32 lines
1.3 KiB
Python
32 lines
1.3 KiB
Python
import pybullet as p
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import time
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p.connect(p.DIRECT)
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p.setGravity(0,0,-10)
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p.setPhysicsEngineParameter(numSolverIterations=5)
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p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
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p.setPhysicsEngineParameter(numSubSteps=1)
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objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
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ob = objects[0]
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p.resetBasePositionAndOrientation(ob,[0.000000,0.000000,0.000000],[0.000000,0.000000,0.000000,1.000000])
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ob = objects[1]
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p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923])
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jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 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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#first let the humanoid fall
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#p.setRealTimeSimulation(1)
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#time.sleep(5)
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p.setRealTimeSimulation(0)
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#p.saveWorld("lyiing.py")
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#now do a benchmark
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print("Starting benchmark")
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logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
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for i in range(1000):
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p.stepSimulation()
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p.stopStateLogging(logId)
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print("ended benchmark") |