def load_model(self, path, pose=None, fixed_base=True, scaling=1.0):
"""
Load the objects in the scene
:param path: str
Path to the object
:param pose: Pose
Position and Quaternion
:param fixed_base: str
Fixed in the scene
:param scaling: float
Scale object
:return: int
ID of the loaded object
"""
if path.endswith('.urdf'):
body = p.loadURDF(path, useFixedBase=fixed_base, flags=0, globalScaling=scaling,
physicsClientId=self.client_id)
elif path.endswith('.sdf'):
body = p.loadSDF(path, physicsClientId=self.client_id)
elif path.endswith('.xml'):
body = p.loadMJCF(path, physicsClientId=self.client_id)
elif path.endswith('.bullet'):
body = p.loadBullet(path, physicsClientId=self.client_id)
else:
raise ValueError(path)
if pose is not None:
self.set_pose(body, pose)
return body
def __init__(self, path, axis, angle):
self.orientation = [0, 0, 0]
self.orientation[axis] = angle * 2 * 3.14159 / 360
self.position = [0, 0, 0]
self.path = path
self.wobble_counter = 0
self.wobble_direction = 1
if '.urdf' in self.path:
self.ID = p.loadURDF(self.path, self.position,
p.getQuaternionFromEuler(self.orientation))
elif '.sdf' in self.path:
self.ID = p.loadSDF(self.path)
elif '.bullet' in self.path:
self.ID = p.loadBullet(self.path)
elif '.mjcf' in self.path:
self.ID = p.loadMJCF(self.path)
def load_pybullet(filename, fixed_base=False, scale=1., **kwargs):
# fixed_base=False implies infinite base mass
with LockRenderer():
if filename.endswith('.urdf'):
flags = get_urdf_flags(**kwargs)
body = p.loadURDF(filename, useFixedBase=fixed_base, flags=flags,
globalScaling=scale, physicsClientId=CLIENT)
elif filename.endswith('.sdf'):
body = p.loadSDF(filename, physicsClientId=CLIENT)
elif filename.endswith('.xml'):
body = p.loadMJCF(filename, physicsClientId=CLIENT)
elif filename.endswith('.bullet'):
body = p.loadBullet(filename, physicsClientId=CLIENT)
elif filename.endswith('.obj'):
# TODO: fixed_base => mass = 0?
body = create_obj(filename, scale=scale, **kwargs)
else:
raise ValueError(filename)
INFO_FROM_BODY[CLIENT, body] = ModelInfo(None, filename, fixed_base, scale)
return body
def load_model(rel_path, pose=None, fixed_base=True):
# TODO: error with loadURDF when loading MESH visual and CYLINDER collision
abs_path = rel_path #get_model_path(rel_path)
flags = 0 # by default, Bullet disables self-collision
# add_data_path()
if abs_path.endswith('.urdf'):
body = p.loadURDF(abs_path,
useFixedBase=fixed_base,
flags=flags,
physicsClientId=CLIENT)
elif abs_path.endswith('.sdf'):
body = p.loadSDF(abs_path, physicsClientId=CLIENT)
elif abs_path.endswith('.xml'):
body = p.loadMJCF(abs_path, physicsClientId=CLIENT)
elif abs_path.endswith('.bullet'):
body = p.loadBullet(abs_path, physicsClientId=CLIENT)
else:
raise ValueError(abs_path)
if pose is not None:
set_pose(body, pose)
# BODIES[CLIENT][body] = URDFInfo(None, abs_path)
return body
def __init__(self,
description_path,
uid=None,
config=None,
realtime_sim=False):
"""
:param description_path: path to description file (urdf, .bullet, etc.)
:param config: optional config file for specifying robot information
:param uid: optional server id of bullet
:type description_path: str
:type config: dict
:type uid: int
"""
# if uid is None:
# uid = pb.connect(pb.SHARED_MEMORY)
# if uid < 0:
uid = pb.connect(pb.GUI_SERVER)
self._uid = uid
pb.resetSimulation(physicsClientId=self._uid)
extension = description_path.split('.')[-1]
if extension == "urdf":
robot_id = pb.loadURDF(description_path,
useFixedBase=True,
physicsClientId=self._uid)
elif extension == 'sdf':
robot_id = pb.loadSDF(description_path,
useFixedBase=True,
physicsClientId=self._uid)
elif extension == 'bullet':
robot_id = pb.loadBullet(description_path,
useFixedBase=True,
physicsClientId=self._uid)
else:
robot_id = pb.loadMJCF(description_path,
useFixedBase=True,
physicsClientId=self._uid)
self._id = robot_id
pb.setGravity(0.0, 0.0, 0.0, physicsClientId=self._uid)
if realtime_sim:
pb.setRealTimeSimulation(1, physicsClientId=self._uid)
pb.setTimeStep(0.01, physicsClientId=self._uid)
self._rt_sim = realtime_sim
self._all_joints = np.array(
range(pb.getNumJoints(self._id, physicsClientId=self._uid)))
self._movable_joints = self.get_movable_joints()
self._nu = len(self._movable_joints)
self._nq = self._nu
joint_information = self.get_joint_info()
self._all_joint_names = [
info['jointName'].decode("utf-8") for info in joint_information
]
self._all_joint_dict = dict(
zip(self._all_joint_names, self._all_joints))
if config is not None and config['ee_link_name'] is not None:
self._ee_link_name = config['ee_link_name']
self._ee_link_idx = config['ee_link_idx']
else:
self._ee_link_idx, self._ee_link_name = self._use_last_defined_link(
)
self._joint_limits = self.get_joint_limits()
self._ft_joints = [self._all_joints[-1]]
# by default, set FT sensor at last fixed joint
self.set_ft_sensor_at(self._ft_joints[0])
import pybullet as p
import time
timeStep = 0.01
c = -1
if (c < 0):
c = p.connect(p.GUI)
p.resetSimulation()
p.setTimeStep(timeStep)
p.loadBullet("spider.bullet")
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
while True:
print("TEST")
def __init__(self, description_path, uid=None, config=None):
"""
@param robot_description: path to description file (urdf, .bullet, etc.)
@param config : optional config file for specifying robot information
@param uid : optional server id of bullet
@type robot_description : str
@type config : dict
@type uid : int
"""
if uid is None:
uid = pb.connect(pb.SHARED_MEMORY)
if uid < 0:
uid = pb.connect(pb.GUI_SERVER)
self._uid = uid
pb.resetSimulation(physicsClientId=self._uid)
extension = description_path.split('.')[-1]
if extension == "urdf":
robot_id = pb.loadURDF(description_path,
useFixedBase=True,
physicsClientId=self._uid)
elif extension == 'sdf':
robot_id = pb.loadSDF(description_path,
useFixedBase=True,
physicsClientId=self._uid)
elif extension == 'bullet':
robot_id = pb.loadBullet(description_path,
useFixedBase=True,
physicsClientId=self._uid)
else:
robot_id = pb.loadMJCF(description_path,
useFixedBase=True,
physicsClientId=self._uid)
self._id = robot_id
pb.setGravity(0.0, 0.0, -9.8, physicsClientId=self._uid)
pb.setRealTimeSimulation(1, physicsClientId=self._uid)
pb.setTimeStep(0.01, physicsClientId=self._uid)
self._all_joints = np.array(
range(pb.getNumJoints(self._id, physicsClientId=self._uid)))
self._movable_joints = self.get_movable_joints()
self._nu = len(self._movable_joints)
self._nq = self._nu
joint_information = self.get_joint_info()
self._all_joint_names = [
info['jointName'] for info in joint_information
]
self._all_joint_dict = dict(
zip(self._all_joint_names, self._all_joints))
if config is not None and config['ee_link_name'] is not None:
self._ee_link_name = config['ee_link_name']
self._ee_link_idx = config['ee_link_idx']
else:
self._ee_link_idx, self._ee_link_name = self._use_last_defined_link(
)
self._joint_limits = self.get_joint_limits()
import pybullet as p
import time
timeStep = 0.01
c = -1
if (c<0):
c = p.connect(p.GUI)
p.resetSimulation()
p.setTimeStep(timeStep)
p.loadURDF("plane/plane.urdf")
p.loadBullet("slope.bullet")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
while True:
continue
import pybullet as p
import time
import math
p.connect(p.GUI)
plane = p.createCollisionShape(p.GEOM_PLANE)
p.createMultiBody(0, plane)
sphereUid = p.loadBullet("snakebot_simple.bullet")
sphereRadius = 0.05
dt = 1. / 240.
SNAKE_NORMAL_PERIOD = 0.1 # 1.5
m_wavePeriod = SNAKE_NORMAL_PERIOD
m_waveLength = 4
m_wavePeriod = 1.5
m_waveAmplitude = 0.4
m_waveFront = 0.0
# our steering value
m_steering = 0.0
m_segmentLength = sphereRadius * 2.0
forward = 0
while (1):
keys = p.getKeyboardEvents()
for k, v in keys.items():
if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_TRIGGERED)):
m_steering = -.2
import pybullet as p
import time
timeStep = 0.01
c = -1
if (c<0):
c = p.connect(p.GUI)
p.resetSimulation()
p.setTimeStep(timeStep)
p.loadBullet("multibody.bullet")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
while True:
continue