physicsClient = p.connect(p.GUI)
import pybullet_data
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
gravZ=-10
p.setGravity(0, 0, gravZ)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
clothId = p.loadSoftBody("cloth_z_up.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1,useMassSpring=1, springElasticStiffness=40, springDampingStiffness=.1, springDampingAllDirections = 1, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
p.createSoftBodyAnchor(clothId ,0,-1,-1)
p.createSoftBodyAnchor(clothId ,1,-1,-1)
p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0])
p.createSoftBodyAnchor(clothId ,2,boxId,-1, [-0.5,-0.5,0])
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
while p.isConnected():
p.setGravity(0,0,gravZ)
sleep(1./240.)
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.setGravity(0,0,-10)
planeId = p.loadURDF("plane.urdf")
bunnyId = p.loadSoftBody("bunny.obj")
useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
while 1:
if (useRealTimeSimulation):
p.setGravity(0,0,-10)
sleep(0.01) # Time in seconds.
else:
p.stepSimulation()
import pybullet as p
from time import sleep
import pybullet_data
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -10)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5, collisionMargin = 0.006)
p.setTimeStep(0.001)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "perf.json")
while p.isConnected():
p.setGravity(0,0,-10)
sleep(1./240.)
#p.resetSimulation()
#p.stopStateLogging(logId)
import pybullet as p
from time import sleep
import pybullet_data
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf", [0, 0, -2])
bunnyId = p.loadSoftBody("torus.vtk",
useNeoHookean=1,
NeoHookeanMu=60,
NeoHookeanLambda=200,
NeoHookeanDamping=0.01,
useSelfCollision=1,
frictionCoeff=0.5)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
while p.isConnected():
p.setGravity(0, 0, -10)
sleep(1. / 240.)
def startSim():
# create bodies
mod1 = p.loadURDF("cube_small.urdf", [
body_length / 2 + arm_width + arm_length + 0.07,
body_width / 2 - arm_width / 2, arm_height / 2
],
globalScaling=1. / sF)
p.changeVisualShape(mod1, -1, rgbaColor=[1, 0, 0, 1])
mod2 = p.loadURDF("cube_small.urdf", [
body_length / 2 + arm_width + arm_length + 0.07,
-body_width / 2 + arm_width / 2, arm_height / 2
],
globalScaling=1. / sF)
p.changeVisualShape(mod2, -1, rgbaColor=[0, 1, 0, 1])
mod3 = p.loadURDF("cube_small.urdf", [
-arm_length - body_length / 2 - arm_width / 2 - 0.10,
body_width / 2 - arm_width / 2, arm_height / 2
],
globalScaling=1. / sF)
p.changeVisualShape(mod3, -1, rgbaColor=[1, 0, 1, 1])
mod4 = p.loadURDF("cube_small.urdf", [
-arm_length - body_length / 2 - arm_width / 2 - 0.10,
-body_width / 2 + arm_width / 2, arm_height / 2
],
globalScaling=1. / sF)
p.changeVisualShape(mod4, -1, rgbaColor=[0, 0, 1, 1])
corrFac = 0.02
bodyId = p.loadURDF("body.urdf", [0, 0, body_height],
globalScaling=0.1 / sF)
armId1 = p.loadSoftBody("arm_hori.obj",
basePosition=[
body_length / 2 + arm_width / 2 + corrFac,
body_width / 2 - arm_width / 2, arm_height / 2
],
scale=0.01 / sF,
mass=1.,
useNeoHookean=1,
useBendingSprings=1,
useMassSpring=1,
springElasticStiffness=121,
springDampingStiffness=1,
springDampingAllDirections=1,
useSelfCollision=1,
frictionCoeff=0,
useFaceContact=1)
armId2 = p.loadSoftBody("arm_hori.obj",
basePosition=[
body_length / 2 + arm_width / 2 + corrFac,
-body_width / 2 + arm_width / 2, arm_height / 2
],
scale=0.01 / sF,
mass=1.,
useNeoHookean=1,
useBendingSprings=1,
useMassSpring=1,
springElasticStiffness=121,
springDampingStiffness=1,
springDampingAllDirections=0,
useSelfCollision=1,
frictionCoeff=0.1,
useFaceContact=1)
armId3 = p.loadSoftBody(
"arm_hori.obj",
basePosition=[
-arm_length - body_length / 2 - arm_width / 2 - corrFac,
body_width / 2 - arm_width / 2, arm_height / 2
],
scale=0.01 / sF,
mass=1.,
useNeoHookean=1,
useBendingSprings=1,
useMassSpring=1,
springElasticStiffness=121,
springDampingStiffness=1,
springDampingAllDirections=1,
useSelfCollision=1,
frictionCoeff=0,
useFaceContact=1)
armId4 = p.loadSoftBody(
"arm_hori.obj",
basePosition=[
-arm_length - body_length / 2 - arm_width / 2 - corrFac,
-body_width / 2 + arm_width / 2, arm_height / 2
],
scale=0.01 / sF,
mass=1.,
useNeoHookean=1,
useBendingSprings=1,
useMassSpring=1,
springElasticStiffness=121,
springDampingStiffness=1,
springDampingAllDirections=1,
useSelfCollision=1,
frictionCoeff=0,
useFaceContact=1)
p.changeVisualShape(bodyId,
-1,
rgbaColor=[160 / 255, 69 / 255, 19 / 255, 1])
#p.changeVisualShape(armId1,-1,rgbaColor=[0,0,0,0.8])
#p.changeVisualShape(armId2,-1,rgbaColor=[0,0,0,0.8])
#p.changeVisualShape(armId3,-1,rgbaColor=[0,0,0,0.8])
#p.changeVisualShape(armId4,-1,rgbaColor=[0,0,0,0.8])
# attach bodies
p.createSoftBodyAnchor(armId1, 7, bodyId, -1)
p.createSoftBodyAnchor(armId1, 8, bodyId, -1)
p.createSoftBodyAnchor(armId1, 16, bodyId, -1)
p.createSoftBodyAnchor(armId1, 17, bodyId, -1)
p.createSoftBodyAnchor(armId2, 7, bodyId, -1)
p.createSoftBodyAnchor(armId2, 8, bodyId, -1)
p.createSoftBodyAnchor(armId2, 16, bodyId, -1)
p.createSoftBodyAnchor(armId2, 17, bodyId, -1)
p.createSoftBodyAnchor(armId3, 0, bodyId, -1)
p.createSoftBodyAnchor(armId3, 1, bodyId, -1)
p.createSoftBodyAnchor(armId3, 2, bodyId, -1)
p.createSoftBodyAnchor(armId3, 3, bodyId, -1)
p.createSoftBodyAnchor(armId4, 0, bodyId, -1)
p.createSoftBodyAnchor(armId4, 1, bodyId, -1)
p.createSoftBodyAnchor(armId4, 2, bodyId, -1)
p.createSoftBodyAnchor(armId4, 3, bodyId, -1)
p.createSoftBodyAnchor(armId1, 0, mod1, -1)
p.createSoftBodyAnchor(armId1, 1, mod1, -1)
p.createSoftBodyAnchor(armId1, 2, mod1, -1)
p.createSoftBodyAnchor(armId1, 3, mod1, -1)
p.createSoftBodyAnchor(armId2, 0, mod2, -1)
p.createSoftBodyAnchor(armId2, 1, mod2, -1)
p.createSoftBodyAnchor(armId2, 2, mod2, -1)
p.createSoftBodyAnchor(armId2, 3, mod2, -1)
p.createSoftBodyAnchor(armId3, 7, mod3, -1)
p.createSoftBodyAnchor(armId3, 8, mod3, -1)
p.createSoftBodyAnchor(armId3, 16, mod3, -1)
p.createSoftBodyAnchor(armId3, 17, mod3, -1)
p.createSoftBodyAnchor(armId4, 7, mod4, -1)
p.createSoftBodyAnchor(armId4, 8, mod4, -1)
p.createSoftBodyAnchor(armId4, 16, mod4, -1)
p.createSoftBodyAnchor(armId4, 17, mod4, -1)
modList = [mod1, mod2, mod3, mod4]
return modList, bodyId
-arm_length - body_length / 2 - arm_width / 2 - 0.75,
-body_width / 2 + arm_width / 2, arm_height / 2
],
globalScaling=5)
p.changeVisualShape(mod4, -1, rgbaColor=[0, 0, 1, 1])
corrFac = 0.05
bodyId = p.loadURDF("body.urdf", [0, 0, 2.5])
armId1 = p.loadSoftBody("arm_hori.obj",
basePosition=[
body_length / 2 + arm_width / 2 + corrFac,
body_width / 2 - arm_width / 2, arm_height / 2
],
scale=0.1,
mass=1.,
useNeoHookean=1,
useBendingSprings=1,
useMassSpring=1,
springElasticStiffness=121,
springDampingStiffness=1,
springDampingAllDirections=1,
useSelfCollision=1,
frictionCoeff=0.2,
useFaceContact=1)
armId2 = p.loadSoftBody("arm_hori.obj",
basePosition=[
body_length / 2 + arm_width / 2 + corrFac,
-body_width / 2 + arm_width / 2, arm_height / 2
],
scale=0.1,
mass=1.,
useNeoHookean=1,
p.changeDynamics(botId, i, mass=0.1)
p.setJointMotorControl2(bodyUniqueId=botId,
jointIndex=i,
controlMode=p.VELOCITY_CONTROL,
targetVelocity=1,
force=100)
print(i, p.getJointInfo(botId, i))
#softId = p.loadSoftBody("torus.vtk", useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, useSelfCollision = 1, frictionCoeff = 0.5)
softId = p.loadSoftBody("tube.vtk", [0, 0, 0],
mass=10,
useNeoHookean=0,
NeoHookeanMu=600,
NeoHookeanLambda=200,
NeoHookeanDamping=0.01,
useSelfCollision=0,
frictionCoeff=0.5,
springElasticStiffness=500,
springDampingStiffness=50,
springBendingStiffness=50,
useMassSpring=1,
useBendingSprings=1,
collisionMargin=0.05)
# softId2 = p.loadSoftBody("tube.vtk", [0, 0, 2], mass=10, useNeoHookean = 0, NeoHookeanMu = 600, NeoHookeanLambda = 200,
# NeoHookeanDamping = 0.01, useSelfCollision = 0, frictionCoeff = 0.5,
# springElasticStiffness=500, springDampingStiffness=50, springBendingStiffness=50,
# useMassSpring=1, useBendingSprings=1, collisionMargin=0.1)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(0)
np.set_printoptions(precision=4, suppress=True)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.resetDebugVisualizerCamera(3, -420, -30, [0.3, 0.9, -2])
p.setGravity(0, 0, -10)
tex = p.loadTexture("uvmap.png")
planeId = p.loadURDF("plane.urdf", [0, 0, -2])
boxId = p.loadURDF("cube.urdf", [0, 3, 2], useMaximalCoordinates=True)
bunnyId = p.loadSoftBody("torus/torus_textured.obj",
simFileName="torus.vtk",
mass=3,
useNeoHookean=1,
NeoHookeanMu=180,
NeoHookeanLambda=600,
NeoHookeanDamping=0.01,
collisionMargin=0.006,
useSelfCollision=1,
frictionCoeff=0.5,
repulsionStiffness=800)
p.changeVisualShape(bunnyId,
-1,
rgbaColor=[1, 1, 1, 1],
textureUniqueId=tex,
flags=0)
bunny2 = p.loadURDF("torus_deform.urdf", [0, 1, 0.2],
flags=p.URDF_USE_SELF_COLLISION)
p.changeVisualShape(bunny2,
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf", [0, 0, -2])
boxId = p.loadURDF("cube.urdf", [0, 3, 2], useMaximalCoordinates=True)
bunnyId = p.loadSoftBody("bunny.obj") #.obj")#.vtk")
#meshData = p.getMeshData(bunnyId)
#print("meshData=",meshData)
#p.loadURDF("cube_small.urdf", [1, 0, 1])
useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
print(p.getDynamicsInfo(planeId, -1))
#print(p.getDynamicsInfo(bunnyId, 0))
print(p.getDynamicsInfo(boxId, -1))
p.changeDynamics(boxId, -1, mass=10)
while p.isConnected():
p.setGravity(0, 0, -10)
if (useRealTimeSimulation):
sleep(0.01) # Time in seconds.
#p.getCameraImage(320,200,renderer=p.ER_BULLET_HARDWARE_OPENGL )
else:
p.stepSimulation()
