{
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"display_name": "Python 3",
"name": "python3"
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"colab": {
"name": "HelloPyBullet.ipynb",
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"cells": [
{
"cell_type": "markdown",
"metadata": {
"id": "view-in-github"
},
"source": [
"![\"Open](\"https://colab.research.google.com/assets/colab-badge.svg\")
"
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "NTwYntjmAJOg"
},
"source": [
"# Hello PyBullet!\n",
"\n",
"This notebook shows how to install and create a simple application on PyBullet."
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "AAAUJ8y0BjBs"
},
"source": [
"## Setup\n",
"\n",
"First, let's install the [PyBullet](https://pybullet.org/wordpress/) module.\n"
]
},
{
"cell_type": "code",
"metadata": {
"id": "xyDqmV_YitDg"
},
"source": [
"# Install the PyBullet module.\n",
"!pip install -U pybullet"
],
"execution_count": null,
"outputs": []
},
{
"cell_type": "markdown",
"metadata": {
"id": "INLvCOjvEfSl"
},
"source": [
"## Hello PyBullet World!\n",
"\n",
"This is based on the\n",
"[PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit?usp=sharing).\n",
"\n",
"After importing the PyBullet module, the first thing to do is 'connecting' to the physics simulation.\n",
"PyBullet is designed around a client-server driven API, with a client sending commands and a physics server returning the status.\n",
"\n",
"PyBullet has some built-in physics servers: `DIRECT` and `GUI`.\n",
"Both `GUI` and `DIRECT` connections will execute the physics simulation and rendering in the same process as PyBullet.\n",
"\n",
"In this example, we'll use the `DIRECT` mode to do the calculations independently of rendering."
]
},
{
"cell_type": "code",
"metadata": {
"id": "ZgNi0AkOipoQ",
"outputId": "0504f7c7-b028-4388-a2d0-7b224d348561",
"colab": {
"base_uri": "https://localhost:8080/",
"height": 34
}
},
"source": [
"import pybullet as p\n",
"\n",
"p.connect(p.DIRECT)"
],
"execution_count": null,
"outputs": [
{
"output_type": "execute_result",
"data": {
"text/plain": [
"0"
]
},
"metadata": {
"tags": []
},
"execution_count": 3
}
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "V1nNu07MG7kR"
},
"source": [
"We want to access the example\n",
"[Bullet data](https://github.com/bulletphysics/bullet3/tree/master/data)\n",
"files.\n",
"Fortunately, we can specify a new search path in PyBullet and point it to the `py_bullet_data.getDataPath()`."
]
},
{
"cell_type": "code",
"metadata": {
"id": "FW-AXeioHrU4"
},
"source": [
"import pybullet_data\n",
"\n",
"p.setAdditionalSearchPath(pybullet_data.getDataPath())"
],
"execution_count": null,
"outputs": []
},
{
"cell_type": "markdown",
"metadata": {
"id": "6fb-HzCsH6Fs"
},
"source": [
"Now, we can load models from the example data in the\n",
"[Unified Robot Description Format (URDF)](https://wiki.ros.org/urdf) format.\n",
"\n",
"Let's load a `plane` to serve as our simulation floor plane,\n",
"and an [R2D2 droid](https://en.wikipedia.org/wiki/R2-D2).\n",
"\n",
"In Bullet Physics, you can use whatever units you want as long as you are consistent.\n",
"For this example, we'll use the\n",
"[metric system](https://en.wikipedia.org/wiki/Metric_system)."
]
},
{
"cell_type": "code",
"metadata": {
"id": "4UHhYcEgipoX",
"outputId": "eff70421-0b77-4ba0-e8a9-5777e1519f5c",
"colab": {
"base_uri": "https://localhost:8080/",
"height": 34
}
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"source": [
"# First, let's make sure we start with a fresh new simulation.\n",
"# Otherwise, we can keep adding objects by running this cell over again.\n",
"p.resetSimulation()\n",
"\n",
"# Load our simulation floor plane at the origin (0, 0, 0).\n",
"p.loadURDF('plane.urdf')\n",
"\n",
"# Load an R2D2 droid at the position at 0.5 meters height in the z-axis.\n",
"r2d2 = p.loadURDF('r2d2.urdf', [0, 0, 0.5])\n",
"\n",
"# We can check the number of bodies we have in the simulation.\n",
"p.getNumBodies()"
],
"execution_count": null,
"outputs": [
{
"output_type": "execute_result",
"data": {
"text/plain": [
"2"
]
},
"metadata": {
"tags": []
},
"execution_count": 5
}
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "5mafnqVkJu67"
},
"source": [
"### Joint information\n",
"\n",
"Now that we've populated our simulation with those two objects,\n",
"we can analyze them to see what's inside.\n",
"\n",
"The [`getJointInfo()`](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit?usp=sharing#heading=h.la294ocbo43o)\n",
"function returns a list of all the information from the selected joint."
]
},
{
"cell_type": "code",
"metadata": {
"id": "TkIm1cG-ipof",
"outputId": "7d4c394c-2f1c-437f-d836-4c370b9a45a1",
"colab": {
"base_uri": "https://localhost:8080/",
"height": 309
}
},
"source": [
"# First let's define a class for the JointInfo.\n",
"from dataclasses import dataclass\n",
"\n",
"@dataclass\n",
"class Joint:\n",
" index: int\n",
" name: str\n",
" type: int\n",
" gIndex: int\n",
" uIndex: int\n",
" flags: int\n",
" damping: float\n",
" friction: float\n",
" lowerLimit: float\n",
" upperLimit: float\n",
" maxForce: float\n",
" maxVelocity: float\n",
" linkName: str\n",
" axis: tuple\n",
" parentFramePosition: tuple\n",
" parentFrameOrientation: tuple\n",
" parentIndex: int\n",
"\n",
" def __post_init__(self):\n",
" self.name = str(self.name, 'utf-8')\n",
" self.linkName = str(self.linkName, 'utf-8')\n",
"\n",
"# Let's analyze the R2D2 droid!\n",
"print(f\"r2d2 unique ID: {r2d2}\")\n",
"for i in range(p.getNumJoints(r2d2)):\n",
" joint = Joint(*p.getJointInfo(r2d2, i))\n",
" print(joint)"
],
"execution_count": null,
"outputs": [
{
"output_type": "stream",
"text": [
"r2d2 unique ID: 1\n",
"Joint(index=0, name='base_to_right_leg', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='right_leg', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.22, 0.0, 0.25), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=-1)\n",
"Joint(index=1, name='right_base_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='right_base', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.2999999996780742, 0.0, -1.3898038463944216e-05), parentFrameOrientation=(0.0, 0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=0)\n",
"Joint(index=2, name='right_front_wheel_joint', type=0, gIndex=7, uIndex=6, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='right_front_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, 0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=1)\n",
"Joint(index=3, name='right_back_wheel_joint', type=0, gIndex=8, uIndex=7, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='right_back_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, -0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=1)\n",
"Joint(index=4, name='base_to_left_leg', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='left_leg', axis=(0.0, 0.0, 0.0), parentFramePosition=(-0.22, 0.0, 0.25), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=-1)\n",
"Joint(index=5, name='left_base_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='left_base', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.2999999996780742, 0.0, -1.3898038463944216e-05), parentFrameOrientation=(0.0, 0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=4)\n",
"Joint(index=6, name='left_front_wheel_joint', type=0, gIndex=9, uIndex=8, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='left_front_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, 0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=5)\n",
"Joint(index=7, name='left_back_wheel_joint', type=0, gIndex=10, uIndex=9, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='left_back_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, -0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=5)\n",
"Joint(index=8, name='gripper_extension', type=1, gIndex=11, uIndex=10, flags=1, damping=0.0, friction=0.0, lowerLimit=-0.38, upperLimit=0.0, maxForce=1000.0, maxVelocity=0.5, linkName='gripper_pole', axis=(1.0, 0.0, 0.0), parentFramePosition=(0.0, 0.19, 0.2), parentFrameOrientation=(0.0, 0.0, -0.7070904020014416, 0.7071231599922604), parentIndex=-1)\n",
"Joint(index=9, name='left_gripper_joint', type=0, gIndex=12, uIndex=11, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=0.548, maxForce=1000.0, maxVelocity=0.5, linkName='left_gripper', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.2, 0.02, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=8)\n",
"Joint(index=10, name='left_tip_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='left_tip', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.0, 0.0, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=9)\n",
"Joint(index=11, name='right_gripper_joint', type=0, gIndex=13, uIndex=12, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=0.548, maxForce=1000.0, maxVelocity=0.5, linkName='right_gripper', axis=(0.0, 0.0, -1.0), parentFramePosition=(0.2, -0.02, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=8)\n",
"Joint(index=12, name='right_tip_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='right_tip', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.0, 0.0, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=11)\n",
"Joint(index=13, name='head_swivel', type=0, gIndex=14, uIndex=13, flags=1, damping=0.0, friction=0.0, lowerLimit=-0.38, upperLimit=0.0, maxForce=1000.0, maxVelocity=0.5, linkName='head', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, 0.0, 0.3), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=-1)\n",
"Joint(index=14, name='tobox', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='box', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.0, 0.1214, 0.1214), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=13)\n"
],
"name": "stdout"
}
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "lTxQQmc_Vrue"
},
"source": [
"To start the simulation, first we must set the gravity.\n",
"We'll use [Earth's gravity](http://www.geophys.ac.cn/infowin/Gravity.asp) for convenience, so we'll set it up to `-9.807` m/s2."
]
},
{
"cell_type": "code",
"metadata": {
"id": "RMZKELbripoh",
"outputId": "83e73cf7-05d0-48bc-ca81-43ecee066918",
"colab": {
"base_uri": "https://localhost:8080/",
"height": 357
}
},
"source": [
"# Set the gravity to Earth's gravity.\n",
"p.setGravity(0, 0, -9.807)\n",
"\n",
"# Run the simulation for a fixed amount of steps.\n",
"for i in range(20):\n",
" position, orientation = p.getBasePositionAndOrientation(r2d2)\n",
" x, y, z = position\n",
" roll, pitch, yaw = p.getEulerFromQuaternion(orientation)\n",
" print(f\"{i:3}: x={x:0.10f}, y={y:0.10f}, z={z:0.10f}), roll={roll:0.10f}, pitch={pitch:0.10f}, yaw={yaw:0.10f}\")\n",
" p.stepSimulation()"
],
"execution_count": null,
"outputs": [
{
"output_type": "stream",
"text": [
" 0: x=0.0000000000, y=0.0000000000, z=0.5000000000), roll=0.0000000000, pitch=-0.0000000000, yaw=0.0000000000\n",
" 1: x=-0.0000000000, y=0.0000000000, z=0.4998297396), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 2: x=-0.0000000000, y=0.0000000000, z=0.4994892187), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 3: x=-0.0000000000, y=0.0000000000, z=0.4989784375), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 4: x=-0.0000000000, y=0.0000000000, z=0.4982973958), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 5: x=-0.0000000000, y=0.0000000000, z=0.4974460937), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 6: x=-0.0000000000, y=0.0000000000, z=0.4964245312), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 7: x=-0.0000000000, y=0.0000000000, z=0.4952327083), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 8: x=-0.0000000000, y=0.0000000000, z=0.4938706250), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 9: x=-0.0000000000, y=0.0000000000, z=0.4923382813), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 10: x=-0.0000000000, y=0.0000000000, z=0.4906356771), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 11: x=-0.0000000000, y=0.0000000000, z=0.4887628125), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 12: x=-0.0000000000, y=0.0000000000, z=0.4867196875), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 13: x=-0.0000000000, y=0.0000000000, z=0.4845063021), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 14: x=-0.0000000000, y=0.0000000000, z=0.4821226563), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 15: x=-0.0000000000, y=0.0000000000, z=0.4795687500), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 16: x=-0.0000000000, y=0.0000000000, z=0.4768445833), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 17: x=-0.0000000000, y=0.0000000000, z=0.4739501562), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 18: x=-0.0000000000, y=0.0000000000, z=0.4708854687), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000\n",
" 19: x=0.0000001305, y=-0.0000077238, z=0.4708941546), roll=0.0000021144, pitch=0.0000002247, yaw=0.0000001176\n"
],
"name": "stdout"
}
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "y8fiKPz8-aOp"
},
"source": [
"### Rendering\n",
"\n",
"The [`getCameraImage`](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit?usp=sharing#heading=h.u1jisfnt6984)\n",
"API will return a RGB image, a depth buffer and a segmentation mask buffer with body unique ids of visible objects for each pixel"
]
},
{
"cell_type": "code",
"metadata": {
"id": "tHb7uAveipon",
"outputId": "a24111c3-a1da-4bf3-b3f0-403661114c7d",
"colab": {
"base_uri": "https://localhost:8080/",
"height": 685
}
},
"source": [
"import numpy as np\n",
"from PIL import Image\n",
"from IPython.display import display\n",
"\n",
"width = 320\n",
"height = 200\n",
"img_arr = p.getCameraImage(\n",
" width,\n",
" height,\n",
" viewMatrix=p.computeViewMatrixFromYawPitchRoll(\n",
" cameraTargetPosition=[0, 0, 0],\n",
" distance=4,\n",
" yaw=60,\n",
" pitch=-10,\n",
" roll=0,\n",
" upAxisIndex=2,\n",
" ),\n",
" projectionMatrix=p.computeProjectionMatrixFOV(\n",
" fov=60,\n",
" aspect=width/height,\n",
" nearVal=0.01,\n",
" farVal=100,\n",
" ),\n",
" shadow=True,\n",
" lightDirection=[1, 1, 1],\n",
")\n",
"\n",
"width, height, rgba, depth, mask = img_arr\n",
"print(f\"rgba shape={rgba.shape}, dtype={rgba.dtype}\")\n",
"display(Image.fromarray(rgba, 'RGBA'))\n",
"print(f\"depth shape={depth.shape}, dtype={depth.dtype}, as values from 0.0 (near) to 1.0 (far)\")\n",
"display(Image.fromarray((depth*255).astype('uint8')))\n",
"print(f\"mask shape={mask.shape}, dtype={mask.dtype}, as unique values from 0 to N-1 entities, and -1 as None\")\n",
"display(Image.fromarray(np.interp(mask, (-1, mask.max()), (0, 255)).astype('uint8')))"
],
"execution_count": null,
"outputs": [
{
"output_type": "stream",
"text": [
"image size: 320x200\n",
"rgba shape=(200, 320, 4) dtype=uint8\n"
],
"name": "stdout"
},
{
"output_type": "display_data",
"data": {
"image/png": 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"text/plain": [
""
]
},
"metadata": {
"tags": []
}
},
{
"output_type": "stream",
"text": [
"depth shape=(200, 320) dtype=float32 as values from 0.0 (near) to 1.0 (far)\n"
],
"name": "stdout"
},
{
"output_type": "display_data",
"data": {
"image/png": "iVBORw0KGgoAAAANSUhEUgAAAUAAAADICAAAAAC8b2d3AAACIUlEQVR4nO3bwWqDQBRAUS35/0+u\nXQQKxYaWXInPcM7CrcPlzcgsXLeF4uPsBVydgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCR\ngJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGA\nkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGA0e3sBfxhW5Z1W5ZlWc9eyQOzA27fj7FGb+HZ6e4mB7xC\nv8kBf/SbegRODngNAkbr1INmv66Zu9gERtcJOHMAxwbc7+Bt5mEz+yayM+9WN3UCfzdwCK81gaNm\n7+5aEziQgNG1tvB/D8EXbvXzbiJnvfjguIcEHPhxfM4TcfcB36bGwR7EXT9fu4y34yscCRgJGAkY\nCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJGAkYCRgJ\nGAkYCRgJGAkYCRgJGN38V9OYwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjA\nSMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjAyP/C\nkQmMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASMBIwEjASM\nBIwEjASMBIwEjL4AhNEaimX6vcQAAAAASUVORK5CYII=\n",
"text/plain": [
""
]
},
"metadata": {
"tags": []
}
},
{
"output_type": "stream",
"text": [
"mask shape=(200, 320) dtype=int32 as unique values from 0 to N-1 entities, and -1 as None\n"
],
"name": "stdout"
},
{
"output_type": "display_data",
"data": {
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"text/plain": [
""
]
},
"metadata": {
"tags": []
}
}
]
}
]
}