def reset(self):
self.t = 0
if not self._isInitialized:
if self.enable_draw:
self._pybullet_client = bullet_client.BulletClient(
connection_mode=p1.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client.setAdditionalSearchPath(
pybullet_data.getDataPath())
z2y = self._pybullet_client.getQuaternionFromEuler(
[-math.pi * 0.5, 0, 0])
self._planeId = self._pybullet_client.loadURDF(
"plane.urdf", [0, 0, 0], z2y)
#print("planeId=",self._planeId)
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_Y_AXIS_UP, 1)
self._pybullet_client.setGravity(0, -9.8, 0)
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=10)
self._pybullet_client.changeDynamics(self._planeId,
linkIndex=-1,
lateralFriction=0.9)
self._mocapData = motion_capture_data.MotionCaptureData()
motionPath = pybullet_data.getDataPath(
) + "/motions/humanoid3d_walk.txt"
#motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
self._mocapData.Load(motionPath)
timeStep = 1. / 600
useFixedBase = False
self._humanoid = humanoid_stable_pd.HumanoidStablePD(
self._pybullet_client, self._mocapData, timeStep, useFixedBase)
self._isInitialized = True
self._pybullet_client.setTimeStep(timeStep)
self._pybullet_client.setPhysicsEngineParameter(numSubSteps=2)
selfCheck = False
if (selfCheck):
curTime = 0
while self._pybullet_client.isConnected():
self._humanoid.setSimTime(curTime)
state = self._humanoid.getState()
#print("state=",state)
pose = self._humanoid.computePose(
self._humanoid._frameFraction)
for i in range(10):
curTime += timeStep
#taus = self._humanoid.computePDForces(pose)
#self._humanoid.applyPDForces(taus)
#self._pybullet_client.stepSimulation()
time.sleep(timeStep)
#print("numframes = ", self._humanoid._mocap_data.NumFrames())
startTime = random.randint(0,
self._humanoid._mocap_data.NumFrames() - 2)
rnrange = 1000
rn = random.randint(0, rnrange)
startTime = float(rn) / rnrange * self._humanoid.getCycleTime()
self._humanoid.setSimTime(startTime)
self._humanoid.resetPose()
#this clears the contact points. Todo: add API to explicitly clear all contact points?
self._pybullet_client.stepSimulation()
pybullet_client.setAdditionalSearchPath(pybullet_data_local.getDataPath())
z2y = pybullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0])
#planeId = pybullet_client.loadURDF("plane.urdf",[0,0,0],z2y)
planeId = pybullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0],
z2y,
useMaximalCoordinates=True)
pybullet_client.changeDynamics(planeId, linkIndex=-1, lateralFriction=0.9)
#print("planeId=",planeId)
pybullet_client.configureDebugVisualizer(pybullet_client.COV_ENABLE_Y_AXIS_UP, 1)
pybullet_client.setGravity(0, -9.8, 0)
pybullet_client.setPhysicsEngineParameter(numSolverIterations=10)
mocapData = motion_capture_data.MotionCaptureData()
#motionPath = pybullet_data_local.getDataPath()+"/data/motions/humanoid3d_walk.txt"
motionPath = pybullet_data_local.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
mocapData.Load(motionPath)
timeStep = 1. / 600
useFixedBase = False
humanoid = humanoid_stable_pd.HumanoidStablePD(pybullet_client, mocapData, timeStep, useFixedBase)
isInitialized = True
pybullet_client.setTimeStep(timeStep)
pybullet_client.setPhysicsEngineParameter(numSubSteps=2)
timeId = pybullet_client.addUserDebugParameter("time", 0, 10, 0)
def isKeyTriggered(keys, key):
o = ord(key)