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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2019-12-10 15:48:24 -08:00
parent e7778502e7 6c722f8f94
commit d254b65fee
14 changed files with 250 additions and 430 deletions
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314
examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf
View File

@@ -1,314 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from src/xarm_ros/xarm_description/urdf/xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6" xmlns:xacro="http://ros.org/wiki/xacro">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<link name="base"/>
<joint name="base_joint" type="fixed">
<parent link="base"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- added tool0 to comply with ROS industrial-->
<link name="tool0"/>
<joint name="tool_joint" type="fixed">
<parent link="link6"/>
<child link="tool0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
<mass value="2.7"/>
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
</inertial>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
<mass value="2.16"/>
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<parent link="link_base"/>
<child link="link1"/>
<origin rpy="0 0 0" xyz="0 0 0.267"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link2">
<visual>
<geometry>
<mesh filename="meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
<mass value="1.71"/>
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<parent link="link1"/>
<child link="link2"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-2.18" upper="2.18" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link3">
<visual>
<geometry>
<mesh filename="meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
<mass value="1.384"/>
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<parent link="link2"/>
<child link="link3"/>
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-4.01" upper="0.11" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link4">
<visual>
<geometry>
<mesh filename="meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
<mass value="1.115"/>
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<parent link="link3"/>
<child link="link4"/>
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link5">
<visual>
<geometry>
<mesh filename="meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
<mass value="1.275"/>
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<parent link="link4"/>
<child link="link5"/>
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-1.75" upper="3.14159265359" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link6">
<visual>
<geometry>
<mesh filename="meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<parent link="link5"/>
<child link="link6"/>
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
<axis xyz="0 0 1"/>
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>100</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="link_base">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link1">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link2">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link3">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link4">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link5">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link6">
<selfCollide>true</selfCollide>
</gazebo>
</robot>

37
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
View File

@@ -27,7 +27,16 @@
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
@@ -41,11 +50,11 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
@@ -61,11 +70,11 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
@@ -89,11 +98,11 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Yellow"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
@@ -117,11 +126,11 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
@@ -145,11 +154,11 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Green"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
@@ -173,11 +182,11 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
@@ -205,7 +214,7 @@
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>

10
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl Normal file
View File

@@ -0,0 +1,10 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 500
Ka 0.8 0.8 0.8
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

189
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj Normal file
View File

@@ -0,0 +1,189 @@
o convex_0
v 0.033187 0.018503 -0.027247
v -0.037691 -0.004112 -0.027247
v -0.036680 -0.006625 -0.028254
v 0.013576 -0.034758 0.000399
v -0.012050 0.035092 0.000399
v 0.001516 -0.051863 -0.020710
v -0.035174 -0.014657 -0.000608
v 0.037202 0.000916 0.000399
v -0.009541 0.036598 -0.027749
v 0.032685 -0.018178 -0.028254
v 0.016093 0.034593 -0.000608
v -0.032658 0.019510 -0.000608
v -0.005016 -0.051863 -0.008652
v -0.024620 -0.028233 -0.028254
v 0.028153 -0.025719 -0.000608
v -0.028642 0.025037 -0.027247
v 0.013074 0.035092 -0.028254
v 0.006542 -0.051863 -0.011667
v -0.029646 -0.022706 0.000399
v 0.028662 0.025046 -0.000608
v 0.013576 -0.034758 -0.028254
v 0.037711 -0.000091 -0.027749
v -0.037691 0.004927 -0.000608
v -0.034673 0.013984 -0.028254
v 0.005029 0.037614 -0.000608
v 0.036700 -0.009629 -0.000608
v -0.031654 -0.021191 -0.027247
v -0.007024 -0.051855 -0.014175
v -0.022103 0.031072 -0.000608
v -0.013054 -0.034767 0.000399
v 0.022123 0.031072 -0.027247
v 0.036700 0.009963 -0.000608
v 0.028153 -0.025719 -0.027247
v 0.001014 -0.051863 -0.007143
v -0.014058 -0.034767 -0.028254
v 0.005029 0.037614 -0.027247
v -0.034171 0.014982 0.000399
v 0.021119 0.030572 0.000399
v -0.016073 0.034593 -0.027247
v -0.028133 -0.025719 -0.000608
v -0.008028 0.037098 -0.000608
v 0.034692 -0.015664 -0.027247
v 0.035194 0.012477 -0.028254
v -0.005016 -0.051863 -0.019201
v -0.036680 0.009955 -0.027247
v 0.006542 -0.051863 -0.017193
v -0.037691 -0.004112 -0.000608
v 0.031674 -0.021191 -0.000608
v -0.035174 -0.014657 -0.027247
v -0.023616 0.029066 -0.028254
v 0.033187 0.018503 -0.000608
v 0.023636 -0.028732 0.000399
v 0.028662 0.025046 -0.027247
v 0.036700 0.009963 -0.027247
v -0.005016 0.037614 -0.027247
v 0.037711 0.004936 -0.000608
v 0.037711 -0.004112 -0.027247
v -0.032658 0.019510 -0.027247
v -0.035676 0.012976 -0.000608
v 0.022123 0.031072 -0.000608
v -0.016073 0.034593 -0.000608
v 0.020617 -0.031246 -0.028254
v -0.028642 0.025037 -0.000608
v 0.016093 0.034593 -0.027247
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29
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
View File

@@ -1,29 +0,0 @@
import functools
import inspect
import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=pybullet.DIRECT, options=""):
"""Create a simulation and connect to it."""
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if (self._client < 0):
print("options=", options)
self._client = pybullet.connect(connection_mode, options=options)
self._shapes = {}
def __del__(self):
"""Clean up connection if not already done."""
try:
pybullet.disconnect(physicsClientId=self._client)
except pybullet.error:
pass
def __getattr__(self, name):
"""Inject the client id into Bullet functions."""
attribute = getattr(pybullet, name)
if inspect.isbuiltin(attribute):
attribute = functools.partial(attribute, physicsClientId=self._client)
return attribute

6
examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py
View File

@@ -17,7 +17,7 @@ from gym import spaces
from gym.utils import seeding
import numpy as np
import pybullet
from . import bullet_client
import pybullet_utils.bullet_client as bc
from . import minitaur
import pybullet_data
from . import minitaur_env_randomizer
@@ -150,9 +150,9 @@ class MinitaurBulletDuckEnv(gym.Env):
self._action_repeat *= NUM_SUBSTEPS
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client = bc.BulletClient()
self.seed()
self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
View File

@@ -14,7 +14,7 @@ from gym import spaces
from gym.utils import seeding
import numpy as np
import pybullet
from . import bullet_client
import pybullet_utils.bullet_client as bc
from . import minitaur
import os
import pybullet_data
@@ -145,9 +145,9 @@ class MinitaurBulletEnv(gym.Env):
self._action_repeat *= NUM_SUBSTEPS
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client = bc.BulletClient()
self.seed()
self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
View File

@@ -12,7 +12,7 @@ import numpy as np
import pybullet
from . import racecar
import random
from . import bullet_client
import pybullet_utils.bullet_client as bc
import pybullet_data
from pkg_resources import parse_version
@@ -40,9 +40,9 @@ class RacecarGymEnv(gym.Env):
self._renders = renders
self._isDiscrete = isDiscrete
if self._renders:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._p = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._p = bullet_client.BulletClient()
self._p = bc.BulletClient()
self.seed()
#self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py
View File

@@ -10,7 +10,7 @@ from gym.utils import seeding
import numpy as np
import time
import pybullet
from . import bullet_client
import pybullet_utils.bullet_client as bc
from . import racecar
import random
import pybullet_data
@@ -42,9 +42,9 @@ class RacecarZEDGymEnv(gym.Env):
self._isDiscrete = isDiscrete
if self._renders:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._p = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._p = bullet_client.BulletClient()
self._p = bc.BulletClient()
self.seed()
self.reset()

7
examples/pybullet/gym/pybullet_envs/examples/xarm.py
View File

@@ -7,7 +7,12 @@ p.setAdditionalSearchPath(pd.getDataPath())
useFixedBase = True
flags = p.URDF_INITIALIZE_SAT_FEATURES#0#p.URDF_USE_SELF_COLLISION
xarm = p.loadURDF("xarm/xarm6_with_gripper.urdf", flags = flags, useFixedBase=useFixedBase)
#plane_pos = [0,0,0]
#plane = p.loadURDF("plane.urdf", plane_pos, flags = flags, useFixedBase=useFixedBase)
table_pos = [0,0,-0.625]
table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
while (1):
p.stepSimulation()

54
examples/pybullet/gym/pybullet_envs/minitaur/envs/bullet_client.py
View File

@@ -1,54 +0,0 @@
"""A wrapper for pybullet to manage different clients."""
from __future__ import absolute_import
from __future__ import division
import functools
import inspect
import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=None):
"""Creates a Bullet client and connects to a simulation.
Args:
connection_mode:
`None` connects to an existing simulation or, if fails, creates a
new headless simulation,
`pybullet.GUI` creates a new simulation with a GUI,
`pybullet.DIRECT` creates a headless simulation,
`pybullet.SHARED_MEMORY` connects to an existing simulation.
"""
self._shapes = {}
if connection_mode is None:
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if self._client >= 0:
return
else:
connection_mode = pybullet.DIRECT
self._client = pybullet.connect(connection_mode)
def __del__(self):
"""Clean up connection if not already done."""
try:
pybullet.disconnect(physicsClientId=self._client)
except pybullet.error:
pass
def __getattr__(self, name):
"""Inject the client id into Bullet functions."""
attribute = getattr(pybullet, name)
if inspect.isbuiltin(attribute):
if name not in [
"invertTransform",
"multiplyTransforms",
"getMatrixFromQuaternion",
"getEulerFromQuaternion",
"computeViewMatrixFromYawPitchRoll",
"computeProjectionMatrixFOV",
"getQuaternionFromEuler",
]: # A temporary hack for now.
attribute = functools.partial(attribute, physicsClientId=self._client)
return attribute

6
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
View File

@@ -14,7 +14,7 @@ from gym import spaces
from gym.utils import seeding
import numpy as np
import pybullet
from pybullet_envs.minitaur.envs import bullet_client
import pybullet_utils.bullet_client as bc
import pybullet_data
from pybullet_envs.minitaur.envs import minitaur
from pybullet_envs.minitaur.envs import minitaur_derpy
@@ -223,9 +223,9 @@ class MinitaurGymEnv(gym.Env):
self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else []
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client = bc.BulletClient()
if self._urdf_version is None:
self._urdf_version = DEFAULT_URDF_VERSION
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)

6
examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
View File

@@ -14,7 +14,7 @@ from gym import spaces
from gym.utils import seeding
import numpy as np
import pybullet
from pybullet_envs.bullet import bullet_client
import pybullet_utils.bullet_client as bc
from pybullet_envs.prediction import boxstack_pybullet_sim
@@ -71,10 +71,10 @@ class PyBulletSimGymEnv(gym.Env):
print("urdf_root=" + self._urdf_root)
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI,
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI,
options=optionstring)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client = bc.BulletClient()
if (debug_visualization == False):
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI,