def get_cube(_p, x, y, z):
body = _p.loadURDF(os.path.join(pybullet_data.getDataPath(), "cube_small.urdf"), [x, y, z])
_p.changeDynamics(body, -1, mass=1.2) #match Roboschool
part_name, _ = _p.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(_p, part_name, bodies, 0, -1)
def get_sphere(x, y, z):
body = p.loadURDF(
os.path.join(pybullet_data.getDataPath(), "sphere2red.urdf"), x, y, z)
part_name, _ = p.getBodyInfo(body, 0)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(part_name, bodies, 0, -1)
def get_sphere(_p, x, y, z):
body = _p.loadURDF(
os.path.join(pybullet_data.getDataPath(), "sphere2red_nocol.urdf"),
[x, y, z])
part_name, _ = _p.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(_p, part_name, bodies, 0, -1)
def get_sphere(_p, x, y, z):
body = _p.loadURDF(
os.path.join(os.path.join(os.path.dirname(__file__)),
"assets/ball_blue.urdf"), [x, y, z])
part_name, _ = _p.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(_p, part_name, bodies, 0, -1)
def get_cube(_p, x, y, z):
body = _p.loadURDF(
os.path.join(os.path.join(os.path.dirname(__file__)),
"assets/wall.urdf"), [x, y, z])
_p.changeDynamics(body, -1, mass=1.2) #match Roboschool
part_name, _ = _p.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(_p, part_name, bodies, 0, -1)
def get_object(bullet_client, object_file, x, y, z, roll=0, pitch=0, yaw=0):
position = [x, y, z]
orientation = bullet_client.getQuaternionFromEuler([roll, pitch, yaw])
body = bullet_client.loadURDF(
fileName=os.path.join(pybullet_data.getDataPath(), object_file),
basePosition=position,
baseOrientation=orientation,
useFixedBase=False,
flags=bullet_client.URDF_USE_INERTIA_FROM_FILE)
part_name, _ = bullet_client.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(bullet_client, part_name, bodies, 0, -1)
from robot_bases import XmlBasedRobot, MJCFBasedRobot, URDFBasedRobot