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Add RtMidi for midi control, use the --midi option in premake, and see

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update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
This commit is contained in:
erwincoumans
2016-11-16 16:12:59 -08:00
parent b4b93573fc
commit 2329c00faa
32 changed files with 6434 additions and 398 deletions
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79
examples/pybullet/quadruped.py
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@@ -1,42 +1,67 @@
import pybullet as p
import time
p.connect(p.GUI)
p.connect(p.SHARED_MEMORY)
p.loadURDF("plane.urdf")
p.loadURDF("quadruped/quadruped.urdf",0,0,0.2)
quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
#p.getNumJoints(1)
#right front leg
p.resetJointState(1,0,1.57)
p.resetJointState(1,2,-2.2)
p.resetJointState(1,3,-1.57)
p.resetJointState(1,5,2.2)
p.createConstraint(1,2,1,5,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.resetJointState(quadruped,0,1.57)
p.resetJointState(quadruped,2,-2.2)
p.resetJointState(quadruped,3,-1.57)
p.resetJointState(quadruped,5,2.2)
p.createConstraint(quadruped,2,quadruped,5,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.setJointMotorControl(quadruped,0,p.VELOCITY_CONTROL,1,10)
p.setJointMotorControl(quadruped,1,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,2,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,3,p.VELOCITY_CONTROL,-1,10)
p.setJointMotorControl(quadruped,4,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,5,p.VELOCITY_CONTROL,0,0)
#left front leg
p.resetJointState(1,6,1.57)
p.resetJointState(1,8,-2.2)
p.resetJointState(1,9,-1.57)
p.resetJointState(1,11,2.2)
p.createConstraint(1,8,1,11,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.resetJointState(quadruped,6,1.57)
p.resetJointState(quadruped,8,-2.2)
p.resetJointState(quadruped,9,-1.57)
p.resetJointState(quadruped,11,2.2)
p.createConstraint(quadruped,8,quadruped,11,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.setJointMotorControl(quadruped,6,p.VELOCITY_CONTROL,1,10)
p.setJointMotorControl(quadruped,7,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,8,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,9,p.VELOCITY_CONTROL,-1,10)
p.setJointMotorControl(quadruped,10,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,11,p.VELOCITY_CONTROL,0,0)
#right back leg
p.resetJointState(1,12,1.57)
p.resetJointState(1,14,-2.2)
p.resetJointState(1,15,-1.57)
p.resetJointState(1,17,2.2)
p.createConstraint(1,14,1,17,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.resetJointState(quadruped,12,1.57)
p.resetJointState(quadruped,14,-2.2)
p.resetJointState(quadruped,15,-1.57)
p.resetJointState(quadruped,17,2.2)
p.createConstraint(quadruped,14,quadruped,17,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.setJointMotorControl(quadruped,12,p.VELOCITY_CONTROL,6,10)
p.setJointMotorControl(quadruped,13,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,14,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,15,p.VELOCITY_CONTROL,-6,10)
p.setJointMotorControl(quadruped,16,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,17,p.VELOCITY_CONTROL,0,0)
#left back leg
p.resetJointState(1,18,1.57)
p.resetJointState(1,20,-2.2)
p.resetJointState(1,21,-1.57)
p.resetJointState(1,23,2.2)
p.createConstraint(1,20,1,23,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.resetJointState(quadruped,18,1.57)
p.resetJointState(quadruped,20,-2.2)
p.resetJointState(quadruped,21,-1.57)
p.resetJointState(quadruped,23,2.2)
p.createConstraint(quadruped,20,quadruped,23,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.setJointMotorControl(quadruped,18,p.VELOCITY_CONTROL,6,10)
p.setJointMotorControl(quadruped,19,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,20,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,21,p.VELOCITY_CONTROL,-6,10)
p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
p.setGravity(0,0,-10)
t_end = time.time() + 120
i=0
while time.time() < t_end:
i = p.getNumJoints(0)
p.stepSimulation()