213 lines
7.4 KiB
Python
213 lines
7.4 KiB
Python
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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#disable rendering during loading makes it much faster
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
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objects = [
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p.loadURDF("plane.urdf", 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000)
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]
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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 = [
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p.loadURDF("pr2_gripper.urdf", 0.500000, 0.300006, 0.700000, -0.000000, -0.000000, -0.000031,
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1.000000)
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]
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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],
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[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,
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0,
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pr2_gripper,
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2,
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jointType=p.JOINT_GEAR,
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jointAxis=[0, 1, 0],
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parentFramePosition=[0, 0, 0],
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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 = [
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p.loadURDF("kuka_iiwa/model_vr_limits.urdf", 1.400000, -0.200000, 0.600000, 0.000000, 0.000000,
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0.000000, 1.000000)
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]
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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 = [
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p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.700000, 0.000000, 0.000000, 0.000000,
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1.000000)
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]
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objects = [
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p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.800000, 0.000000, 0.000000, 0.000000,
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1.000000)
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]
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objects = [
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p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.900000, 0.000000, 0.000000, 0.000000,
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1.000000)
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]
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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],
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[-0.000000, 0.964531, -0.000002, -0.263970])
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jointPositions = [
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0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000
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]
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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],
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0)
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kuka_cid = p.createConstraint(kuka, 6, kuka_gripper, 0, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0.05],
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[0, 0, 0])
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objects = [
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p.loadURDF("jenga/jenga.urdf", 1.300000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
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0.707107)
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]
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objects = [
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p.loadURDF("jenga/jenga.urdf", 1.200000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
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0.707107)
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]
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objects = [
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p.loadURDF("jenga/jenga.urdf", 1.100000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
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0.707107)
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]
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objects = [
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p.loadURDF("jenga/jenga.urdf", 1.000000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
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0.707107)
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]
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objects = [
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p.loadURDF("jenga/jenga.urdf", 0.900000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
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0.707107)
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]
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objects = [
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p.loadURDF("jenga/jenga.urdf", 0.800000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
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0.707107)
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]
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objects = [
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p.loadURDF("table/table.urdf", 1.000000, -0.200000, 0.000000, 0.000000, 0.000000, 0.707107,
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0.707107)
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]
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objects = [
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p.loadURDF("teddy_vhacd.urdf", 1.050000, -0.500000, 0.700000, 0.000000, 0.000000, 0.707107,
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0.707107)
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]
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objects = [
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p.loadURDF("cube_small.urdf", 0.950000, -0.100000, 0.700000, 0.000000, 0.000000, 0.707107,
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0.707107)
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]
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objects = [
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p.loadURDF("sphere_small.urdf", 0.850000, -0.400000, 0.700000, 0.000000, 0.000000, 0.707107,
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0.707107)
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]
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objects = [
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p.loadURDF("duck_vhacd.urdf", 0.850000, -0.400000, 0.900000, 0.000000, 0.000000, 0.707107,
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0.707107)
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]
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objects = 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],
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[0.000000, 0.000000, 0.000000, 1.000000])
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objects = [
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p.loadURDF("teddy_vhacd.urdf", -0.100000, 0.600000, 0.850000, 0.000000, 0.000000, 0.000000,
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1.000000)
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]
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objects = [
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p.loadURDF("sphere_small.urdf", -0.100000, 0.955006, 1.169706, 0.633232, -0.000000, -0.000000,
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0.773962)
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]
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objects = [
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p.loadURDF("cube_small.urdf", 0.300000, 0.600000, 0.850000, 0.000000, 0.000000, 0.000000,
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1.000000)
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]
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objects = [
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p.loadURDF("table_square/table_square.urdf", -1.000000, 0.000000, 0.000000, 0.000000, 0.000000,
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0.000000, 1.000000)
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]
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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 = [
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p.loadURDF("husky/husky.urdf", 2.000000, -5.000000, 1.000000, 0.000000, 0.000000, 0.000000,
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1.000000)
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]
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ob = objects[0]
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jointPositions = [
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0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
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0.000000
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]
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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(0.000000, 0.000000, 0.000000)
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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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controllerId = -1
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print("waiting for VR 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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print("Using controllerId=" + str(controllerId))
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while (1):
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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[
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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,
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gearRatio=1,
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erp=1,
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relativePositionTarget=relPosTarget,
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maxForce=3)
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