Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge branch 'master' of https://github.com/erwincoumans/bullet3

Browse Source
This commit is contained in:
Erwin Coumans
2018-07-08 11:24:37 +02:00
parent 127b82ec1b 2ce1e65b53
commit f8cc33f3a3
19 changed files with 5055 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
examples/pybullet/examples/biped2d_pybullet.py Normal file
View File

@@ -0,0 +1,40 @@
import pybullet as p
import pybullet_data
import os
import time
GRAVITY = -9.8
dt = 1e-3
iters=2000
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.resetSimulation()
#p.setRealTimeSimulation(True)
p.setGravity(0,0,GRAVITY)
p.setTimeStep(dt)
planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0,0,1.13]
cubeStartOrientation = p.getQuaternionFromEuler([0.,0,0])
botId = p.loadURDF("biped/biped2d_pybullet.urdf",
cubeStartPos,
cubeStartOrientation)
#disable the default velocity motors
#and set some position control with small force to emulate joint friction/return to a rest pose
jointFrictionForce=1
for joint in range (p.getNumJoints(botId)):
p.setJointMotorControl2(botId,joint,p.POSITION_CONTROL,force=jointFrictionForce)
#for i in range(10000):
# p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
# p.stepSimulation()
#import ipdb
#ipdb.set_trace()
import time
p.setRealTimeSimulation(1)
while (1):
#p.stepSimulation()
#p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
p.setGravity(0,0,GRAVITY)
time.sleep(1/240.)
time.sleep(1000)

32
examples/pybullet/examples/otherPhysicsEngine.py Normal file
View File

@@ -0,0 +1,32 @@
import pybullet as p
import time
#p.connect(p.DIRECT)
#p.connect(p.DART)
p.connect(p.MuJoCo)
#p.connect(p.GUI)
bodies = p.loadMJCF("mjcf/capsule.xml")
print("bodies=",bodies)
numBodies = p.getNumBodies()
print("numBodies=",numBodies)
for i in range (numBodies):
print("bodyInfo[",i,"]=",p.getBodyInfo(i))
p.setGravity(0,0,-10)
timeStep = 1./240.
p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
#while (p.isConnected()):
for i in range (1000):
p.stepSimulation()
for b in bodies:
pos,orn=p.getBasePositionAndOrientation(b)
print("pos[",b,"]=",pos)
print("orn[",b,"]=",orn)
linvel,angvel=p.getBaseVelocity(b)
print("linvel[",b,"]=",linvel)
print("angvel[",b,"]=",angvel)
time.sleep(timeStep)

273
examples/pybullet/gym/pybullet_data/biped/biped2d_pybullet.urdf Normal file
View File

@@ -0,0 +1,273 @@
<?xml version="1.0"?>
<robot name="balance">
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
</material>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
<link name="world">
<inertial>
<mass value="0"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<link name="y_prismatic">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="y_to_world" type="prismatic">
<parent link="world"/>
<child link="y_prismatic"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="z_prismatic">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="z_to_y" type="prismatic">
<parent link="y_prismatic"/>
<child link="z_prismatic"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<joint name="torso_to_z" type="continuous">
<parent link="z_prismatic"/>
<child link="torso"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 1.4"/>
</joint>
<link name="torso">
<visual>
<geometry>
<box size="0.1 0.1 0.48"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0.0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 0.48"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0.0 0"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="70"/>
<inertia ixx="0.2404" ixy="-0.01" ixz="-0.048" iyy="0.2404" iyz="-0.048" izz="0.02"/>
<origin rpy="0 0 0" xyz="0 0.0 0"/>
</inertial>
</link>
<link name="r_upperleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.018 0. -0.21715"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.018 -0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="5"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0.018 -0 -0.21715"/>
</inertial>
</link>
<joint name="torso_to_rightleg" type="revolute">
<parent link="torso"/>
<child link="r_upperleg"/>
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0.05 0 -0.17"/>
</joint>
<link name="l_upperleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.018 0. -0.21715"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.018 0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="5"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="-0.018 -0 -0.21715"/>
</inertial>
</link>
<joint name="torso_to_leftleg" type="revolute">
<parent link="torso"/>
<child link="l_upperleg"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="-0.05 0 -0.17"/>
</joint>
<link name="r_lowerleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.048 0. -0.21715"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.048 0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="4"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0.048 -0 -0.21715"/>
</inertial>
</link>
<joint name="r_knee" type="revolute">
<parent link="r_upperleg"/>
<child link="r_lowerleg"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0.015 0 -.41"/>
</joint>
<link name="l_lowerleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.048 0. -0.21715"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.048 0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="4"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="-0.048 -0 -0.21715"/>
</inertial>
</link>
<joint name="l_knee" type="revolute">
<parent link="l_upperleg"/>
<child link="l_lowerleg"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="-0.015 0 -.41"/>
</joint>
<link name="l_foot">
<visual>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="0.05 0.08 -0.038"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="0.05 0.08 -0.038"/>
<contact_coefficients mu="0.5" />
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.0416" ixy="-0.01" ixz="-0.002" iyy="0.0041" iyz="-0.008" izz="0.0425"/>
<origin rpy="0 0 0" xyz="0.05 0.08 -0.038"/>
</inertial>
</link>
<joint name="l_ankle" type="revolute">
<parent link="l_lowerleg"/>
<child link="l_foot"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-2" upper="2" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="-0.05 -0.03 -.459"/>
</joint>
<link name="r_foot">
<visual>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05 0.08 -0.038"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05 0.08 -0.038"/>
<contact_coefficients mu="0.5" />
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.0416" ixy="-0.01" ixz="-0.002" iyy="0.0041" iyz="-0.008" izz="0.0425"/>
<origin rpy="0 0 0" xyz="-0.05 0.08 -0.038"/>
</inertial>
</link>
<joint name="r_ankle" type="revolute">
<parent link="r_lowerleg"/>
<child link="r_foot"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-2." upper="2" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0.05 -0.03 -.459"/>
</joint>
</robot>

32
examples/pybullet/pybullet.c
View File

@@ -5,6 +5,14 @@
#include "../SharedMemory/PhysicsClientUDP_C_API.h"
#endif //BT_ENABLE_ENET
#ifdef BT_ENABLE_DART
#include "../SharedMemory/dart/DARTPhysicsC_API.h"
#endif
#ifdef BT_ENABLE_MUJOCO
#include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h"
#endif
#ifdef BT_ENABLE_CLSOCKET
#include "../SharedMemory/PhysicsClientTCP_C_API.h"
#endif //BT_ENABLE_CLSOCKET
@@ -407,6 +415,22 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
sm = b3ConnectPhysicsDirect();
break;
}
#ifdef BT_ENABLE_DART
case eCONNECT_DART:
{
sm = b3ConnectPhysicsDART();
break;
}
#endif
#ifdef BT_ENABLE_MUJOCO
case eCONNECT_MUJOCO:
{
sm = b3ConnectPhysicsMuJoCo();
break;
}
#endif
case eCONNECT_SHARED_MEMORY:
{
sm = b3ConnectSharedMemory(key);
@@ -9558,6 +9582,14 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER); // user read
PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_SERVER", eCONNECT_SHARED_MEMORY_SERVER); // user read
#ifdef BT_ENABLE_DART
PyModule_AddIntConstant(m, "DART", eCONNECT_DART); // user read
#endif
#ifdef BT_ENABLE_MUJOCO
PyModule_AddIntConstant(m, "MuJoCo", eCONNECT_MUJOCO); // user read
#endif
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY", SHARED_MEMORY_KEY);
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY2", SHARED_MEMORY_KEY+1);