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https://github.com/bulletphysics/bullet3
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124 lines
4.2 KiB
Python
124 lines
4.2 KiB
Python
import unittest
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import pybullet
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import time
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from utils import allclose, dot
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class TestPybulletMethods(unittest.TestCase):
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def test_import(self):
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import pybullet as p
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self.assertGreater(p.getAPIVersion(), 201700000)
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def test_connect_direct(self):
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import pybullet as p
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cid = p.connect(p.DIRECT)
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self.assertEqual(cid, 0)
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p.disconnect()
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def test_loadurdf(self):
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import pybullet as p
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p.connect(p.DIRECT)
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ob = p.loadURDF("r2d2.urdf")
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self.assertEqual(ob, 0)
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p.disconnect()
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def test_rolling_friction(self):
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import pybullet as p
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p.connect(p.DIRECT)
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p.loadURDF("plane.urdf")
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sphere = p.loadURDF("sphere2.urdf", [0, 0, 1])
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p.resetBaseVelocity(sphere, linearVelocity=[1, 0, 0])
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p.changeDynamics(sphere, -1, linearDamping=0, angularDamping=0)
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#p.changeDynamics(sphere,-1,rollingFriction=0)
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p.setGravity(0, 0, -10)
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for i in range(1000):
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p.stepSimulation()
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vel = p.getBaseVelocity(sphere)
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self.assertLess(vel[0][0], 1e-10)
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self.assertLess(vel[0][1], 1e-10)
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self.assertLess(vel[0][2], 1e-10)
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self.assertLess(vel[1][0], 1e-10)
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self.assertLess(vel[1][1], 1e-10)
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self.assertLess(vel[1][2], 1e-10)
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p.disconnect()
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class TestPybulletJacobian(unittest.TestCase):
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def getMotorJointStates(self, robot):
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import pybullet as p
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joint_states = p.getJointStates(robot, range(p.getNumJoints(robot)))
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joint_infos = [p.getJointInfo(robot, i) for i in range(p.getNumJoints(robot))]
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joint_states = [j for j, i in zip(joint_states, joint_infos) if i[3] > -1]
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joint_positions = [state[0] for state in joint_states]
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joint_velocities = [state[1] for state in joint_states]
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joint_torques = [state[3] for state in joint_states]
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return joint_positions, joint_velocities, joint_torques
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def setJointPosition(self, robot, position, kp=1.0, kv=0.3):
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import pybullet as p
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num_joints = p.getNumJoints(robot)
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zero_vec = [0.0] * num_joints
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if len(position) == num_joints:
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p.setJointMotorControlArray(robot,
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range(num_joints),
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p.POSITION_CONTROL,
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targetPositions=position,
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targetVelocities=zero_vec,
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positionGains=[kp] * num_joints,
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velocityGains=[kv] * num_joints)
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def testJacobian(self):
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import pybullet as p
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clid = p.connect(p.SHARED_MEMORY)
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if (clid < 0):
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p.connect(p.DIRECT)
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time_step = 0.001
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gravity_constant = -9.81
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urdfs = [
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"TwoJointRobot_w_fixedJoints.urdf", "TwoJointRobot_w_fixedJoints.urdf",
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"kuka_iiwa/model.urdf", "kuka_lwr/kuka.urdf"
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]
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for urdf in urdfs:
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p.resetSimulation()
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p.setTimeStep(time_step)
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p.setGravity(0.0, 0.0, gravity_constant)
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robotId = p.loadURDF(urdf, useFixedBase=True)
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p.resetBasePositionAndOrientation(robotId, [0, 0, 0], [0, 0, 0, 1])
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numJoints = p.getNumJoints(robotId)
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endEffectorIndex = numJoints - 1
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# Set a joint target for the position control and step the sim.
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self.setJointPosition(robotId, [0.1 * (i % 3) for i in range(numJoints)])
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p.stepSimulation()
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# Get the joint and link state directly from Bullet.
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mpos, mvel, mtorq = self.getMotorJointStates(robotId)
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result = p.getLinkState(robotId,
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endEffectorIndex,
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computeLinkVelocity=1,
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computeForwardKinematics=1)
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link_trn, link_rot, com_trn, com_rot, frame_pos, frame_rot, link_vt, link_vr = result
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# Get the Jacobians for the CoM of the end-effector link.
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# Note that in this example com_rot = identity, and we would need to use com_rot.T * com_trn.
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# The localPosition is always defined in terms of the link frame coordinates.
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zero_vec = [0.0] * len(mpos)
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jac_t, jac_r = p.calculateJacobian(robotId, endEffectorIndex, com_trn, mpos, zero_vec,
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zero_vec)
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assert (allclose(dot(jac_t, mvel), link_vt))
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assert (allclose(dot(jac_r, mvel), link_vr))
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p.disconnect()
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if __name__ == '__main__':
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unittest.main()
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