Python pybullet.removeBody() Examples

The following are 11 code examples of pybullet.removeBody(). 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: ant_env.py    From midlevel-reps with MIT License 6 votes vote down vote up 
def _flag_reposition(self):
        self.walk_target_x = self.np_random.uniform(low=-self.scene.stadium_halflen,
                                                    high=+self.scene.stadium_halflen)
        self.walk_target_y = self.np_random.uniform(low=-self.scene.stadium_halfwidth,
                                                    high=+self.scene.stadium_halfwidth)

        more_compact = 0.5  # set to 1.0 whole football field
        self.walk_target_x *= more_compact / self.robot.mjcf_scaling
        self.walk_target_y *= more_compact / self.robot.mjcf_scaling

        self.flag = None
        #self.flag = self.scene.cpp_world.debug_sphere(self.walk_target_x, self.walk_target_y, 0.2, 0.2, 0xFF8080)
        self.flag_timeout = 3000 / self.scene.frame_skip
        #print('targetxy', self.flagid, self.walk_target_x, self.walk_target_y, p.getBasePositionAndOrientation(self.flagid))
        #p.resetBasePositionAndOrientation(self.flagid, posObj = [self.walk_target_x, self.walk_target_y, 0.5], ornObj = [0,0,0,0])
        if self.gui:
            if self.lastid:
                p.removeBody(self.lastid)

            self.lastid = p.createMultiBody(baseVisualShapeIndex=self.visualid, baseCollisionShapeIndex=-1, basePosition=[self.walk_target_x, self.walk_target_y, 0.5])

        self.robot.walk_target_x = self.walk_target_x
        self.robot.walk_target_y = self.walk_target_y
Example #2
Source File: environment.py    From soccer-matlab with BSD 2-Clause "Simplified" License 5 votes vote down vote up 
def setOrientation(self, orientation):
        p.removeBody(self.plane)
        self.__init__(self.path, self.position, orientation)
Example #3
Source File: environment.py    From soccer-matlab with BSD 2-Clause "Simplified" License 5 votes vote down vote up 
def setPosition(self, position):
        p.removeBody(self.plane)
        self.__init__(self.path, position, self.orientation)
Example #4
Source File: renderer.py    From mvp_grasp with BSD 3-Clause "New" or "Revised" License 5 votes vote down vote up 
def remove_object(self, o_id, update=True):
        pb.removeBody(o_id)
        if update:
            self.objects.remove(o_id)
Example #5
Source File: default.py    From costar_plan with Apache License 2.0 5 votes vote down vote up 
def reset(self):
        '''
        Basic reset needs to reconfigure the world state -- set things back to
        the way they should be.
        '''
        for obj in self.objs:
            pb.removeBody(obj)
        self._setup()
        self._setupRobot(self.robot.handle)
Example #6
Source File: ant_env.py    From midlevel-reps with MIT License 5 votes vote down vote up 
def _flag_reposition(self):
        #self.walk_target_x = self.np_random.uniform(low=-self.scene.stadium_halflen,
        #                                            high=+self.scene.stadium_halflen)
        #self.walk_target_y = self.np_random.uniform(low=-self.scene.stadium_halfwidth,
        #                                            high=+self.scene.stadium_halfwidth)
        force_x = self.np_random.uniform(-300,300)
        force_y = self.np_random.uniform(-300, 300)

        more_compact = 0.5  # set to 1.0 whole football field
        #self.walk_target_x *= more_compact
        #self.walk_target_y *= more_compact

        startx, starty, _ = self.robot.get_position()


        self.flag = None
        self.flag_timeout = 3000 / self.scene.frame_skip
        if self.lastid:
            p.removeBody(self.lastid)

        self.lastid = p.createMultiBody(baseMass = 1, baseVisualShapeIndex=self.visualid, baseCollisionShapeIndex=self.colisionid, basePosition=[startx, starty, 0.5])
        p.applyExternalForce(self.lastid, -1, [force_x,force_y,50], [0,0,0], p.LINK_FRAME)

        ball_xyz, _ = p.getBasePositionAndOrientation(self.lastid)

        self.robot.walk_target_x = ball_xyz[0]
        self.robot.walk_target_y = ball_xyz[1]
Example #7
Source File: humanoid_env.py    From midlevel-reps with MIT License 5 votes vote down vote up 
def _flag_reposition(self):
        # self.walk_target_x = self.np_random.uniform(low=-self.scene.stadium_halflen,
        #                                            high=+self.scene.stadium_halflen)
        # self.walk_target_y = self.np_random.uniform(low=-self.scene.stadium_halfwidth,
        #                                            high=+self.scene.stadium_halfwidth)
        force_x = self.np_random.uniform(-300, 300)
        force_y = self.np_random.uniform(-300, 300)

        more_compact = 0.5  # set to 1.0 whole football field
        # self.walk_target_x *= more_compact
        # self.walk_target_y *= more_compact

        startx, starty, _ = self.robot.body_xyz

        self.flag = None
        # self.flag = self.scene.cpp_world.debug_sphere(self.walk_target_x, self.walk_target_y, 0.2, 0.2, 0xFF8080)
        self.flag_timeout = 3000 / self.scene.frame_skip
        # print('targetxy', self.flagid, self.walk_target_x, self.walk_target_y, p.getBasePositionAndOrientation(self.flagid))
        # p.resetBasePositionAndOrientation(self.flagid, posObj = [self.walk_target_x, self.walk_target_y, 0.5], ornObj = [0,0,0,0])
        if self.lastid:
            p.removeBody(self.lastid)

        self.lastid = p.createMultiBody(baseMass=1, baseVisualShapeIndex=self.visualid,
                                        baseCollisionShapeIndex=self.colisionid, basePosition=[startx, starty, 0.5])
        p.applyExternalForce(self.lastid, -1, [force_x, force_y, 50], [0, 0, 0], p.LINK_FRAME)

        ball_xyz, _ = p.getBasePositionAndOrientation(self.lastid)

        self.robot.walk_target_x = ball_xyz[0]
        self.robot.walk_target_y = ball_xyz[1]
Example #8
Source File: husky_env.py    From midlevel-reps with MIT License 5 votes vote down vote up 
def _flag_reposition(self):
        #self.walk_target_x = self.np_random.uniform(low=-self.scene.stadium_halflen,
        #                                            high=+self.scene.stadium_halflen)
        #self.walk_target_y = self.np_random.uniform(low=-self.scene.stadium_halfwidth,
        #                                            high=+self.scene.stadium_halfwidth)
        force_x = self.np_random.uniform(-300,300)
        force_y = self.np_random.uniform(-300, 300)

        more_compact = 0.5  # set to 1.0 whole football field
        #self.walk_target_x *= more_compact
        #self.walk_target_y *= more_compact

        startx, starty, _ = self.robot.get_position()


        self.flag = None
        #self.flag = self.scene.cpp_world.debug_sphere(self.walk_target_x, self.walk_target_y, 0.2, 0.2, 0xFF8080)
        self.flag_timeout = 3000 / self.scene.frame_skip
        #print('targetxy', self.flagid, self.walk_target_x, self.walk_target_y, p.getBasePositionAndOrientation(self.flagid))
        #p.resetBasePositionAndOrientation(self.flagid, posObj = [self.walk_target_x, self.walk_target_y, 0.5], ornObj = [0,0,0,0])
        if self.lastid:
            p.removeBody(self.lastid)

        self.lastid = p.createMultiBody(baseMass = 1, baseVisualShapeIndex=self.visualid, baseCollisionShapeIndex=self.colisionid, basePosition=[startx, starty, 0.5])
        p.applyExternalForce(self.lastid, -1, [force_x,force_y,50], [0,0,0], p.LINK_FRAME)

        ball_xyz, _ = p.getBasePositionAndOrientation(self.lastid)

        self.robot.walk_target_x = ball_xyz[0]
        self.robot.walk_target_y = ball_xyz[1]
Example #9
Source File: simulation_manager.py    From qibullet with Apache License 2.0 5 votes vote down vote up 
def _removeRobot(self, robot_virtual):
        """
        Removes a Virtual robot (Robot inheriting from RobotVirtual) from a
        simulated instance

        Parameters:
            robot_virtual - The virtual robot to be removed
        """
        for camera in robot_virtual.camera_dict.values():
            if id(camera) in Camera._getCameraHandlesDict():
                camera.unsubscribe()

        pybullet.removeBody(robot_virtual.getRobotModel())
Example #10
Source File: icub_env.py    From pybullet-robot-envs with GNU Lesser General Public License v2.1 5 votes vote down vote up 
def delete_simulated_robot(self):
        # Remove the robot from the simulation
        p.removeBody(self.robot_id, physicsClientId=self._physics_client_id)
Example #11
Source File: panda_env.py    From pybullet-robot-envs with GNU Lesser General Public License v2.1 5 votes vote down vote up 
def delete_simulated_robot(self):
        # Remove the robot from the simulation
        p.removeBody(self.robot_id, physicsClientId=self._physics_client_id)