def _set_physics_client(self, render=0):
if self.physicsClient_ID != -1:
pybullet.disconnect(self.physicsClient_ID)
self.physicsClient_ID = pybullet.connect(
pybullet.GUI) if render else pybullet.connect(pybullet.DIRECT)
# Load door
pybullet.setAdditionalSearchPath(self.xml_path)
pybullet.loadURDF(fileName="room_with_door.urdf",
basePosition=self.door_init_pos,
physicsClientId=self.physicsClient_ID)
# flags=pybullet.URDF_USE_INERTIA_FROM_FILE | pybullet.URDF_USE_SELF_COLLISION | pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
# Load humanoid
#pybullet.loadURDF(fileName='humanoid.urdf', basePosition=self.robot_init_pos, physicsClientId=self.physicsClient_ID)
# flags=pybullet.URDF_USE_INERTIA_FROM_FILE | pybullet.URDF_USE_SELF_COLLISION | pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
pybullet.loadMJCF("mjcf/humanoid_symmetric.xml")
#cubeId = pybullet.loadURDF("cube_small.urdf", 0, 0, 3)
#cid = pybullet.createConstraint(cubeId, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0, 0, 1])
# Set and store physics parameters
pybullet.setDefaultContactERP(.90)
pybullet.setGravity(0, 0, -0.981)
pybullet.setPhysicsEngineParameter(
fixedTimeStep=self.time_step * self.frame_skip,
numSolverIterations=self.num_solver_iterations,
numSubSteps=self.frame_skip)
def _set_physics_client(self, render=0):
if self.physicsClient_ID != -1:
pybullet.disconnect(self.physicsClient_ID)
self.physicsClient_ID = pybullet.connect(
pybullet.GUI) if render else pybullet.connect(pybullet.DIRECT)
# Load door
pybullet.setAdditionalSearchPath(self.xml_path)
pybullet.loadURDF(
fileName="room_with_door.urdf",
basePosition=self.door_init_pos,
physicsClientId=self.physicsClient_ID,
flags=pybullet.URDF_USE_INERTIA_FROM_FILE
| pybullet.URDF_USE_SELF_COLLISION
| pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
# Load humanoid
pybullet.loadURDF(
fileName='humanoid.urdf',
basePosition=self.robot_init_pos,
physicsClientId=self.physicsClient_ID,
flags=pybullet.URDF_USE_INERTIA_FROM_FILE
| pybullet.URDF_USE_SELF_COLLISION
| pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
# Set and store physics parameters
pybullet.setDefaultContactERP(.90)
pybullet.setGravity(0, 0, -9.81)
pybullet.setPhysicsEngineParameter(
fixedTimeStep=self.time_step * self.frame_skip,
numSolverIterations=self.num_solver_iterations,
numSubSteps=self.frame_skip)
def clean_everything(self):
#p.resetSimulation()
p.setGravity(0, 0, -self.gravity)
p.setDefaultContactERP(0.9)
p.setPhysicsEngineParameter(fixedTimeStep=self.timestep *
self.frame_skip,
numSolverIterations=5,
numSubSteps=self.frame_skip)
def clean_everything(self): #p.resetSimulation() p.setGravity(0, 0, -self.gravity) p.setDefaultContactERP(0.9) p.setPhysicsEngineParameter(fixedTimeStep=self.timestep*self.frame_skip, numSolverIterations=5, numSubSteps=self.frame_skip)
