def __init__(self, client=0, renderer: BaseRenderer = None):
"""Load plugin
Arguments:
physicsClientId {int or BulletClient} -- physics client
Keyword Arguments:
renderer {BaseRenderer} -- renderer to load (default: None)
"""
self._client_id = client if isinstance(client, int) else client._client
# load plugin
self._plugin_id = pb.loadPlugin(plugin_lib_file,
'_RenderingPlugin',
physicsClientId=self._client_id)
assert self._plugin_id != -1, 'Cannot load PyBullet plugin'
# workaround to connect python bindings with a physicsClientId
retcode = pb.executePluginCommand(self._plugin_id,
"register",
intArgs=[self._client_id],
physicsClientId=self._client_id)
assert retcode != -1, 'Cannot register render interface'
# bind a renderer
if renderer is not None:
self.set_renderer(renderer)
import pybullet as p
import time
useDirect = False
usePort = True
p.connect(p.GUI)
id = p.loadPlugin("grpcPlugin")
#dynamically loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
#start the GRPC server at hostname, port
if (id < 0):
print("Cannot load grpcPlugin")
exit(0)
if usePort:
p.executePluginCommand(id, "localhost:12345")
else:
p.executePluginCommand(id, "localhost")
while p.isConnected():
if (useDirect):
#Only in DIRECT mode, since there is no 'ping' you need to manually call to handle RCPs:
numRPC = 10
p.executePluginCommand(id, intArgs=[numRPC])
else:
dt = 1. / 240.
time.sleep(dt)
import pybullet as p
import time
useDirect = False
usePort = True
p.connect(p.GUI)
id = p.loadPlugin("grpcPlugin")
#dynamically loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
#start the GRPC server at hostname, port
if (id < 0):
print("Cannot load grpcPlugin")
exit(0)
if usePort:
p.executePluginCommand(id, "localhost:12345")
else:
p.executePluginCommand(id, "localhost")
while p.isConnected():
if (useDirect):
#Only in DIRECT mode, since there is no 'ping' you need to manually call to handle RCPs:
numRPC = 10
p.executePluginCommand(id, intArgs=[numRPC])
else:
dt = 1. / 240.
time.sleep(dt)
useRealTimeSim = True p.setRealTimeSimulation(useRealTimeSim) p.setTimeStep(0.001) while p.isConnected(): if (pd>=0): desiredPosCart = p.readUserDebugParameter(desiredPosCartId) desiredVelCart = p.readUserDebugParameter(desiredVelCartId) kpCart = p.readUserDebugParameter(kpCartId) kdCart = p.readUserDebugParameter(kdCartId) maxForceCart = p.readUserDebugParameter(maxForceCartId) link = 0 p.executePluginCommand(pd,"test",[1, pole, link], [desiredPosCart, desiredVelCart, kdCart, kpCart, maxForceCart]) desiredPosPole = p.readUserDebugParameter(desiredPosPoleId) desiredVelPole = p.readUserDebugParameter(desiredVelPoleId) kpPole = p.readUserDebugParameter(kpPoleId) kdPole = p.readUserDebugParameter(kdPoleId) maxForcePole = p.readUserDebugParameter(maxForcePoleId) link = 1 p.executePluginCommand(pd,"test",[1, pole, link], [desiredPosPole, desiredVelPole, kdPole, kpPole, maxForcePole]) if (not useRealTimeSim): p.stepSimulation() time.sleep(1./240.)
def __init__(self,
assets_root,
task=None,
disp=False,
shared_memory=False,
hz=240):
"""Creates OpenAI Gym-style environment with PyBullet.
Args:
assets_root: root directory of assets.
task: the task to use. If None, the user must call set_task for the
environment to work properly.
disp: show environment with PyBullet's built-in display viewer.
shared_memory: run with shared memory.
hz: PyBullet physics simulation step speed. Set to 480 for deformables.
Raises:
RuntimeError: if pybullet cannot load fileIOPlugin.
"""
self.pix_size = 0.003125
self.obj_ids = {'fixed': [], 'rigid': [], 'deformable': []}
self.homej = np.array([-1, -0.5, 0.5, -0.5, -0.5, 0]) * np.pi
self.agent_cams = cameras.RealSenseD415.CONFIG
self.assets_root = assets_root
color_tuple = [
gym.spaces.Box(0,
255,
config['image_size'] + (3, ),
dtype=np.uint8) for config in self.agent_cams
]
depth_tuple = [
gym.spaces.Box(0.0, 20.0, config['image_size'], dtype=np.float32)
for config in self.agent_cams
]
self.observation_space = gym.spaces.Dict({
'color':
gym.spaces.Tuple(color_tuple),
'depth':
gym.spaces.Tuple(depth_tuple),
})
# TODO(ayzaan): Delete below and uncomment vector box bounds.
position_bounds = gym.spaces.Box(low=-1.0,
high=1.0,
shape=(3, ),
dtype=np.float32)
# position_bounds = gym.spaces.Box(
# low=np.array([0.25, -0.5, 0.], dtype=np.float32),
# high=np.array([0.75, 0.5, 0.28], dtype=np.float32),
# shape=(3,),
# dtype=np.float32)
self.action_space = gym.spaces.Dict({
'pose0':
gym.spaces.Tuple((position_bounds,
gym.spaces.Box(-1.0,
1.0,
shape=(4, ),
dtype=np.float32))),
'pose1':
gym.spaces.Tuple((position_bounds,
gym.spaces.Box(-1.0,
1.0,
shape=(4, ),
dtype=np.float32)))
})
# Start PyBullet.
disp_option = p.DIRECT
if disp:
disp_option = p.GUI
if shared_memory:
disp_option = p.SHARED_MEMORY
client = p.connect(disp_option)
file_io = p.loadPlugin('fileIOPlugin', physicsClientId=client)
if file_io < 0:
raise RuntimeError('pybullet: cannot load FileIO!')
if file_io >= 0:
p.executePluginCommand(file_io,
textArgument=assets_root,
intArgs=[p.AddFileIOAction, p.CNSFileIO],
physicsClientId=client)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
p.setPhysicsEngineParameter(enableFileCaching=0)
p.setAdditionalSearchPath(assets_root)
p.setAdditionalSearchPath(tempfile.gettempdir())
p.setTimeStep(1. / hz)
# If using --disp, move default camera closer to the scene.
if disp:
target = p.getDebugVisualizerCamera()[11]
p.resetDebugVisualizerCamera(cameraDistance=1.1,
cameraYaw=90,
cameraPitch=-25,
cameraTargetPosition=target)
if task:
self.set_task(task)
import pybullet as p
p.connect(p.GUI)
plugin = p.loadPlugin("D:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll",
"_testPlugin")
print("plugin=", plugin)
p.executePluginCommand(plugin, "r2d2.urdf", [1, 2, 3], [50.0, 3.3])
while (1):
p.getCameraImage(320, 200)
p.stepSimulation()
POSITION = 1
ORIENTATION = 2
BUTTONS = 6
controllerId = -1
print("waiting for VR controller trigger")
while (controllerId < 0):
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33] == p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
if (e[BUTTONS][32] == p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
print("Using controllerId=" + str(controllerId))
#plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
plugin = p.loadPlugin("vrSyncPlugin")
print("PluginId=" + str(plugin))
p.executePluginCommand(plugin, "bla",
[controllerId, pr2_cid, pr2_cid2, pr2_gripper], [50, 3])
while (1):
#b = p.getJointState(pr2_gripper,2)[0]
#print("b = " + str(b))
#p.setJointMotorControl2(pr2_gripper, 0, p.POSITION_CONTROL, targetPosition=b, force=3)
p.setGravity(0, 0, -10)
p.disconnect()
import pybullet as p
import time
p.connect(p.GUI)
fileIO = p.loadPlugin("fileIOPlugin")
if (fileIO >= 0):
p.executePluginCommand(fileIO, "pickup.zip",
[p.AddFileIOAction, p.ZipFileIO])
objs = p.loadSDF("pickup/model.sdf")
dobot = objs[0]
p.changeVisualShape(dobot, -1, rgbaColor=[1, 1, 1, 1])
else:
print("fileIOPlugin is disabled.")
p.setPhysicsEngineParameter(enableFileCaching=False)
while (1):
p.stepSimulation()
time.sleep(1. / 240.)
POSITION = 1
ORIENTATION = 2
BUTTONS = 6
controllerId = -1
print("waiting for VR controller trigger")
while (controllerId<0):
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
print("Using controllerId="+str(controllerId))
#plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
plugin = p.loadPlugin("vrSyncPlugin")
print("PluginId="+str(plugin))
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid, pr2_cid2,pr2_gripper],[50,3])
while (1):
#b = p.getJointState(pr2_gripper,2)[0]
#print("b = " + str(b))
#p.setJointMotorControl2(pr2_gripper, 0, p.POSITION_CONTROL, targetPosition=b, force=3)
p.setGravity(0,0,-10)
p.disconnect()
import pybullet as p
p.connect(p.GUI)
plugin = p.loadPlugin(
"D:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll",
"_testPlugin")
print("plugin=", plugin)
p.executePluginCommand(plugin, "r2d2.urdf", [1, 2, 3], [50.0, 3.3])
while (1):
p.getCameraImage(320, 200)
p.stepSimulation()
import pybullet as p
import time
p.connect(p.GUI)
fileIO = p.loadPlugin("fileIOPlugin")
if (fileIO>=0):
p.executePluginCommand(fileIO, "pickup.zip", [p.AddFileIOAction, p.ZipFileIO])
objs= p.loadSDF("pickup/model.sdf")
dobot =objs[0]
p.changeVisualShape(dobot,-1,rgbaColor=[1,1,1,1])
else:
print("fileIOPlugin is disabled.")
p.setPhysicsEngineParameter(enableFileCaching=False)
while (1):
p.stepSimulation()
time.sleep(1./240.)
def __init__(self,
assets_root,
task=None,
disp=False,
shared_memory=False,
hz=240,
use_egl=False):
"""Creates OpenAI Gym-style environment with PyBullet.
Args:
assets_root: root directory of assets.
task: the task to use. If None, the user must call set_task for the
environment to work properly.
disp: show environment with PyBullet's built-in display viewer.
shared_memory: run with shared memory.
hz: PyBullet physics simulation step speed. Set to 480 for deformables.
use_egl: Whether to use EGL rendering. Only supported on Linux. Should get
a significant speedup in rendering when using.
Raises:
RuntimeError: if pybullet cannot load fileIOPlugin.
"""
if use_egl and disp:
raise ValueError('EGL rendering cannot be used with `disp=True`.')
self.pix_size = 0.003125
self.obj_ids = {'fixed': [], 'rigid': [], 'deformable': []}
self.homej = np.array([-1, -0.5, 0.5, -0.5, -0.5, 0]) * np.pi
self.agent_cams = cameras.RealSenseD415.CONFIG
self.assets_root = assets_root
color_tuple = [
gym.spaces.Box(0,
255,
config['image_size'] + (3, ),
dtype=np.uint8) for config in self.agent_cams
]
depth_tuple = [
gym.spaces.Box(0.0, 20.0, config['image_size'], dtype=np.float32)
for config in self.agent_cams
]
self.observation_space = gym.spaces.Dict({
'color':
gym.spaces.Tuple(color_tuple),
'depth':
gym.spaces.Tuple(depth_tuple),
})
self.position_bounds = gym.spaces.Box(low=np.array([0.25, -0.5, 0.],
dtype=np.float32),
high=np.array([0.75, 0.5, 0.28],
dtype=np.float32),
shape=(3, ),
dtype=np.float32)
self.action_space = gym.spaces.Dict({
'pose0':
gym.spaces.Tuple((self.position_bounds,
gym.spaces.Box(-1.0,
1.0,
shape=(4, ),
dtype=np.float32))),
'pose1':
gym.spaces.Tuple((self.position_bounds,
gym.spaces.Box(-1.0,
1.0,
shape=(4, ),
dtype=np.float32)))
})
# Start PyBullet.
disp_option = p.DIRECT
if disp:
disp_option = p.GUI
if shared_memory:
disp_option = p.SHARED_MEMORY
client = p.connect(disp_option)
file_io = p.loadPlugin('fileIOPlugin', physicsClientId=client)
if file_io < 0:
raise RuntimeError('pybullet: cannot load FileIO!')
if file_io >= 0:
p.executePluginCommand(file_io,
textArgument=assets_root,
intArgs=[p.AddFileIOAction],
physicsClientId=client)
self._egl_plugin = None
if use_egl:
assert sys.platform == 'linux', (
'EGL rendering is only supported on '
'Linux.')
egl = pkgutil.get_loader('eglRenderer')
if egl:
self._egl_plugin = p.loadPlugin(egl.get_filename(),
'_eglRendererPlugin')
else:
self._egl_plugin = p.loadPlugin('eglRendererPlugin')
print('EGL renderering enabled.')
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
p.setPhysicsEngineParameter(enableFileCaching=0)
p.setAdditionalSearchPath(assets_root)
p.setAdditionalSearchPath(tempfile.gettempdir())
p.setTimeStep(1. / hz)
# If using --disp, move default camera closer to the scene.
if disp:
target = p.getDebugVisualizerCamera()[11]
p.resetDebugVisualizerCamera(cameraDistance=1.1,
cameraYaw=90,
cameraPitch=-25,
cameraTargetPosition=target)
if task:
self.set_task(task)
import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
fileIO = p.loadPlugin("fileIOPlugin")
if (fileIO >= 0):
#we can have a zipfile (pickup.zip) inside a zipfile (pickup2.zip)
p.executePluginCommand(fileIO,
pybullet_data.getDataPath() + "/pickup2.zip",
[p.AddFileIOAction, p.ZipFileIO])
p.executePluginCommand(fileIO, "pickup.zip",
[p.AddFileIOAction, p.ZipFileIO])
objs = p.loadSDF("pickup/model.sdf")
dobot = objs[0]
p.changeVisualShape(dobot, -1, rgbaColor=[1, 1, 1, 1])
else:
print("fileIOPlugin is disabled.")
p.setPhysicsEngineParameter(enableFileCaching=False)
while (1):
p.stepSimulation()
time.sleep(1. / 240.)
