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Code Issues Releases Wiki Activity

add jointFrictionDamping.py example

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modify testrender.py to add shadow for tiny renderer
This commit is contained in:
Erwin Coumans 2017-10-23 12:25:04 -07:00
parent 618deae3e4
commit ca7d599838
2 changed files with 32 additions and 3 deletions
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28
examples/pybullet/examples/jointFrictionDamping.py Normal file
View File

@ -0,0 +1,28 @@
import pybullet as p
import time
p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.25])
minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf",useFixedBase=True)
print(p.getNumJoints(minitaur))
p.resetDebugVisualizerCamera(cameraDistance=1, cameraYaw=23.2, cameraPitch=-6.6,cameraTargetPosition=[-0.064,.621,-0.2])
motorJointId = 1
p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=100000,force=0)
p.resetJointState(minitaur,motorJointId,targetValue=0, targetVelocity=1)
angularDampingSlider = p.addUserDebugParameter("angularDamping", 0,1,0)
jointFrictionForceSlider = p.addUserDebugParameter("jointFrictionForce", 0,0.1,0)
textId = p.addUserDebugText("jointVelocity=0",[0,0,-0.2])
p.setRealTimeSimulation(1)
while (1):
frictionForce = p.readUserDebugParameter(jointFrictionForceSlider)
angularDamping = p.readUserDebugParameter(angularDampingSlider)
p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=0,force=frictionForce)
p.changeDynamics(minitaur,motorJointId,linearDamping=0, angularDamping=angularDamping)
time.sleep(0.01)
txt = "jointVelocity="+str(p.getJointState(minitaur,motorJointId)[1])
prevTextId = textId
textId = p.addUserDebugText(txt,[0,0,-0.2])
p.removeUserDebugItem(prevTextId)

7
examples/pybullet/examples/testrender.py
View File

@ -3,6 +3,7 @@ import matplotlib.pyplot as plt
import pybullet
pybullet.connect(pybullet.GUI)
pybullet.loadURDF("plane.urdf")
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0.,0.,0.]
@ -18,8 +19,8 @@ pixelWidth = 320
pixelHeight = 240
nearPlane = 0.01
farPlane = 1000
lightDirection = [0,1,0]
lightColor = [1,1,1]#optional argument
lightDirection = [0.4,0.4,0]
lightColor = [.3,.3,.3]#1,1,1]#optional argument
fov = 60
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
@ -30,7 +31,7 @@ for pitch in range (0,360,10) :
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
#getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor,renderer=pybullet.ER_TINY_RENDERER)
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightAmbientCoeff = 0.3, lightDiffuseCoeff = 0.4, shadow=1, renderer=pybullet.ER_TINY_RENDERER)
w=img_arr[0]
h=img_arr[1]
rgb=img_arr[2]