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tweak premake4 default batch file.

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add manual control for joint angles in XArm6 example.
This commit is contained in:
Erwin Coumans 2019-12-12 07:02:27 -08:00
parent 1a491dc700
commit 3668bc5e2a
2 changed files with 25 additions and 2 deletions
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2
build_visual_studio_vr_pybullet_double.bat
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@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2
cd build3
premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
premake4 --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010

25
examples/pybullet/gym/pybullet_envs/examples/xarm.py
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@ -1,7 +1,7 @@
import pybullet as p
import pybullet_data as pd
import time
p.connect(p.GUI)
p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0")
p.setAdditionalSearchPath(pd.getDataPath())
@ -14,7 +14,30 @@ table_pos = [0,0,-0.625]
table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
jointIds = []
paramIds = []
for j in range(p.getNumJoints(xarm)):
p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0)
info = p.getJointInfo(xarm, j)
#print(info)
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))
skip_cam_frames = 10
while (1):
p.stepSimulation()
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.)
skip_cam_frames -= 1
if (skip_cam_frames<0):
p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL )
skip_cam_frames = 10
time.sleep(1./240.)