premake pybullet, use enable_static_vr_plugin
add examples\pybullet\examples\vr_kitchen_setup_vrSyncPython.py (doesn't work well, need C++ sync and some optimizations)
This commit is contained in:
erwincoumans
230
examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py
Normal file
230
examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py
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import pybullet as p
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import time
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#p.connect(p.UDP,"192.168.86.100")
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cid = p.connect(p.SHARED_MEMORY)
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if (cid<0):
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p.connect(p.GUI)
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p.resetSimulation()
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meshScale = [.1,.1,.01]
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shift = [0,0,0]
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visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="marble_cube.obj", rgbaColor=[1,1,1,1], specularColor=[1,1,1], visualFramePosition=shift, meshScale=meshScale)
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#collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="textures/marble_cube.obj", collisionFramePosition=shift,meshScale=meshScale)
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collisionShapeId = -1
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uiCube = p.createMultiBody(baseMass=0,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [0,1,0], useMaximalCoordinates=True)
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textOrn = p.getQuaternionFromEuler([0,0,-1.5707963])
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numLines = 1
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lines = [-1]*numLines
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p.stepSimulation()
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#disable rendering during loading makes it much faster
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
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#objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
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kitchenObj = p.loadSDF("kitchens/1.sdf")
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#objects = [p.loadURDF("samurai.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
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objects = [p.loadURDF("pr2_gripper.urdf", 0.500000,0.300006,0.700000,-0.000000,-0.000000,-0.000031,1.000000)]
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pr2_gripper = objects[0]
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print ("pr2_gripper=")
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print (pr2_gripper)
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jointPositions=[ 0.550569, 0.000000, 0.549657, 0.000000 ]
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for jointIndex in range (p.getNumJoints(pr2_gripper)):
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p.resetJointState(pr2_gripper,jointIndex,jointPositions[jointIndex])
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p.setJointMotorControl2(pr2_gripper,jointIndex,p.POSITION_CONTROL,targetPosition=0,force=0)
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pr2_cid = p.createConstraint(pr2_gripper,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0.2,0,0],[0.500000,0.300006,0.700000])
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print ("pr2_cid")
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print (pr2_cid)
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pr2_cid2 = p.createConstraint(pr2_gripper,0,pr2_gripper,2,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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p.changeConstraint(pr2_cid2,gearRatio=1, erp=0.5, relativePositionTarget=0.5, maxForce=3)
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objects = [p.loadURDF("kuka_iiwa/model_vr_limits.urdf", 1.400000,-0.200000,0.600000,0.000000,0.000000,0.000000,1.000000)]
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kuka = objects[0]
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jointPositions=[ -0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001 ]
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for jointIndex in range (p.getNumJoints(kuka)):
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p.resetJointState(kuka,jointIndex,jointPositions[jointIndex])
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p.setJointMotorControl2(kuka,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
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objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.700000,0.000000,0.000000,0.000000,1.000000)]
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objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.800000,0.000000,0.000000,0.000000,1.000000)]
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objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.900000,0.000000,0.000000,0.000000,1.000000)]
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objects = p.loadSDF("gripper/wsg50_one_motor_gripper_new_free_base.sdf")
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kuka_gripper = objects[0]
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print ("kuka gripper=")
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print(kuka_gripper)
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p.resetBasePositionAndOrientation(kuka_gripper,[0.923103,-0.200000,1.250036],[-0.000000,0.964531,-0.000002,-0.263970])
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jointPositions=[ 0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000 ]
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for jointIndex in range (p.getNumJoints(kuka_gripper)):
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p.resetJointState(kuka_gripper,jointIndex,jointPositions[jointIndex])
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p.setJointMotorControl2(kuka_gripper,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
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kuka_cid = p.createConstraint(kuka, 6, kuka_gripper,0,p.JOINT_FIXED, [0,0,0], [0,0,0.05],[0,0,0])
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objects = [p.loadURDF("table/table.urdf", 1.000000,-0.200000,0.000000,0.000000,0.000000,0.707107,0.707107)]
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#objects = [p.loadURDF("textures/table2.urdf", 1.000000,-0.200000,0.000000,0.000000,0.000000,0.707107,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.300000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.200000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.100000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.000000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 0.900000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 0.800000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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#objects = [p.loadURDF("teddy_vhacd.urdf", 1.050000,-0.500000,0.700000,0.000000,0.000000,0.707107,0.707107)]
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objects = [p.loadURDF("cube_small.urdf", 0.950000,-0.100000,0.700000,0.000000,0.000000,0.707107,0.707107)]
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objects = [p.loadURDF("sphere_small.urdf", 0.850000,-0.400000,0.700000,0.000000,0.000000,0.707107,0.707107)]
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objects = [p.loadURDF("duck_vhacd.urdf", 0.850000,-0.400000,0.900000,0.000000,0.000000,0.707107,0.707107)]
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#bjects = p.loadSDF("kiva_shelf/model.sdf")
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#ob = objects[0]
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#p.resetBasePositionAndOrientation(ob,[0.000000,1.000000,1.204500],[0.000000,0.000000,0.000000,1.000000])
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#objects = [p.loadURDF("teddy_vhacd.urdf", -0.100000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
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#objects = [p.loadURDF("sphere_small.urdf", -0.100000,0.955006,1.169706,0.633232,-0.000000,-0.000000,0.773962)]
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#objects = [p.loadURDF("cube_small.urdf", 0.300000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
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#objects = [p.loadURDF("table_square/table_square.urdf", -1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
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#ob = objects[0]
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#jointPositions=[ 0.000000 ]
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#for jointIndex in range (p.getNumJoints(ob)):
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# p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
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#objects = [p.loadURDF("husky/husky.urdf", 2.000000,-5.000000,1.000000,0.000000,0.000000,0.000000,1.000000)]
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#ob = objects[0]
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#jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ]
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#for jointIndex in range (p.getNumJoints(ob)):
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# p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
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p.setGravity(0,0,-10)
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##show this for 10 seconds
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#now = time.time()
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#while (time.time() < now+10):
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# p.stepSimulation()
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p.setRealTimeSimulation(1)
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CONTROLLER_ID = 0
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POSITION=1
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ORIENTATION=2
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ANALOG=3
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BUTTONS=6
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uiControllerId = -1
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print("waiting for VR UI controller trigger")
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while (uiControllerId<0):
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events = p.getVREvents()
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for e in (events):
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if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
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uiControllerId = e[CONTROLLER_ID]
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if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
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uiControllerId = e[CONTROLLER_ID]
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print("Using uiControllerId="+str(uiControllerId))
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controllerId = -1
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print("waiting for VR picking controller trigger")
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while (controllerId<0):
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events = p.getVREvents()
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for e in (events):
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if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
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controllerId = e[CONTROLLER_ID]
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if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
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controllerId = e[CONTROLLER_ID]
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if (controllerId == uiControllerId):
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controllerId = -1
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print("Using controllerId="+str(controllerId))
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once = 1
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if (once):
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logId = -1#p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "userDebugItems1.json")
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print("logId userdebug")
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print(logId)
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for i in range (numLines):
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spacing = 0.01
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textPos = [.1-(i+1)*spacing,.1,0.011]
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text = "ABCDEFGH\nIJKLMNOPQRSTUVWXYZ\n01234567890abcdefg\n"*10
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lines[i] = p.addUserDebugText(text,textColorRGB=[0,0,0], textSize = 0.01, textPosition = textPos,textOrientation = textOrn,parentObjectUniqueId=uiCube, parentLinkIndex = -1)
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if (once):
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once = 0
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if (logId and logId>0):
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p.stopStateLogging(logId)
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frameNr = 0
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objectInfo = ""
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pointRay = -1
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rayLen = 100
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while (1):
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frameNr=frameNr+1
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for i in range (numLines):
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spacing = 0.01
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textPos = [.1-(i+1)*spacing,.1,0.011]
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text = "Frame:"+str(frameNr)+"\nObject UID:"+objectInfo
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textUid = p.addUserDebugText(text,textColorRGB=[0,0,0], textSize = 0.02, textPosition = textPos,textOrientation = textOrn,parentObjectUniqueId=uiCube, parentLinkIndex = -1, replaceItemUniqueId = lines[i])
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lines[i] = textUid
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#keep the gripper centered/symmetric
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b = p.getJointState(pr2_gripper,2)[0]
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p.setJointMotorControl2(pr2_gripper, 0, p.POSITION_CONTROL, targetPosition=b, force=3)
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events = p.getVREvents()
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for e in (events):
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if e[CONTROLLER_ID] == uiControllerId:
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p.resetBasePositionAndOrientation(uiCube,e[POSITION], e[ORIENTATION])
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pos = e[POSITION]
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orn = e[ORIENTATION]
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lineFrom = pos
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mat = p.getMatrixFromQuaternion(orn)
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dir = [mat[0],mat[3],mat[6]]
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to = [pos[0]+dir[0]*rayLen,pos[1]+dir[1]*rayLen,pos[2]+dir[2]*rayLen]
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hit = p.rayTest(lineFrom,to)
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oldRay = pointRay
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color = [1,1,0]
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width = 3
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#pointRay = p.addUserDebugLine(lineFrom,to,color,width,lifeTime=1)
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#if (oldRay>=0):
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# p.removeUserDebugItem(oldRay)
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if (hit):
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#if (hit[0][0]>=0):
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hitObjectUid = hit[0][0]
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linkIndex = hit[0][1]
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if (hitObjectUid>=0):
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objectInfo = str(hitObjectUid)+" Link Index="+str(linkIndex)+"\nBase Name:"+p.getBodyInfo(hitObjectUid)[0].decode()+"\nBody Info:"+p.getBodyInfo(hitObjectUid)[1].decode()
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else:
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objectInfo="None"
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if e[CONTROLLER_ID] == controllerId: # To make sure we only get the value for one of the remotes
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#sync the vr pr2 gripper with the vr controller position
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p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=500)
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relPosTarget = 1 - e[ANALOG]
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#open/close the gripper, based on analogue
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p.changeConstraint(pr2_cid2,gearRatio=1, erp=1, relativePositionTarget=relPosTarget, maxForce=3)
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@@ -117,8 +117,8 @@ while (controllerId<0):
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print("Using controllerId="+str(controllerId))
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plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
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#plugin = p.loadPlugin("vrSyncPlugin")
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#plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll","_vrSyncPlugin")
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plugin = p.loadPlugin("vrSyncPlugin")
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print("PluginId="+str(plugin))
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p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid, pr2_cid2,pr2_gripper],[50,3])
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@@ -156,7 +156,7 @@ if not _OPTIONS["no-enet"] then
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"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
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}
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if (_OPTIONS["enable_static_plugins"]) then
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if (_OPTIONS["enable_static_vr_plugin"]) then
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files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
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end
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