole2,i))
timeStepId = p.addUserDebugParameter("timeStep", 0.001, 0.1, 0.01)
desiredPosCartId = p.addUserDebugParameter("desiredPosCart", -10, 10, 2)
desiredVelCartId = p.addUserDebugParameter("desiredVelCart", -10, 10, 0)
kpCartId = p.addUserDebugParameter("kpCart", 0, 500, 1300)
kdCartId = p.addUserDebugParameter("kdCart", 0, 300, 150)
maxForceCartId = p.addUserDebugParameter("maxForceCart", 0, 5000, 1000)
textColor = [1, 1, 1]
shift = 0.05
p.addUserDebugText("explicit PD", [shift, 0, .1],
textColor,
parentObjectUniqueId=pole,
parentLinkIndex=1)
p.addUserDebugText("explicit PD plugin", [shift, 0, -.1],
textColor,
parentObjectUniqueId=pole2,
parentLinkIndex=1)
p.addUserDebugText("stablePD", [shift, 0, .1],
textColor,
parentObjectUniqueId=pole4,
parentLinkIndex=1)
p.addUserDebugText("position constraint", [shift, 0, -.1],
textColor,
parentObjectUniqueId=pole3,
parentLinkIndex=1)
desiredPosPoleId = p.addUserDebugParameter("desiredPosPole", -10, 10, 0)
desiredVelPoleId = p.addUserDebugParameter("desiredVelPole", -10, 10, 0)
kpPoleId = p.addUserDebugParameter("kpPole", 0, 500, 1200)
kdPoleId = p.addUserDebugParameter("kdPole", 0, 300, 100)
maxForcePoleId = p.addUserDebugParameter("maxForcePole", 0, 5000, 1000)
pd = p.loadPlugin("pdControlPlugin")
p.setGravity(0, 0, -10)
useRealTimeSim = False
p.setRealTimeSimulation(useRealTimeSim)
timeStep = 0.001
while p.isConnected():
#p.getCameraImage(320,200)
timeStep = p.readUserDebugParameter(timeStepId)
p.setTimeStep(timeStep)
desiredPosCart = p.readUserDebugParameter(desiredPosCartId)
desiredVelCart = p.readUserDebugParameter(desiredVelCartId)
kpCart = p.readUserDebugParameter(kpCartId)
kdCart = p.readUserDebugParameter(kdCartId)
maxForceCart = p.readUserDebugParameter(maxForceCartId)
desiredPosPole = p.readUserDebugParameter(desiredPosPoleId)
desiredVelPole = p.readUserDebugParameter(desiredVelPoleId)
kpPole = p.readUserDebugParameter(kpPoleId)
kdPole = p.readUserDebugParameter(kdPoleId)
maxForcePole = p.readUserDebugParameter(maxForcePoleId)
basePos, baseOrn = p.getBasePositionAndOrientation(pole)
baseDof = 7
taus = exPD.computePD(pole, [0, 1], [
basePos[0], basePos[1], basePos[2], baseOrn[0], baseOrn[1], baseOrn[2], baseOrn[3],
desiredPosCart, desiredPosPole
], [0, 0, 0, 0, 0, 0, 0, desiredVelCart, desiredVelPole], [0, 0, 0, 0, 0, 0, 0, kpCart, kpPole],
[0, 0, 0, 0, 0, 0, 0, kdCart, kdPole],
[0, 0, 0, 0, 0, 0, 0, maxForceCart, maxForcePole], timeStep)
for j in [0, 1]:
p.setJointMotorControlMultiDof(pole,
j,
controlMode=p.TORQUE_CONTROL,
force=[taus[j + baseDof]])
#p.setJointMotorControlArray(pole, [0,1], controlMode=p.TORQUE_CONTROL, forces=taus)
if (pd >= 0):
link = 0
p.setJointMotorControl2(bodyUniqueId=pole2,
jointIndex=link,
controlMode=p.PD_CONTROL,
targetPosition=desiredPosCart,
targetVelocity=desiredVelCart,
force=maxForceCart,
positionGain=kpCart,
velocityGain=kdCart)
link = 1
p.setJointMotorControl2(bodyUniqueId=pole2,
jointIndex=link,
controlMode=p.PD_CONTROL,
targetPosition=desiredPosPole,
targetVelocity=desiredVelPole,
force=maxForcePole,
positionGain=kpPole,
velocityGain=kdPole)
taus = sPD.computePD(pole4, [0, 1], [desiredPosCart, desiredPosPole],
[desiredVelCart, desiredVelPole], [kpCart, kpPole], [kdCart, kdPole],
[maxForceCart, maxForcePole], timeStep)
#p.setJointMotorControlArray(pole4, [0,1], controlMode=p.TORQUE_CONTROL, forces=taus)
for j in [0, 1]:
p.setJointMotorControlMultiDof(pole4, j, controlMode=p.TORQUE_CONTROL, force=[taus[j]])
p.setJointMotorControl2(pole3,
0,
p.POSITION_CONTROL,
targetPosition=desiredPosCart,
targetVelocity=desiredVelCart,
positionGain=timeStep * (kpCart / 150.),
velocityGain=0.5,
force=maxForceCart)
p.setJointMotorControl2(pole3,
1,
p.POSITION_CONTROL,
targetPosition=desiredPosPole,
targetVelocity=desiredVelPole,
positionGain=timeStep * (kpPole / 150.),
velocityGain=0.5,
force=maxForcePole)
if (not useRealTimeSim):
p.stepSimulation()
time.sleep(timeStep)

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examples/pybullet/gym/pybullet_examples/pdControllerExplicit.py Normal file
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import numpy as np
class PDControllerExplicitMultiDof(object):
def __init__(self, pb):
self._pb = pb
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
maxForces, timeStep):
numJoints = len(jointIndices) #self._pb.getNumJoints(bodyUniqueId)
curPos, curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
q1 = [curPos[0], curPos[1], curPos[2], curOrn[0], curOrn[1], curOrn[2], curOrn[3]]
baseLinVel, baseAngVel = self._pb.getBaseVelocity(bodyUniqueId)
qdot1 = [
baseLinVel[0], baseLinVel[1], baseLinVel[2], baseAngVel[0], baseAngVel[1], baseAngVel[2], 0
]
qError = [0, 0, 0, 0, 0, 0, 0]
qIndex = 7
qdotIndex = 7
zeroAccelerations = [0, 0, 0, 0, 0, 0, 0]
for i in range(numJoints):
js = self._pb.getJointStateMultiDof(bodyUniqueId, jointIndices[i])
jointPos = js[0]
jointVel = js[1]
q1 += jointPos
if len(js[0]) == 1:
desiredPos = desiredPositions[qIndex]
qdiff = desiredPos - jointPos[0]
qError.append(qdiff)
zeroAccelerations.append(0.)
qdot1 += jointVel
qIndex += 1
qdotIndex += 1
if len(js[0]) == 4:
desiredPos = [
desiredPositions[qIndex], desiredPositions[qIndex + 1], desiredPositions[qIndex + 2],
desiredPositions[qIndex + 3]
]
axis = self._pb.getAxisDifferenceQuaternion(desiredPos, jointPos)
jointVelNew = [jointVel[0], jointVel[1], jointVel[2], 0]
qdot1 += jointVelNew
qError.append(axis[0])
qError.append(axis[1])
qError.append(axis[2])
qError.append(0)
desiredVel = [
desiredVelocities[qdotIndex], desiredVelocities[qdotIndex + 1],
desiredVelocities[qdotIndex + 2]
]
zeroAccelerations += [0., 0., 0., 0.]
qIndex += 4
qdotIndex += 4
q = np.array(q1)
qdot = np.array(qdot1)
qdotdesired = np.array(desiredVelocities)
qdoterr = qdotdesired - qdot
Kp = np.diagflat(kps)
Kd = np.diagflat(kds)
p = Kp.dot(qError)
d = Kd.dot(qdoterr)
forces = p + d
maxF = np.array(maxForces)
forces = np.clip(forces, -maxF, maxF)
return forces
class PDControllerExplicit(object):
def __init__(self, pb):
self._pb = pb
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
maxForces, timeStep):
numJoints = self._pb.getNumJoints(bodyUniqueId)
jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
q1 = []
qdot1 = []
for i in range(numJoints):
q1.append(jointStates[i][0])
qdot1.append(jointStates[i][1])
q = np.array(q1)
qdot = np.array(qdot1)
qdes = np.array(desiredPositions)
qdotdes = np.array(desiredVelocities)
qError = qdes - q
qdotError = qdotdes - qdot
Kp = np.diagflat(kps)
Kd = np.diagflat(kds)
forces = Kp.dot(qError) + Kd.dot(qdotError)
maxF = np.array(maxForces)
forces = np.clip(forces, -maxF, maxF)
return forces

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examples/pybullet/gym/pybullet_examples/pdControllerStable.py Normal file
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import numpy as np
class PDControllerStableMultiDof(object):
def __init__(self, pb):
self._pb = pb
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
maxForces, timeStep):
numJoints = len(jointIndices) #self._pb.getNumJoints(bodyUniqueId)
curPos, curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
#q1 = [desiredPositions[0],desiredPositions[1],desiredPositions[2],desiredPositions[3],desiredPositions[4],desiredPositions[5],desiredPositions[6]]
q1 = [curPos[0], curPos[1], curPos[2], curOrn[0], curOrn[1], curOrn[2], curOrn[3]]
#qdot1 = [0,0,0, 0,0,0,0]
baseLinVel, baseAngVel = self._pb.getBaseVelocity(bodyUniqueId)
qdot1 = [
baseLinVel[0], baseLinVel[1], baseLinVel[2], baseAngVel[0], baseAngVel[1], baseAngVel[2], 0
]
qError = [0, 0, 0, 0, 0, 0, 0]
qIndex = 7
qdotIndex = 7
zeroAccelerations = [0, 0, 0, 0, 0, 0, 0]
for i in range(numJoints):
js = self._pb.getJointStateMultiDof(bodyUniqueId, jointIndices[i])
jointPos = js[0]
jointVel = js[1]
q1 += jointPos
if len(js[0]) == 1:
desiredPos = desiredPositions[qIndex]
qdiff = desiredPos - jointPos[0]
qError.append(qdiff)
zeroAccelerations.append(0.)
qdot1 += jointVel
qIndex += 1
qdotIndex += 1
if len(js[0]) == 4:
desiredPos = [
desiredPositions[qIndex], desiredPositions[qIndex + 1], desiredPositions[qIndex + 2],
desiredPositions[qIndex + 3]
]
axis = self._pb.getAxisDifferenceQuaternion(desiredPos, jointPos)
jointVelNew = [jointVel[0], jointVel[1], jointVel[2], 0]
qdot1 += jointVelNew
qError.append(axis[0])
qError.append(axis[1])
qError.append(axis[2])
qError.append(0)
desiredVel = [
desiredVelocities[qdotIndex], desiredVelocities[qdotIndex + 1],
desiredVelocities[qdotIndex + 2]
]
zeroAccelerations += [0., 0., 0., 0.]
qIndex += 4
qdotIndex += 4
q = np.array(q1)
qdot = np.array(qdot1)
qdotdesired = np.array(desiredVelocities)
qdoterr = qdotdesired - qdot
Kp = np.diagflat(kps)
Kd = np.diagflat(kds)
# Compute -Kp(q + qdot - qdes)
p_term = Kp.dot(qError - qdot*timeStep)
# Compute -Kd(qdot - qdotdes)
d_term = Kd.dot(qdoterr)
# Compute Inertia matrix M(q)
M = self._pb.calculateMassMatrix(bodyUniqueId, q1, flags=1)
M = np.array(M)
# Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
# Compute Coriolis and External (Gravitational) terms G = C - T_ext
G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
G = np.array(G)
# Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
qddot = np.linalg.solve(a=(M + Kd * timeStep),
b=p_term + d_term - G)
# Compute control generalized forces (T_int)
tau = p_term + d_term - Kd.dot(qddot) * timeStep
# Clip generalized forces to actuator limits
maxF = np.array(maxForces)
generalized_forces = np.clip(tau, -maxF, maxF)
return generalized_forces
class PDControllerStable(object):
"""
Implementation based on: Tan, J., Liu, K., & Turk, G. (2011). "Stable proportional-derivative controllers"
DOI: 10.1109/MCG.2011.30
"""
def __init__(self, pb):
self._pb = pb
def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
maxForces, timeStep):
numJoints = self._pb.getNumJoints(bodyUniqueId)
jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
q1 = []
qdot1 = []
zeroAccelerations = []
for i in range(numJoints):
q1.append(jointStates[i][0])
qdot1.append(jointStates[i][1])
zeroAccelerations.append(0)
q = np.array(q1)
qdot = np.array(qdot1)
qdes = np.array(desiredPositions)
qdotdes = np.array(desiredVelocities)
qError = qdes - q
qdotError = qdotdes - qdot
Kp = np.diagflat(kps)
Kd = np.diagflat(kds)
# Compute -Kp(q + qdot - qdes)
p_term = Kp.dot(qError - qdot*timeStep)
# Compute -Kd(qdot - qdotdes)
d_term = Kd.dot(qdotError)
# Compute Inertia matrix M(q)
M = self._pb.calculateMassMatrix(bodyUniqueId, q1)
M = np.array(M)
# Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
# Compute Coriolis and External (Gravitational) terms G = C - T_ext
G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
G = np.array(G)
# Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
qddot = np.linalg.solve(a=(M + Kd * timeStep),
b=(-G + p_term + d_term))
# Compute control generalized forces (T_int)
tau = p_term + d_term - (Kd.dot(qddot) * timeStep)
# Clip generalized forces to actuator limits
maxF = np.array(maxForces)
generalized_forces = np.clip(tau, -maxF, maxF)
return generalized_forces

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examples/pybullet/gym/pybullet_examples/pointCloudFromCameraImage.py Normal file
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import pybullet as p
import math
import numpy as np
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
plane = p.loadURDF("plane100.urdf")
cube = p.loadURDF("cube.urdf", [0, 0, 1])
def getRayFromTo(mouseX, mouseY):
width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
)
camPos = [
camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
camTarget[2] - dist * camForward[2]
]
farPlane = 10000
rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
lenFwd = math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] * rayForward[1] +
rayForward[2] * rayForward[2])
invLen = farPlane * 1. / lenFwd
rayForward = [invLen * rayForward[0], invLen * rayForward[1], invLen * rayForward[2]]
rayFrom = camPos
oneOverWidth = float(1) / float(width)
oneOverHeight = float(1) / float(height)
dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
rayToCenter = [
rayFrom[0] + rayForward[0], rayFrom[1] + rayForward[1], rayFrom[2] + rayForward[2]
]
ortho = [
-0.5 * horizon[0] + 0.5 * vertical[0] + float(mouseX) * dHor[0] - float(mouseY) * dVer[0],
-0.5 * horizon[1] + 0.5 * vertical[1] + float(mouseX) * dHor[1] - float(mouseY) * dVer[1],
-0.5 * horizon[2] + 0.5 * vertical[2] + float(mouseX) * dHor[2] - float(mouseY) * dVer[2]
]
rayTo = [
rayFrom[0] + rayForward[0] + ortho[0], rayFrom[1] + rayForward[1] + ortho[1],
rayFrom[2] + rayForward[2] + ortho[2]
]
lenOrtho = math.sqrt(ortho[0] * ortho[0] + ortho[1] * ortho[1] + ortho[2] * ortho[2])
alpha = math.atan(lenOrtho / farPlane)
return rayFrom, rayTo, alpha
width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
)
camPos = [
camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
camTarget[2] - dist * camForward[2]
]
farPlane = 10000
rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
lenFwd = math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] * rayForward[1] +
rayForward[2] * rayForward[2])
oneOverWidth = float(1) / float(width)
oneOverHeight = float(1) / float(height)
dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
lendHor = math.sqrt(dHor[0] * dHor[0] + dHor[1] * dHor[1] + dHor[2] * dHor[2])
lendVer = math.sqrt(dVer[0] * dVer[0] + dVer[1] * dVer[1] + dVer[2] * dVer[2])
cornersX = [0, width, width, 0]
cornersY = [0, 0, height, height]
corners3D = []
imgW = int(width / 4)
imgH = int(height / 4)
img = p.getCameraImage(imgW, imgH, renderer=p.ER_BULLET_HARDWARE_OPENGL)
rgbBuffer = img[2]
depthBuffer = img[3]
print("rgbBuffer.shape=", rgbBuffer.shape)
print("depthBuffer.shape=", depthBuffer.shape)
#disable rendering temporary makes adding objects faster
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER, 0)
visualShapeId = p.createVisualShape(shapeType=p.GEOM_SPHERE, rgbaColor=[1, 1, 1, 1], radius=0.03)
collisionShapeId = -1 #p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
for i in range(4):
w = cornersX[i]
h = cornersY[i]
rayFrom, rayTo, _ = getRayFromTo(w, h)
rf = np.array(rayFrom)
rt = np.array(rayTo)
vec = rt - rf
l = np.sqrt(np.dot(vec, vec))
newTo = (0.01 / l) * vec + rf
#print("len vec=",np.sqrt(np.dot(vec,vec)))
p.addUserDebugLine(rayFrom, newTo, [1, 0, 0])
corners3D.append(newTo)
count = 0
stepX = 5
stepY = 5
for w in range(0, imgW, stepX):
for h in range(0, imgH, stepY):
count += 1
if ((count % 100) == 0):
print(count, "out of ", imgW * imgH / (stepX * stepY))
rayFrom, rayTo, alpha = getRayFromTo(w * (width / imgW), h * (height / imgH))
rf = np.array(rayFrom)
rt = np.array(rayTo)
vec = rt - rf
l = np.sqrt(np.dot(vec, vec))
depthImg = float(depthBuffer[h, w])
far = 1000.
near = 0.01
depth = far * near / (far - (far - near) * depthImg)
depth /= math.cos(alpha)
newTo = (depth / l) * vec + rf
#p.addUserDebugLine(rayFrom, newTo, [1, 0, 0])
mb = p.createMultiBody(baseMass=0,
baseCollisionShapeIndex=collisionShapeId,
baseVisualShapeIndex=visualShapeId,
basePosition=newTo,
useMaximalCoordinates=True)
color = rgbBuffer[h, w]
color = [color[0] / 255., color[1] / 255., color[2] / 255., 1]
p.changeVisualShape(mb, -1, rgbaColor=color)
p.addUserDebugLine(corners3D[0], corners3D[1], [1, 0, 0])
p.addUserDebugLine(corners3D[1], corners3D[2], [1, 0, 0])
p.addUserDebugLine(corners3D[2], corners3D[3], [1, 0, 0])
p.addUserDebugLine(corners3D[3], corners3D[0], [1, 0, 0])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
print("ready\n")
#p.removeBody(plane)
#p.removeBody(cube)
while (1):
p.setGravity(0, 0, -10)

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examples/pybullet/gym/pybullet_examples/profileTiming.py Normal file
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import pybullet as p
import time
#you can visualize the timings using Google Chrome, visit about://tracing
#and load the json file
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
t = time.time() + 3.1
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "chrome_about_tracing.json")
while (time.time() < t):
p.stepSimulation()
p.submitProfileTiming("pythontest")
time.sleep(1./240.)
p.submitProfileTiming("nested")
for i in range (100):
p.submitProfileTiming("deep_nested")
p.submitProfileTiming()
time.sleep(1./1000.)
p.submitProfileTiming()
p.submitProfileTiming()
p.stopStateLogging(logId)

41
examples/pybullet/gym/pybullet_examples/projective_texture.py Normal file
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import pybullet as p
from time import sleep
import matplotlib.pyplot as plt
import numpy as np
import pybullet_data
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setGravity(0, 0, 0)
bearStartPos1 = [-3.3, 0, 0]
bearStartOrientation1 = p.getQuaternionFromEuler([0, 0, 0])
bearId1 = p.loadURDF("plane.urdf", bearStartPos1, bearStartOrientation1)
bearStartPos2 = [0, 0, 0]
bearStartOrientation2 = p.getQuaternionFromEuler([0, 0, 0])
bearId2 = p.loadURDF("teddy_large.urdf", bearStartPos2, bearStartOrientation2)
textureId = p.loadTexture("checker_grid.jpg")
#p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
#p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
while 1:
if (useRealTimeSimulation):
camera = p.getDebugVisualizerCamera()
viewMat = camera[2]
projMat = camera[3]
#An example of setting the view matrix for the projective texture.
#viewMat = p.computeViewMatrix(cameraEyePosition=[7,0,0], cameraTargetPosition=[0,0,0], cameraUpVector=[0,0,1])
p.getCameraImage(300,
300,
renderer=p.ER_BULLET_HARDWARE_OPENGL,
flags=p.ER_USE_PROJECTIVE_TEXTURE,
projectiveTextureView=viewMat,
projectiveTextureProj=projMat)
p.setGravity(0, 0, 0)
else:
p.stepSimulation()

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examples/pybullet/gym/pybullet_examples/rollPitchYaw.py Normal file
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import pybullet as p
import time
import pybullet_data
cid = p.connect(p.SHARED_MEMORY)
if (cid < 0):
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
q = p.loadURDF("quadruped/quadruped.urdf", useFixedBase=True)
rollId = p.addUserDebugParameter("roll", -1.5, 1.5, 0)
pitchId = p.addUserDebugParameter("pitch", -1.5, 1.5, 0)
yawId = p.addUserDebugParameter("yaw", -1.5, 1.5, 0)
fwdxId = p.addUserDebugParameter("fwd_x", -1, 1, 0)
fwdyId = p.addUserDebugParameter("fwd_y", -1, 1, 0)
fwdzId = p.addUserDebugParameter("fwd_z", -1, 1, 0)
while True:
roll = p.readUserDebugParameter(rollId)
pitch = p.readUserDebugParameter(pitchId)
yaw = p.readUserDebugParameter(yawId)
x = p.readUserDebugParameter(fwdxId)
y = p.readUserDebugParameter(fwdyId)
z = p.readUserDebugParameter(fwdzId)
orn = p.getQuaternionFromEuler([roll, pitch, yaw])
p.resetBasePositionAndOrientation(q, [x, y, z], orn)
#p.stepSimulation()#not really necessary for this demo, no physics used

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examples/pybullet/gym/pybullet_examples/satCollision.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setGravity(0, 0, -10)
p.setPhysicsEngineParameter(enableSAT=1)
p.loadURDF("cube_concave.urdf", [0, 0, -25],
globalScaling=50,
useFixedBase=True,
flags=p.URDF_INITIALIZE_SAT_FEATURES)
p.loadURDF("cube.urdf", [0, 0, 1], globalScaling=1, flags=p.URDF_INITIALIZE_SAT_FEATURES)
p.loadURDF("duck_vhacd.urdf", [1, 0, 1], globalScaling=1, flags=p.URDF_INITIALIZE_SAT_FEATURES)
while (p.isConnected()):
p.stepSimulation()
pts = p.getContactPoints()
#print("num contacts = ", len(pts))
time.sleep(1. / 240.)

42
examples/pybullet/gym/pybullet_examples/sceneAabb.py Normal file
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import pybullet as p
import time
import numpy as np
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf")
p.loadURDF("sphere2.urdf",[0,0,2])
dt = 1./240.
p.setTimeStep(dt)
def getSceneAABB():
aabbMins=[]
aabbMaxs=[]
for i in range(p.getNumBodies()):
uid = p.getBodyUniqueId(i)
aabb = p.getAABB(uid)
aabbMins.append(np.array(aabb[0]))
aabbMaxs.append(np.array(aabb[1]))
if len(aabbMins):
sceneAABBMin = aabbMins[0]
sceneAABBMax = aabbMaxs[0]
for aabb in aabbMins:
sceneAABBMin = np.minimum(sceneAABBMin,aabb)
for aabb in aabbMaxs:
sceneAABBMax = np.maximum(sceneAABBMax,aabb)
print("sceneAABBMin=",sceneAABBMin)
print("sceneAABBMax=",sceneAABBMax)
getSceneAABB()
while (1):
p.stepSimulation()
time.sleep(dt)

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examples/pybullet/gym/pybullet_examples/signedDistanceField.py Normal file
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import pybullet as p
import pybullet
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("toys/concave_box.urdf")
p.setGravity(0, 0, -10)
for i in range(10):
p.loadURDF("sphere_1cm.urdf", [i * 0.02, 0, 0.5])
p.loadURDF("duck_vhacd.urdf")
timeStep = 1. / 240.
p.setTimeStep(timeStep)
while (1):
p.stepSimulation()
time.sleep(timeStep)

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examples/pybullet/gym/pybullet_examples/snake.py Normal file
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import pybullet as p
import time
import math
# This simple snake logic is from some 15 year old Havok C++ demo
# Thanks to Michael Ewert!
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
plane = p.createCollisionShape(p.GEOM_PLANE)
p.createMultiBody(0, plane)
useMaximalCoordinates = True
sphereRadius = 0.25
#colBoxId = p.createCollisionShapeArray([p.GEOM_BOX, p.GEOM_SPHERE],radii=[sphereRadius+0.03,sphereRadius+0.03], halfExtents=[[sphereRadius,sphereRadius,sphereRadius],[sphereRadius,sphereRadius,sphereRadius]])
colBoxId = p.createCollisionShape(p.GEOM_BOX,
halfExtents=[sphereRadius, sphereRadius, sphereRadius])
mass = 1
visualShapeId = -1
link_Masses = []
linkCollisionShapeIndices = []
linkVisualShapeIndices = []
linkPositions = []
linkOrientations = []
linkInertialFramePositions = []
linkInertialFrameOrientations = []
indices = []
jointTypes = []
axis = []
for i in range(36):
link_Masses.append(1)
linkCollisionShapeIndices.append(colBoxId)
linkVisualShapeIndices.append(-1)
linkPositions.append([0, sphereRadius * 2.0 + 0.01, 0])
linkOrientations.append([0, 0, 0, 1])
linkInertialFramePositions.append([0, 0, 0])
linkInertialFrameOrientations.append([0, 0, 0, 1])
indices.append(i)
jointTypes.append(p.JOINT_REVOLUTE)
axis.append([0, 0, 1])
basePosition = [0, 0, 1]
baseOrientation = [0, 0, 0, 1]
sphereUid = p.createMultiBody(mass,
colBoxId,
visualShapeId,
basePosition,
baseOrientation,
linkMasses=link_Masses,
linkCollisionShapeIndices=linkCollisionShapeIndices,
linkVisualShapeIndices=linkVisualShapeIndices,
linkPositions=linkPositions,
linkOrientations=linkOrientations,
linkInertialFramePositions=linkInertialFramePositions,
linkInertialFrameOrientations=linkInertialFrameOrientations,
linkParentIndices=indices,
linkJointTypes=jointTypes,
linkJointAxis=axis,
useMaximalCoordinates=useMaximalCoordinates)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(0)
anistropicFriction = [1, 0.01, 0.01]
p.changeDynamics(sphereUid, -1, lateralFriction=2, anisotropicFriction=anistropicFriction)
p.getNumJoints(sphereUid)
for i in range(p.getNumJoints(sphereUid)):
p.getJointInfo(sphereUid, i)
p.changeDynamics(sphereUid, i, lateralFriction=2, anisotropicFriction=anistropicFriction)
dt = 1. / 240.
SNAKE_NORMAL_PERIOD = 0.1 #1.5
m_wavePeriod = SNAKE_NORMAL_PERIOD
m_waveLength = 4
m_wavePeriod = 1.5
m_waveAmplitude = 0.4
m_waveFront = 0.0
#our steering value
m_steering = 0.0
m_segmentLength = sphereRadius * 2.0
forward = 0
while (1):
keys = p.getKeyboardEvents()
for k, v in keys.items():
if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_TRIGGERED)):
m_steering = -.2
if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_RELEASED)):
m_steering = 0
if (k == p.B3G_LEFT_ARROW and (v & p.KEY_WAS_TRIGGERED)):
m_steering = .2
if (k == p.B3G_LEFT_ARROW and (v & p.KEY_WAS_RELEASED)):
m_steering = 0
amp = 0.2
offset = 0.6
numMuscles = p.getNumJoints(sphereUid)
scaleStart = 1.0
#start of the snake with smaller waves.
#I think starting the wave at the tail would work better ( while it still goes from head to tail )
if (m_waveFront < m_segmentLength * 4.0):
scaleStart = m_waveFront / (m_segmentLength * 4.0)
segment = numMuscles - 1
#we simply move a sin wave down the body of the snake.
#this snake may be going backwards, but who can tell ;)
for joint in range(p.getNumJoints(sphereUid)):
segment = joint #numMuscles-1-joint
#map segment to phase
phase = (m_waveFront - (segment + 1) * m_segmentLength) / m_waveLength
phase -= math.floor(phase)
phase *= math.pi * 2.0
#map phase to curvature
targetPos = math.sin(phase) * scaleStart * m_waveAmplitude
#// steer snake by squashing +ve or -ve side of sin curve
if (m_steering > 0 and targetPos < 0):
targetPos *= 1.0 / (1.0 + m_steering)
if (m_steering < 0 and targetPos > 0):
targetPos *= 1.0 / (1.0 - m_steering)
#set our motor
p.setJointMotorControl2(sphereUid,
joint,
p.POSITION_CONTROL,
targetPosition=targetPos + m_steering,
force=30)
#wave keeps track of where the wave is in time
m_waveFront += dt / m_wavePeriod * m_waveLength
p.stepSimulation()
time.sleep(dt)

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examples/pybullet/gym/pybullet_examples/soccerball.py Normal file
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import pybullet as p
import pybullet_data as pd
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
offset = 0
for scale in range (1,10,1):
ball = p.loadURDF("soccerball.urdf",[offset,0,1], globalScaling=scale*0.1)
p.changeDynamics(ball,-1,linearDamping=0, angularDamping=0, rollingFriction=0.001, spinningFriction=0.001)
p.changeVisualShape(ball,-1,rgbaColor=[0.8,0.8,0.8,1])
offset += 2*scale*0.1
p.loadURDF("plane.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
while p.isConnected():
#p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
time.sleep(0.5)

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examples/pybullet/gym/pybullet_examples/switchConstraintSolver.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG,
globalCFM=0.000001)
#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
p.loadURDF("plane.urdf")
radius = 0.025
distance = 1.86
yaw = 135
pitch = -11
targetPos = [0, 0, 0]
p.setPhysicsEngineParameter(solverResidualThreshold=0.001, numSolverIterations=200)
p.resetDebugVisualizerCamera(distance, yaw, pitch, targetPos)
objectId = -1
for i in range(10):
objectId = p.loadURDF("cube_small.urdf", [1, 1, radius + i * 2 * radius])
p.changeDynamics(objectId, -1, 100)
timeStep = 1. / 240.
p.setGravity(0, 0, -10)
while (p.isConnected()):
p.stepSimulation()
time.sleep(timeStep)

102
examples/pybullet/gym/pybullet_examples/testrender_egl.py Normal file
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#using the eglRendererPlugin (hardware OpenGL acceleration)
#using EGL on Linux and default OpenGL window on Win32.
#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
#otherwise use testrender.py (slower but compatible without numpy)
#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
import numpy as np
import matplotlib.pyplot as plt
import pybullet
import time
import pkgutil
plt.ion()
img = np.random.rand(200, 320)
#img = [tandard_normal((50,100))
image = plt.imshow(img, interpolation='none', animated=True, label="blah")
ax = plt.gca()
import pybullet_data
pybullet.connect(pybullet.DIRECT)
pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
egl = pkgutil.get_loader('eglRenderer')
if (egl):
pluginId = pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
else:
pluginId = pybullet.loadPlugin("eglRendererPlugin")
print("pluginId=",pluginId)
pybullet.loadURDF("plane.urdf", [0, 0, -1])
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0, 0, 0]
cameraUp = [0, 0, 1]
cameraPos = [1, 1, 1]
pybullet.setGravity(0, 0, -10)
pitch = -10.0
roll = 0
upAxisIndex = 2
camDistance = 4
pixelWidth = 320
pixelHeight = 200
nearPlane = 0.01
farPlane = 100
fov = 60
main_start = time.time()
while (1):
for yaw in range(0, 360, 10):
pybullet.stepSimulation()
start = time.time()
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
roll, upAxisIndex)
aspect = pixelWidth / pixelHeight
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
img_arr = pybullet.getCameraImage(pixelWidth,
pixelHeight,
viewMatrix,
projectionMatrix,
shadow=1,
lightDirection=[1, 1, 1],
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
stop = time.time()
#print("renderImage %f" % (stop - start))
w = img_arr[0] #width of the image, in pixels
h = img_arr[1] #height of the image, in pixels
rgb = img_arr[2] #color data RGB
dep = img_arr[3] #depth data
#print('width = %d height = %d' % (w, h))
#note that sending the data to matplotlib is really slow
#reshape is not needed
np_img_arr = np.reshape(rgb, (h, w, 4))
np_img_arr = np_img_arr * (1. / 255.)
#show
#plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
#image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
image.set_data(np_img_arr)
ax.plot([0])
#plt.draw()
#plt.show()
plt.pause(0.01)
#image.draw()
main_stop = time.time()
print("Total time %f" % (main_stop - main_start))
pybullet.resetSimulation()

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examples/pybullet/gym/pybullet_examples/testrender_np.py Normal file
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#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
#otherwise use testrender.py (slower but compatible without numpy)
#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
import numpy as np
import matplotlib.pyplot as plt
import pybullet
import time
import pybullet_data
plt.ion()
img = np.random.rand(200, 320)
#img = [tandard_normal((50,100))
image = plt.imshow(img, interpolation='none', animated=True, label="blah")
ax = plt.gca()
#pybullet.connect(pybullet.GUI)
pybullet.connect(pybullet.DIRECT)
pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
pybullet.loadURDF("plane.urdf", [0, 0, -1])
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0, 0, 0]
cameraUp = [0, 0, 1]
cameraPos = [1, 1, 1]
pybullet.setGravity(0, 0, -10)
pitch = -10.0
roll = 0
upAxisIndex = 2
camDistance = 4
pixelWidth = 320
pixelHeight = 200
nearPlane = 0.01
farPlane = 100
fov = 60
main_start = time.time()
while (1):
for yaw in range(0, 360, 10):
pybullet.stepSimulation()
start = time.time()
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
roll, upAxisIndex)
aspect = pixelWidth / pixelHeight
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
img_arr = pybullet.getCameraImage(pixelWidth,
pixelHeight,
viewMatrix,
projectionMatrix,
shadow=1,
lightDirection=[1, 1, 1],
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
stop = time.time()
print("renderImage %f" % (stop - start))
w = img_arr[0] #width of the image, in pixels
h = img_arr[1] #height of the image, in pixels
rgb = img_arr[2] #color data RGB
dep = img_arr[3] #depth data
print('width = %d height = %d' % (w, h))
#note that sending the data to matplotlib is really slow
#reshape is needed
np_img_arr = np.reshape(rgb, (h, w, 4))
np_img_arr = np_img_arr * (1. / 255.)
#show
#plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
#image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
image.set_data(np_img_arr)
ax.plot([0])
#plt.draw()
#plt.show()
plt.pause(0.01)
#image.draw()
main_stop = time.time()
print("Total time %f" % (main_stop - main_start))
pybullet.resetSimulation()

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examples/pybullet/gym/pybullet_examples/transparent.py Normal file
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import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf")
sphereUid = p.loadURDF("sphere_transparent.urdf", [0, 0, 2])
redSlider = p.addUserDebugParameter("red", 0, 1, 1)
greenSlider = p.addUserDebugParameter("green", 0, 1, 0)
blueSlider = p.addUserDebugParameter("blue", 0, 1, 0)
alphaSlider = p.addUserDebugParameter("alpha", 0, 1, 0.5)
while (1):
red = p.readUserDebugParameter(redSlider)
green = p.readUserDebugParameter(greenSlider)
blue = p.readUserDebugParameter(blueSlider)
alpha = p.readUserDebugParameter(alphaSlider)
p.changeVisualShape(sphereUid, -1, rgbaColor=[red, green, blue, alpha])
p.getCameraImage(320,
200,
flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
renderer=p.ER_BULLET_HARDWARE_OPENGL)
time.sleep(0.01)

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examples/pybullet/gym/pybullet_examples/vhacd.py Normal file
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import pybullet as p
import pybullet_data as pd
import os
import pybullet_data
p.connect(p.DIRECT)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
name_in = os.path.join(pd.getDataPath(), "duck.obj")
name_out = "duck_vhacd.obj"
name_log = "log.txt"
p.vhacd(name_in, name_out, name_log)

32
examples/pybullet/gym/pybullet_examples/video_sync_mp4.py Normal file
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import pybullet as p
import time
import pybullet_data
#Once the video is recorded, you can extract all individual frames using ffmpeg
#mkdir frames
#ffmpeg -i test.mp4 "frames/out-%03d.png"
#by default, PyBullet runs at 240Hz
p.connect(p.GUI, options="--width=320 --height=200 --mp4=\"test.mp4\" --mp4fps=240")
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
p.loadURDF("plane.urdf")
#in 3 seconds, the object travels about 0.5*g*t^2 meter ~ 45 meter.
r2d2 = p.loadURDF("r2d2.urdf",[0,0,45])
#disable linear damping
p.changeDynamics(r2d2,-1, linearDamping=0)
p.setGravity(0,0,-10)
for i in range (3*240):
txt = "frame "+str(i)
item = p.addUserDebugText(txt, [0,1,0])
p.stepSimulation()
#synchronize the visualizer (rendering frames for the video mp4) with stepSimulation
p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
#print("r2d2 vel=", p.getBaseVelocity(r2d2)[0][2])
p.removeUserDebugItem(item)
p.disconnect()

184
examples/pybullet/gym/pybullet_examples/vr_kuka_setup.py Normal file
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@ -0,0 +1,184 @@
import pybullet as p
import time
#p.connect(p.UDP,"192.168.86.100")
import pybullet_data
cid = p.connect(p.SHARED_MEMORY)
if (cid < 0):
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation()
#disable rendering during loading makes it much faster
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
objects = [
p.loadURDF("plane.urdf", 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000)
]
objects = [
p.loadURDF("samurai.urdf", 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
1.000000)
]
objects = [
p.loadURDF("pr2_gripper.urdf", 0.500000, 0.300006, 0.700000, -0.000000, -0.000000, -0.000031,
1.000000)
]
pr2_gripper = objects[0]
print("pr2_gripper=")
print(pr2_gripper)
jointPositions = [0.550569, 0.000000, 0.549657, 0.000000]
for jointIndex in range(p.getNumJoints(pr2_gripper)):
p.resetJointState(pr2_gripper, jointIndex, jointPositions[jointIndex])
pr2_cid = p.createConstraint(pr2_gripper, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0.2, 0, 0],
[0.500000, 0.300006, 0.700000])
print("pr2_cid")
print(pr2_cid)
objects = [
p.loadURDF("kuka_iiwa/model_vr_limits.urdf", 1.400000, -0.200000, 0.600000, 0.000000, 0.000000,
0.000000, 1.000000)
]
kuka = objects[0]
jointPositions = [-0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001]
for jointIndex in range(p.getNumJoints(kuka)):
p.resetJointState(kuka, jointIndex, jointPositions[jointIndex])
p.setJointMotorControl2(kuka, jointIndex, p.POSITION_CONTROL, jointPositions[jointIndex], 0)
objects = [
p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.700000, 0.000000, 0.000000, 0.000000,
1.000000)
]
objects = [
p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.800000, 0.000000, 0.000000, 0.000000,
1.000000)
]
objects = [
p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.900000, 0.000000, 0.000000, 0.000000,
1.000000)
]
objects = p.loadSDF("gripper/wsg50_one_motor_gripper_new_free_base.sdf")
kuka_gripper = objects[0]
print("kuka gripper=")
print(kuka_gripper)
p.resetBasePositionAndOrientation(kuka_gripper, [0.923103, -0.200000, 1.250036],
[-0.000000, 0.964531, -0.000002, -0.263970])
jointPositions = [
0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000
]
for jointIndex in range(p.getNumJoints(kuka_gripper)):
p.resetJointState(kuka_gripper, jointIndex, jointPositions[jointIndex])
p.setJointMotorControl2(kuka_gripper, jointIndex, p.POSITION_CONTROL, jointPositions[jointIndex],
0)
kuka_cid = p.createConstraint(kuka, 6, kuka_gripper, 0, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0.05],
[0, 0, 0])
pr2_cid2 = p.createConstraint(kuka_gripper,
4,
kuka_gripper,
6,
jointType=p.JOINT_GEAR,
jointAxis=[1, 1, 1],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(pr2_cid2, gearRatio=-1, erp=0.5, relativePositionTarget=0, maxForce=100)
objects = [
p.loadURDF("jenga/jenga.urdf", 1.300000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
0.707107)
]
objects = [
p.loadURDF("jenga/jenga.urdf", 1.200000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
0.707107)
]
objects = [
p.loadURDF("jenga/jenga.urdf", 1.100000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
0.707107)
]
objects = [
p.loadURDF("jenga/jenga.urdf", 1.000000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
0.707107)
]
objects = [
p.loadURDF("jenga/jenga.urdf", 0.900000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
0.707107)
]
objects = [
p.loadURDF("jenga/jenga.urdf", 0.800000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
0.707107)
]
objects = [
p.loadURDF("table/table.urdf", 1.000000, -0.200000, 0.000000, 0.000000, 0.000000, 0.707107,
0.707107)
]
objects = [
p.loadURDF("teddy_vhacd.urdf", 1.050000, -0.500000, 0.700000, 0.000000, 0.000000, 0.707107,
0.707107)
]
objects = [
p.loadURDF("cube_small.urdf", 0.950000, -0.100000, 0.700000, 0.000000, 0.000000, 0.707107,
0.707107)
]
objects = [
p.loadURDF("sphere_small.urdf", 0.850000, -0.400000, 0.700000, 0.000000, 0.000000, 0.707107,
0.707107)
]
objects = [
p.loadURDF("duck_vhacd.urdf", 0.850000, -0.400000, 0.900000, 0.000000, 0.000000, 0.707107,
0.707107)
]
objects = p.loadSDF("kiva_shelf/model.sdf")
ob = objects[0]
p.resetBasePositionAndOrientation(ob, [0.000000, 1.000000, 1.204500],
[0.000000, 0.000000, 0.000000, 1.000000])
objects = [
p.loadURDF("teddy_vhacd.urdf", -0.100000, 0.600000, 0.850000, 0.000000, 0.000000, 0.000000,
1.000000)
]
objects = [
p.loadURDF("sphere_small.urdf", -0.100000, 0.955006, 1.169706, 0.633232, -0.000000, -0.000000,
0.773962)
]
objects = [
p.loadURDF("cube_small.urdf", 0.300000, 0.600000, 0.850000, 0.000000, 0.000000, 0.000000,
1.000000)
]
objects = [
p.loadURDF("table_square/table_square.urdf", -1.000000, 0.000000, 0.000000, 0.000000, 0.000000,
0.000000, 1.000000)
]
ob = objects[0]
jointPositions = [0.000000]
for jointIndex in range(p.getNumJoints(ob)):
p.resetJointState(ob, jointIndex, jointPositions[jointIndex])
objects = [
p.loadURDF("husky/husky.urdf", 2.000000, -5.000000, 1.000000, 0.000000, 0.000000, 0.000000,
1.000000)
]
ob = objects[0]
jointPositions = [
0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
0.000000
]
for jointIndex in range(p.getNumJoints(ob)):
p.resetJointState(ob, jointIndex, jointPositions[jointIndex])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
p.setGravity(0.000000, 0.000000, 0.000000)
p.setGravity(0, 0, -10)
##show this for 10 seconds
#now = time.time()
#while (time.time() < now+10):
# p.stepSimulation()
p.setRealTimeSimulation(1)
while (1):
p.setGravity(0, 0, -10)
p.disconnect()

4
setup.py
View File

@ -459,7 +459,7 @@ hh = setup_py_dir + "/" + datadir
for root, dirs, files in os.walk(hh):
for fn in files:
ext = os.path.splitext(fn)[1][1:]
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml '.split(
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml gin npy '.split(
):
fn = root + "/" + fn
need_files.append(fn[1 + len(hh):])
@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name='pybullet',
version='3.1.0',
version='3.1.2',
description=
'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description=