Python pybullet.URDF_USE_SELF_COLLISION Examples

The following are 8 code examples of pybullet.URDF_USE_SELF_COLLISION(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module pybullet , or try the search function .
Example #1
Source File: world_creation.py    From assistive-gym with MIT License 8 votes vote down vote up 
def init_jaco(self, print_joints=False):
        # Enable self collisions to prevent the arm from going through the torso
        if self.task == 'arm_manipulation':
            robot = p.loadURDF(os.path.join(self.directory, 'jaco', 'j2s7s300_gym_arm_manipulation.urdf'), useFixedBase=True, basePosition=[0, 0, 0], flags=p.URDF_USE_SELF_COLLISION, physicsClientId=self.id)
            # Disable collisions between the fingers and the tool
            for i in range(10, 16):
                p.setCollisionFilterPair(robot, robot, i, 9, 0, physicsClientId=self.id)
        else:
            robot = p.loadURDF(os.path.join(self.directory, 'jaco', 'j2s7s300_gym.urdf'), useFixedBase=True, basePosition=[0, 0, 0], flags=p.URDF_USE_SELF_COLLISION, physicsClientId=self.id)
        robot_arm_joint_indices = [1, 2, 3, 4, 5, 6, 7]
        if print_joints:
            self.print_joint_info(robot, show_fixed=True)

        # Initialize and position
        p.resetBasePositionAndOrientation(robot, [-2, -2, 0.975], [0, 0, 0, 1], physicsClientId=self.id)

        # Grab and enforce robot arm joint limits
        lower_limits, upper_limits = self.enforce_joint_limits(robot)

        return robot, lower_limits, upper_limits, robot_arm_joint_indices, robot_arm_joint_indices
Example #2
Source File: robot_bases.py    From soccer-matlab with BSD 2-Clause "Simplified" License 6 votes vote down vote up 
def reset(self, bullet_client):
		
		self._p = bullet_client	
		#print("Created bullet_client with id=", self._p._client)
		if (self.doneLoading==0):
			self.ordered_joints = []
			self.doneLoading=1
			if self.self_collision:
				self.objects = self._p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=pybullet.URDF_USE_SELF_COLLISION|pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
				self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self._p, self.objects	)
			else:
				self.objects = self._p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml))
				self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self._p, self.objects)
		self.robot_specific_reset(self._p)

		s = self.calc_state()  # optimization: calc_state() can calculate something in self.* for calc_potential() to use

		return s
Example #3
Source File: robot_bases.py    From soccer-matlab with BSD 2-Clause "Simplified" License 5 votes vote down vote up 
def reset(self, bullet_client):
		self._p = bullet_client
		self.ordered_joints = []

		print(os.path.join(os.path.dirname(__file__), "data", self.model_urdf))

		if self.self_collision:
			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self._p, 
				self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
				basePosition=self.basePosition,
				baseOrientation=self.baseOrientation,
				useFixedBase=self.fixed_base,
				flags=pybullet.URDF_USE_SELF_COLLISION))
		else:
			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self._p,
				self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
				basePosition=self.basePosition,
				baseOrientation=self.baseOrientation,
				useFixedBase=self.fixed_base))

		self.robot_specific_reset(self._p)

		s = self.calc_state()  # optimization: calc_state() can calculate something in self.* for calc_potential() to use
		self.potential = self.calc_potential()

		return s
Example #4
Source File: world_creation.py    From assistive-gym with MIT License 5 votes vote down vote up 
def init_sawyer(self, print_joints=False):
        # Enable self collisions to prevent the arm from going through the torso
        if self.task == 'arm_manipulation':
            robot = p.loadURDF(os.path.join(self.directory, 'sawyer', 'sawyer_arm_manipulation.urdf'), useFixedBase=True, basePosition=[0, 0, 0], flags=p.URDF_USE_SELF_COLLISION, physicsClientId=self.id)
            # Disable collisions between the fingers and the tool
            for i in range(16, 24):
                p.setCollisionFilterPair(robot, robot, i, 24, 0, physicsClientId=self.id)
        else:
            robot = p.loadURDF(os.path.join(self.directory, 'sawyer', 'sawyer.urdf'), useFixedBase=True, basePosition=[0, 0, 0], flags=p.URDF_USE_SELF_COLLISION, physicsClientId=self.id)
        # Remove collisions between the various arm links for stability
        for i in range(3, 24):
            for j in range(3, 24):
                p.setCollisionFilterPair(robot, robot, i, j, 0, physicsClientId=self.id)
        for i in range(0, 3):
            for j in range(0, 9):
                p.setCollisionFilterPair(robot, robot, i, j, 0, physicsClientId=self.id)
        robot_arm_joint_indices = [3, 8, 9, 10, 11, 13, 16]
        if print_joints:
            self.print_joint_info(robot, show_fixed=True)

        # Initialize and position
        p.resetBasePositionAndOrientation(robot, [-2, -2, 0.975], [0, 0, 0, 1], physicsClientId=self.id)

        # Grab and enforce robot arm joint limits
        lower_limits, upper_limits = self.enforce_joint_limits(robot)

        return robot, lower_limits, upper_limits, robot_arm_joint_indices, robot_arm_joint_indices
Example #5
Source File: world_creation.py    From assistive-gym with MIT License 5 votes vote down vote up 
def init_kinova_gen3(self, print_joints=False):
        robot = p.loadURDF(os.path.join(self.directory, 'kinova_gen3', 'GEN3_URDF_V12.urdf'), useFixedBase=True, basePosition=[0, 0, 0], flags=p.URDF_USE_SELF_COLLISION, physicsClientId=self.id)
        robot_arm_joint_indices = [0, 1, 2, 3, 4, 5, 6]
        if print_joints:
            self.print_joint_info(robot, show_fixed=True)

        # Initialize and position
        p.resetBasePositionAndOrientation(robot, [-0.95, -0.3, 0.975], [0, 0, 0, 1], physicsClientId=self.id)

        # Grab and enforce robot arm joint limits
        lower_limits, upper_limits = self.enforce_joint_limits(robot)

        return robot, lower_limits, upper_limits, robot_arm_joint_indices, robot_arm_joint_indices
Example #6
Source File: robot_bases.py    From GtS with MIT License 5 votes vote down vote up 
def _load_model(self):
        if self.model_type == "MJCF":
            self.robot_ids = p.loadMJCF(os.path.join(self.physics_model_dir, self.model_file), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
        if self.model_type == "URDF":
            self.robot_ids = (p.loadURDF(os.path.join(self.physics_model_dir, self.model_file), globalScaling = self.scale), )
        self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.robot_ids)
Example #7
Source File: robot_bases.py    From midlevel-reps with MIT License 5 votes vote down vote up 
def _load_model(self):
        if self.model_type == "MJCF":
            self.robot_ids = p.loadMJCF(os.path.join(self.physics_model_dir, self.model_file), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
        if self.model_type == "URDF":
            self.robot_ids = (p.loadURDF(os.path.join(self.physics_model_dir, self.model_file), globalScaling = self.scale), )
        self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.robot_ids)
Example #8
Source File: robot_virtual.py    From qibullet with Apache License 2.0 4 votes vote down vote up 
def loadRobot(self, translation, quaternion, physicsClientId=0):
        """
        Loads the robot into a simulation, loads the joints and the links
        descriptions. The joints are set to 0 rad.

        Parameters:
            translation - List containing 3 elements, the translation [x, y, z]
            of the robot in the WORLD frame
            quaternion - List containing 4 elements, the quaternion
            [x, y, z, q] of the robot in the WORLD frame
            physicsClientId - The id of the simulated instance in which the
            robot is supposed to be loaded

        Returns:
            boolean - True if the method ran correctly, False otherwise
        """
        try:
            self.physics_client = physicsClientId
            self.robot_model = pybullet.loadURDF(
                self.description_file,
                translation,
                quaternion,
                useFixedBase=False,
                globalScaling=1.0,
                physicsClientId=self.physics_client,
                flags=pybullet.URDF_USE_SELF_COLLISION |
                pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL)

        except pybullet.error as e:
            raise pybullet.error("Cannot load robot model: " + str(e))

        for i in range(pybullet.getNumJoints(
                self.robot_model,
                physicsClientId=self.physics_client)):
            if IS_VERSION_PYTHON_3:
                # PYTHON 3 version needs a conversion bytes to str
                joint_info = pybullet.getJointInfo(
                    self.robot_model,
                    i,
                    physicsClientId=self.physics_client)
                self.link_dict[joint_info[12].decode('utf-8')] =\
                    Link(joint_info)

                if joint_info[2] == pybullet.JOINT_PRISMATIC or\
                        joint_info[2] == pybullet.JOINT_REVOLUTE:
                    self.joint_dict[joint_info[1].decode('utf-8')] =\
                        Joint(joint_info)
            else:
                # PYTHON 2 Version
                joint_info = pybullet.getJointInfo(
                    self.robot_model,
                    i,
                    physicsClientId=self.physics_client)

                self.link_dict[joint_info[12]] = Link(joint_info)

                if joint_info[2] == pybullet.JOINT_PRISMATIC or\
                        joint_info[2] == pybullet.JOINT_REVOLUTE:
                    self.joint_dict[joint_info[1]] = Joint(joint_info)