def main(args):
"""Test GUI application."""
client = BulletClient(pb.GUI)
client.setGravity(0, 0, -10)
client.resetDebugVisualizerCamera(cameraDistance=0.5,
cameraYaw=-40.0,
cameraPitch=-40.0,
cameraTargetPosition=[0.0, 0.0, 0.0])
if args.dofs == 20:
hand_model = HandModel20(left_hand=args.left_hand)
elif args.dofs == 45:
hand_model = HandModel45(left_hand=args.left_hand)
else:
raise ValueError('Only 20 and 45 DoF models are supported.')
flags = sum([
HandBody.FLAG_ENABLE_COLLISION_SHAPES,
HandBody.FLAG_ENABLE_VISUAL_SHAPES * args.visual,
HandBody.FLAG_JOINT_LIMITS, HandBody.FLAG_DYNAMICS,
HandBody.FLAG_USE_SELF_COLLISION * args.self_collisions
])
client.configureDebugVisualizer(pb.COV_ENABLE_RENDERING, 0)
hand = HandBody(client, hand_model, flags=flags)
client.configureDebugVisualizer(pb.COV_ENABLE_RENDERING, 1)
slider_ids = []
for coord in ('X', 'Y', 'Z'):
uid = client.addUserDebugParameter(f'base_{coord}', -0.5, 0.5, 0)
slider_ids.append(uid)
for coord in ('R', 'P', 'Y'):
uid = client.addUserDebugParameter(f'base_{coord}', -3.14, 3.14, 0)
slider_ids.append(uid)
for i, joint in enumerate(hand_model.joints):
name = hand_model.link_names[i]
for axis, (lower, upper) in zip(joint.axes, joint.limits):
uid = client.addUserDebugParameter(f'{name}[{axis}]', lower, upper,
0)
slider_ids.append(uid)
client.setRealTimeSimulation(True)
try:
while client.isConnected():
values = [client.readUserDebugParameter(uid) for uid in slider_ids]
position = values[0:3]
rotation = client.getQuaternionFromEuler(values[3:6])
angles = values[6:]
hand.set_target(position, rotation, angles)
except pb.error as err:
if str(err) not in [
'Not connected to physics server.', 'Failed to read parameter.'
]:
raise
import pybullet_data
import pybullet
import time
import random
bc = BulletClient(connection_mode=pybullet.GUI)
bc.setAdditionalSearchPath(pybullet_data.getDataPath())
bc.configureDebugVisualizer(bc.COV_ENABLE_Y_AXIS_UP, 1)
bc.setGravity(0, -9.8, 0)
motion = MotionCaptureData()
motionPath = pybullet_data.getDataPath(
) + "/motions/humanoid3d_walk.txt" #humanoid3d_spinkick.txt"#/motions/humanoid3d_backflip.txt"
motion.Load(motionPath)
#print("numFrames = ", motion.NumFrames())
simTimeId = bc.addUserDebugParameter("simTime", 0, motion.NumFrames() - 1.1, 0)
y2zOrn = bc.getQuaternionFromEuler([-1.57, 0, 0])
bc.loadURDF("plane.urdf", [0, -0.04, 0], y2zOrn)
humanoid = Humanoid(bc, motion, [0, 0, 0]) #4000,0,5000])
simTime = 0
keyFrameDuration = motion.KeyFrameDuraction()
#print("keyFrameDuration=",keyFrameDuration)
#for i in range (50):
# bc.stepSimulation()
stage = 0
from pybullet_envs.deep_mimic.motion_capture_data import MotionCaptureData
import pybullet_data
import pybullet
import time
import random
bc = BulletClient(connection_mode=pybullet.GUI)
bc.setAdditionalSearchPath(pybullet_data.getDataPath())
bc.configureDebugVisualizer(bc.COV_ENABLE_Y_AXIS_UP,1)
bc.setGravity(0,-9.8,0)
motion=MotionCaptureData()
motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_walk.txt"#humanoid3d_spinkick.txt"#/motions/humanoid3d_backflip.txt"
motion.Load(motionPath)
#print("numFrames = ", motion.NumFrames())
simTimeId= bc.addUserDebugParameter("simTime",0,motion.NumFrames()-1.1,0)
y2zOrn = bc.getQuaternionFromEuler([-1.57,0,0])
bc.loadURDF("plane.urdf",[0,-0.04,0], y2zOrn)
humanoid = Humanoid(bc, motion,[0,0,0])#4000,0,5000])
simTime = 0
keyFrameDuration = motion.KeyFrameDuraction()
#print("keyFrameDuration=",keyFrameDuration)
#for i in range (50):
# bc.stepSimulation()
stage = 0
