diff --git a/examples/pybullet/gym/pybullet_robots/__init__.py b/examples/pybullet/gym/pybullet_robots/__init__.py new file mode 100644 index 000000000..8b1378917 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/__init__.py @@ -0,0 +1 @@ + diff --git a/examples/pybullet/gym/pybullet_robots/panda/__init__.py b/examples/pybullet/gym/pybullet_robots/panda/__init__.py new file mode 100644 index 000000000..8b1378917 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/__init__.py @@ -0,0 +1 @@ + diff --git a/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py b/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py new file mode 100644 index 000000000..c3d9d65b1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/batchsim3.py @@ -0,0 +1,189 @@ +import os +import inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0, parentdir) + +from pybullet_utils import bullet_client +import panda_sim + + +import time + +useGUI = False +timeStep = 1./60. + +# Importing the libraries +import os +import time +import multiprocessing as mp +from multiprocessing import Process, Pipe + +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + + +_RESET = 1 +_CLOSE = 2 +_EXPLORE = 3 + + +def ExploreWorker(rank, num_processes, childPipe, args): + print("hi:",rank, " out of ", num_processes) + import pybullet as op1 + import pybullet_data as pd + logName="" + p1=0 + n = 0 + space = 2 + simulations=[] + sims_per_worker = 10 + + offsetY = rank*space + while True: + n += 1 + try: + # Only block for short times to have keyboard exceptions be raised. + if not childPipe.poll(0.0001): + continue + message, payload = childPipe.recv() + except (EOFError, KeyboardInterrupt): + break + if message == _RESET: + if (useGUI): + p1 = bullet_client.BulletClient(op1.GUI) + else: + p1 = bullet_client.BulletClient(op1.DIRECT) + p1.setTimeStep(timeStep) + + p1.setPhysicsEngineParameter(numSolverIterations=8) + p1.setPhysicsEngineParameter(minimumSolverIslandSize=100) + p1.configureDebugVisualizer(p1.COV_ENABLE_Y_AXIS_UP,1) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,0) + p1.setAdditionalSearchPath(pd.getDataPath()) + p1.setGravity(0,-9.8,0) + logName = str("batchsim")+str(rank) + for j in range (3): + offsetX = 0#-sims_per_worker/2.0*space + for i in range (sims_per_worker): + offset=[offsetX,0, offsetY] + sim = panda_sim.PandaSim(p1, offset) + simulations.append(sim) + offsetX += space + offsetY += space + childPipe.send(["reset ok"]) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,1) + for i in range (100): + p1.stepSimulation() + + logId = p1.startStateLogging(op1.STATE_LOGGING_PROFILE_TIMINGS,logName) + continue + if message == _EXPLORE: + sum_rewards=rank + + if useGUI: + numSteps = int(20000) + else: + numSteps = int(5) + for i in range (numSteps): + for s in simulations: + s.step() + p1.stepSimulation() + #print("logId=",logId) + #print("numSteps=",numSteps) + + childPipe.send([sum_rewards]) + continue + if message == _CLOSE: + p1.stopStateLogging(logId) + childPipe.send(["close ok"]) + break + childPipe.close() + + +if __name__ == "__main__": + mp.freeze_support() + if useGUI: + num_processes = 1 + else: + num_processes = 12 + processes = [] + args=[0]*num_processes + + childPipes = [] + parentPipes = [] + + for pr in range(num_processes): + parentPipe, childPipe = Pipe() + parentPipes.append(parentPipe) + childPipes.append(childPipe) + + for rank in range(num_processes): + p = mp.Process(target=ExploreWorker, args=(rank, num_processes, childPipes[rank], args)) + p.start() + processes.append(p) + + + for parentPipe in parentPipes: + parentPipe.send([_RESET, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + #print("reset msg=",parentPipes[k].recv()[0]) + msg = parentPipes[k].recv()[0] + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + msg = positive_rewards[k] + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + + for parentPipe in parentPipes: + parentPipe.send([_CLOSE, "pay2"]) + + for p in processes: + p.join() + + #now we merge the separate json files into a single one + fnameout = 'batchsim.json' + count = 0 + outfile = open(fnameout, "w+") + outfile.writelines(["{\"traceEvents\":[\n"]) + numFiles = num_processes + for num in range(numFiles): + print("num=",num) + fname = 'batchsim%d_0.json' % (num) + with open(fname) as infile: + for line in infile: + if "pid" in line: + line = line.replace('\"pid\":1', '\"pid\":'+str(num)) + if num < (numFiles-1) and not "{}}," in line: + line = line.replace('{}}', '{}},') + print("line[",count,"]=",line) + outfile.write(line) + count += 1 + print ("count=",count) + outfile.writelines(["],\n"]) + outfile.writelines(["\"displayTimeUnit\": \"ns\"}\n"]) + outfile.close() diff --git a/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py new file mode 100644 index 000000000..39c8cc41a --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/batchsim3_grasp.py @@ -0,0 +1,186 @@ +import os +import inspect +currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) +parentdir = os.path.dirname(os.path.dirname(currentdir)) +os.sys.path.insert(0, parentdir) + +from pybullet_utils import bullet_client +import panda_sim_grasp as panda_sim + + +import time + +useGUI = True#False +timeStep = 1./240. + +# Importing the libraries +import os +import time +import multiprocessing as mp +from multiprocessing import Process, Pipe + +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + + +_RESET = 1 +_CLOSE = 2 +_EXPLORE = 3 + + +def ExploreWorker(rank, num_processes, childPipe, args): + print("hi:",rank, " out of ", num_processes) + import pybullet as op1 + import pybullet_data as pd + logName="" + p1=0 + n = 0 + space = 2 + simulations=[] + sims_per_worker = 10 + + offsetY = rank*space + while True: + n += 1 + try: + # Only block for short times to have keyboard exceptions be raised. + if not childPipe.poll(0.0001): + continue + message, payload = childPipe.recv() + except (EOFError, KeyboardInterrupt): + break + if message == _RESET: + if (useGUI): + p1 = bullet_client.BulletClient(op1.GUI) + else: + p1 = bullet_client.BulletClient(op1.DIRECT) + p1.setTimeStep(timeStep) + + p1.setPhysicsEngineParameter(numSolverIterations=8) + p1.setPhysicsEngineParameter(minimumSolverIslandSize=100) + p1.configureDebugVisualizer(p1.COV_ENABLE_Y_AXIS_UP,1) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,0) + p1.setAdditionalSearchPath(pd.getDataPath()) + p1.setGravity(0,-9.8,0) + logName = str("batchsim")+str(rank) + for j in range (3): + offsetX = 0#-sims_per_worker/2.0*space + for i in range (sims_per_worker): + offset=[offsetX,0, offsetY] + sim = panda_sim.PandaSimAuto(p1, offset) + simulations.append(sim) + offsetX += space + offsetY += space + childPipe.send(["reset ok"]) + p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,1) + for i in range (100): + p1.stepSimulation() + + logId = p1.startStateLogging(op1.STATE_LOGGING_PROFILE_TIMINGS,logName) + continue + if message == _EXPLORE: + sum_rewards=rank + + if useGUI: + numSteps = int(20000) + else: + numSteps = int(5) + for i in range (numSteps): + for s in simulations: + s.step() + p1.stepSimulation() + #print("logId=",logId) + #print("numSteps=",numSteps) + + childPipe.send([sum_rewards]) + continue + if message == _CLOSE: + p1.stopStateLogging(logId) + childPipe.send(["close ok"]) + break + childPipe.close() + + +if __name__ == "__main__": + mp.freeze_support() + if useGUI: + num_processes = 1 + else: + num_processes = 12 + processes = [] + args=[0]*num_processes + + childPipes = [] + parentPipes = [] + + for pr in range(num_processes): + parentPipe, childPipe = Pipe() + parentPipes.append(parentPipe) + childPipes.append(childPipe) + + for rank in range(num_processes): + p = mp.Process(target=ExploreWorker, args=(rank, num_processes, childPipes[rank], args)) + p.start() + processes.append(p) + + + for parentPipe in parentPipes: + parentPipe.send([_RESET, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + #print("reset msg=",parentPipes[k].recv()[0]) + msg = parentPipes[k].recv()[0] + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + msg = positive_rewards[k] + + for parentPipe in parentPipes: + parentPipe.send([_EXPLORE, "blaat"]) + + positive_rewards = [0]*num_processes + for k in range(num_processes): + positive_rewards[k] = parentPipes[k].recv()[0] + #print("positive_rewards=",positive_rewards[k]) + + + for parentPipe in parentPipes: + parentPipe.send([_CLOSE, "pay2"]) + + for p in processes: + p.join() + + #now we merge the separate json files into a single one + fnameout = 'batchsim.json' + count = 0 + outfile = open(fnameout, "w+") + outfile.writelines(["{\"traceEvents\":[\n"]) + numFiles = num_processes + for num in range(numFiles): + print("num=",num) + fname = 'batchsim%d_0.json' % (num) + with open(fname) as infile: + for line in infile: + if "pid" in line: + line = line.replace('\"pid\":1', '\"pid\":'+str(num)) + if num < (numFiles-1) and not "{}}," in line: + line = line.replace('{}}', '{}},') + print("line[",count,"]=",line) + outfile.write(line) + count += 1 + print ("count=",count) + outfile.writelines(["],\n"]) + outfile.writelines(["\"displayTimeUnit\": \"ns\"}\n"]) + outfile.close() diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py new file mode 100644 index 000000000..207a5ba40 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py @@ -0,0 +1,21 @@ +import pybullet as p +import pybullet_data as pd +import math +import time +import numpy as np +import panda_sim + +p.connect(p.GUI) +p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) +p.setAdditionalSearchPath(pd.getDataPath()) + +timeStep=1./60. +p.setTimeStep(timeStep) +p.setGravity(0,-9.8,0) + +panda = panda_sim.PandaSim(p,[0,0,0]) +while (1): + panda.step() + p.stepSimulation() + time.sleep(timeStep) + \ No newline at end of file diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py new file mode 100644 index 000000000..d6fd15687 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py @@ -0,0 +1,39 @@ +import pybullet as p +import pybullet_data as pd +import math +import time +import numpy as np +import panda_sim_grasp as panda_sim + +#video requires ffmpeg available in path +createVideo=False + +if createVideo: + p.connect(p.GUI, options="--mp4=\"pybullet_grasp.mp4\", --mp4fps=240") +else: + p.connect(p.GUI) + +p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) +p.configureDebugVisualizer(p.COV_ENABLE_GUI,0) + +p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0]) +p.setAdditionalSearchPath(pd.getDataPath()) + +timeStep=1./120.#240. +p.setTimeStep(timeStep) +p.setGravity(0,-9.8,0) + +panda = panda_sim.PandaSimAuto(p,[0,0,0]) +logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json") +panda.bullet_client.submitProfileTiming("start") +for i in range (100000): + panda.bullet_client.submitProfileTiming("full_step") + panda.step() + p.stepSimulation() + if createVideo: + p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1) + time.sleep(timeStep) + panda.bullet_client.submitProfileTiming() +panda.bullet_client.submitProfileTiming() +panda.bullet_client.stopStateLogging(logId) + diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py b/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py new file mode 100644 index 000000000..b4d688687 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py @@ -0,0 +1,65 @@ +import time +import numpy as np +import math + +useNullSpace = 1 +ikSolver = 0 +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + +ll = [-7]*pandaNumDofs +#upper limits for null space (todo: set them to proper range) +ul = [7]*pandaNumDofs +#joint ranges for null space (todo: set them to proper range) +jr = [7]*pandaNumDofs +#restposes for null space +jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02] +rp = jointPositions + +class PandaSim(object): + def __init__(self, bullet_client, offset): + self.bullet_client = bullet_client + self.offset = np.array(offset) + + #print("offset=",offset) + flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES + legos=[] + self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags)) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags)) + legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags)) + sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags) + orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0]) + eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5]) + self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) + index = 0 + for j in range(self.bullet_client.getNumJoints(self.panda)): + self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0) + info = self.bullet_client.getJointInfo(self.panda, j) + + jointName = info[1] + jointType = info[2] + if (jointType == self.bullet_client.JOINT_PRISMATIC): + + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + if (jointType == self.bullet_client.JOINT_REVOLUTE): + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + self.t = 0. + def reset(self): + pass + + def step(self): + t = self.t + self.t += 1./60. + pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+0.044, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)] + orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.]) + jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul, + jr, rp, maxNumIterations=5) + for i in range(pandaNumDofs): + self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.) + pass + diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py new file mode 100644 index 000000000..05b561050 --- /dev/null +++ b/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py @@ -0,0 +1,151 @@ +import time +import numpy as np +import math + +useNullSpace = 1 +ikSolver = 0 +pandaEndEffectorIndex = 11 #8 +pandaNumDofs = 7 + +ll = [-7]*pandaNumDofs +#upper limits for null space (todo: set them to proper range) +ul = [7]*pandaNumDofs +#joint ranges for null space (todo: set them to proper range) +jr = [7]*pandaNumDofs +#restposes for null space +jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02] +rp = jointPositions + +class PandaSim(object): + def __init__(self, bullet_client, offset): + self.bullet_client = bullet_client + self.bullet_client.setPhysicsEngineParameter(solverResidualThreshold=0) + self.offset = np.array(offset) + + #print("offset=",offset) + flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES + self.legos=[] + + self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags) + self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags)) + self.bullet_client.changeVisualShape(self.legos[0],-1,rgbaColor=[1,0,0,1]) + self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags)) + self.legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags)) + self.sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags) + self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags) + orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0]) + eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5]) + self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) + index = 0 + self.state = 0 + self.control_dt = 1./120. + self.finger_target = 0 + self.gripper_height = 0.2 + #create a constraint to keep the fingers centered + c = self.bullet_client.createConstraint(self.panda, + 9, + self.panda, + 10, + jointType=self.bullet_client.JOINT_GEAR, + jointAxis=[1, 0, 0], + parentFramePosition=[0, 0, 0], + childFramePosition=[0, 0, 0]) + self.bullet_client.changeConstraint(c, gearRatio=-1, erp=0.1, maxForce=50) + + for j in range(self.bullet_client.getNumJoints(self.panda)): + self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0) + info = self.bullet_client.getJointInfo(self.panda, j) + #print("info=",info) + jointName = info[1] + jointType = info[2] + if (jointType == self.bullet_client.JOINT_PRISMATIC): + + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + if (jointType == self.bullet_client.JOINT_REVOLUTE): + self.bullet_client.resetJointState(self.panda, j, jointPositions[index]) + index=index+1 + self.t = 0. + def reset(self): + pass + + def update_state(self): + keys = self.bullet_client.getKeyboardEvents() + if len(keys)>0: + for k,v in keys.items(): + if v&self.bullet_client.KEY_WAS_TRIGGERED: + if (k==ord('1')): + self.state = 1 + if (k==ord('2')): + self.state = 2 + if (k==ord('3')): + self.state = 3 + if (k==ord('4')): + self.state = 4 + if (k==ord('5')): + self.state = 5 + if (k==ord('6')): + self.state = 6 + if v&self.bullet_client.KEY_WAS_RELEASED: + self.state = 0 + def step(self): + if self.state==6: + self.finger_target = 0.01 + if self.state==5: + self.finger_target = 0.04 + self.bullet_client.submitProfileTiming("step") + self.update_state() + #print("self.state=",self.state) + #print("self.finger_target=",self.finger_target) + alpha = 0.9 #0.99 + if self.state==1 or self.state==2 or self.state==3 or self.state==4 or self.state==7: + #gripper_height = 0.034 + self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.03 + if self.state == 2 or self.state == 3 or self.state == 7: + self.gripper_height = alpha * self.gripper_height + (1.-alpha)*0.2 + + t = self.t + self.t += self.control_dt + pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+self.gripper_height, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)] + if self.state == 3 or self.state== 4: + pos, o = self.bullet_client.getBasePositionAndOrientation(self.legos[0]) + pos = [pos[0], self.gripper_height, pos[2]] + self.prev_pos = pos + if self.state == 7: + pos = self.prev_pos + diffX = pos[0] - self.offset[0] + diffZ = pos[2] - (self.offset[2]-0.6) + self.prev_pos = [self.prev_pos[0] - diffX*0.1, self.prev_pos[1], self.prev_pos[2]-diffZ*0.1] + + + orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.]) + self.bullet_client.submitProfileTiming("IK") + jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul, + jr, rp, maxNumIterations=20) + self.bullet_client.submitProfileTiming() + for i in range(pandaNumDofs): + self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.) + #target for fingers + for i in [9,10]: + self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL,self.finger_target ,force= 10) + self.bullet_client.submitProfileTiming() + + +class PandaSimAuto(PandaSim): + def __init__(self, bullet_client, offset): + PandaSim.__init__(self, bullet_client, offset) + self.state_t = 0 + self.cur_state = 0 + self.states=[0,3,5,4,6,3,7] + self.state_durations=[1,1,1,2,1,1, 10] + + def update_state(self): + self.state_t += self.control_dt + if self.state_t > self.state_durations[self.cur_state]: + self.cur_state += 1 + if self.cur_state>=len(self.states): + self.cur_state = 0 + self.state_t = 0 + self.state=self.states[self.cur_state] + #print("self.state=",self.state)