Python pybullet.getBodyInfo() Examples
The following are 11
code examples of pybullet.getBodyInfo().
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Example #1
| Source File: robot_locomotors.py From GtS with MIT License | 5 votes |
|
def robot_specific_reset(self):
WalkerBase.robot_specific_reset(self)
humanoidId = -1
numBodies = p.getNumBodies()
for i in range (numBodies):
bodyInfo = p.getBodyInfo(i)
if bodyInfo[1].decode("ascii") == 'humanoid':
humanoidId = i
## Spherical radiance/glass shield to protect the robot's camera
if self.glass_id is None:
glass_id = p.loadMJCF(os.path.join(self.physics_model_dir, "glass.xml"))[0]
#print("setting up glass", glass_id, humanoidId)
p.changeVisualShape(glass_id, -1, rgbaColor=[0, 0, 0, 0])
cid = p.createConstraint(humanoidId, -1, glass_id,-1,p.JOINT_FIXED,[0,0,0],[0,0,1.4],[0,0,1])
self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
self.motor_power = [100, 100, 100]
self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
self.motor_power += [75, 75, 75]
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names]
Example #2
| Source File: env_modalities.py From GtS with MIT License | 5 votes |
|
def _reset(self):
assert(self._robot_introduced)
assert(self._scene_introduced)
debugmode = 1
if debugmode:
print("Episode: steps:{} score:{}".format(self.nframe, self.reward))
body_xyz = self.robot.body_xyz
#print("[{}, {}, {}],".format(body_xyz[0], body_xyz[1], body_xyz[2]))
print("Episode count: {}".format(self.eps_count))
self.eps_count += 1
self.nframe = 0
self.eps_reward = 0
BaseEnv._reset(self)
if not self.ground_ids:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
[])
self.ground_ids = set(self.scene.scene_obj_list)
## Todo: (hzyjerry) this part is not working, robot_tracking_id = -1
for i in range (p.getNumBodies()):
if (p.getBodyInfo(i)[0].decode() == self.robot_body.get_name()):
self.robot_tracking_id=i
#print(p.getBodyInfo(i)[0].decode())
i = 0
eye_pos, eye_quat = self.get_eye_pos_orientation()
pose = [eye_pos, eye_quat]
observations = self.render_observations(pose)
pos = self.robot._get_scaled_position()
orn = self.robot.get_orientation()
pos = (pos[0], pos[1], pos[2] + self.tracking_camera['z_offset'])
p.resetDebugVisualizerCamera(self.tracking_camera['distance'],self.tracking_camera['yaw'], self.tracking_camera['pitch'],pos)
return observations
Example #3
| Source File: env_modalities.py From midlevel-reps with MIT License | 5 votes |
|
def _reset(self):
assert(self._robot_introduced)
assert(self._scene_introduced)
debugmode = 1
if debugmode:
print("Episode: steps:{} score:{}".format(self.nframe, self.reward))
body_xyz = self.robot.body_xyz
print("[{}, {}, {}],".format(body_xyz[0], body_xyz[1], body_xyz[2]))
print("Episode count: {}".format(self.eps_count))
self.eps_count += 1
self.nframe = 0
self.eps_reward = 0
BaseEnv._reset(self)
if not self.ground_ids:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
[])
self.ground_ids = set(self.scene.scene_obj_list)
## Todo: (hzyjerry) this part is not working, robot_tracking_id = -1
for i in range (p.getNumBodies()):
if (p.getBodyInfo(i)[0].decode() == self.robot_body.get_name()):
self.robot_tracking_id=i
#print(p.getBodyInfo(i)[0].decode())
i = 0
eye_pos, eye_quat = self.get_eye_pos_orientation()
pose = [eye_pos, eye_quat]
observations = self.render_observations(pose)
pos = self.robot._get_scaled_position()
orn = self.robot.get_orientation()
pos = (pos[0], pos[1], pos[2] + self.tracking_camera['z_offset'])
p.resetDebugVisualizerCamera(self.tracking_camera['distance'],self.tracking_camera['yaw'], self.tracking_camera['pitch'],pos)
return observations
Example #4
| Source File: robot_locomotors.py From midlevel-reps with MIT License | 5 votes |
|
def robot_specific_reset(self):
WalkerBase.robot_specific_reset(self)
humanoidId = -1
numBodies = p.getNumBodies()
for i in range (numBodies):
bodyInfo = p.getBodyInfo(i)
if bodyInfo[1].decode("ascii") == 'humanoid':
humanoidId = i
## Spherical radiance/glass shield to protect the robot's camera
if self.glass_id is None:
glass_id = p.loadMJCF(os.path.join(self.physics_model_dir, "glass.xml"))[0]
#print("setting up glass", glass_id, humanoidId)
p.changeVisualShape(glass_id, -1, rgbaColor=[0, 0, 0, 0])
cid = p.createConstraint(humanoidId, -1, glass_id,-1,p.JOINT_FIXED,[0,0,0],[0,0,1.4],[0,0,1])
self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
self.motor_power = [100, 100, 100]
self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
self.motor_power += [75, 75, 75]
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names]
Example #5
| Source File: simulation_manager_test.py From qibullet with Apache License 2.0 | 5 votes |
|
def test_remove_pepper(self):
"""
Test the @removePepper method
"""
manager = SimulationManager()
client = manager.launchSimulation(gui=False)
pepper = manager.spawnPepper(client, spawn_ground_plane=True)
manager.removePepper(pepper)
with self.assertRaises(pybullet.error):
pybullet.getBodyInfo(pepper.getRobotModel())
manager.stopSimulation(client)
Example #6
| Source File: simulation_manager_test.py From qibullet with Apache License 2.0 | 5 votes |
|
def test_remove_nao(self):
"""
Test the @removeNao method
"""
manager = SimulationManager()
client = manager.launchSimulation(gui=False)
nao = manager.spawnNao(client, spawn_ground_plane=True)
manager.removeNao(nao)
with self.assertRaises(pybullet.error):
pybullet.getBodyInfo(nao.getRobotModel())
manager.stopSimulation(client)
Example #7
| Source File: simulation_manager_test.py From qibullet with Apache License 2.0 | 5 votes |
|
def test_remove_romeo(self):
"""
Test the @removeRomeo method
"""
manager = SimulationManager()
client = manager.launchSimulation(gui=False)
romeo = manager.spawnRomeo(client, spawn_ground_plane=True)
manager.removeRomeo(romeo)
with self.assertRaises(pybullet.error):
pybullet.getBodyInfo(romeo.getRobotModel())
manager.stopSimulation(client)
Example #8
| Source File: urdfEditor.py From soccer-matlab with BSD 2-Clause "Simplified" License | 4 votes |
|
def initializeFromBulletBody(self, bodyUid, physicsClientId):
self.initialize()
#always create a base link
baseLink = UrdfLink()
baseLinkIndex = -1
self.convertLinkFromMultiBody(bodyUid, baseLinkIndex, baseLink, physicsClientId)
baseLink.link_name = p.getBodyInfo(bodyUid, physicsClientId=physicsClientId)[0].decode("utf-8")
self.linkNameToIndex[baseLink.link_name]=len(self.urdfLinks)
self.urdfLinks.append(baseLink)
#optionally create child links and joints
for j in range(p.getNumJoints(bodyUid,physicsClientId=physicsClientId)):
jointInfo = p.getJointInfo(bodyUid,j,physicsClientId=physicsClientId)
urdfLink = UrdfLink()
self.convertLinkFromMultiBody(bodyUid, j, urdfLink,physicsClientId)
urdfLink.link_name = jointInfo[12].decode("utf-8")
self.linkNameToIndex[urdfLink.link_name]=len(self.urdfLinks)
self.urdfLinks.append(urdfLink)
urdfJoint = UrdfJoint()
urdfJoint.link = urdfLink
urdfJoint.joint_name = jointInfo[1].decode("utf-8")
urdfJoint.joint_type = jointInfo[2]
urdfJoint.joint_axis_xyz = jointInfo[13]
orgParentIndex = jointInfo[16]
if (orgParentIndex<0):
urdfJoint.parent_name = baseLink.link_name
else:
parentJointInfo = p.getJointInfo(bodyUid,orgParentIndex,physicsClientId=physicsClientId)
urdfJoint.parent_name = parentJointInfo[12].decode("utf-8")
urdfJoint.child_name = urdfLink.link_name
#todo, compensate for inertia/link frame offset
dynChild = p.getDynamicsInfo(bodyUid,j,physicsClientId=physicsClientId)
childInertiaPos = dynChild[3]
childInertiaOrn = dynChild[4]
parentCom2JointPos=jointInfo[14]
parentCom2JointOrn=jointInfo[15]
tmpPos,tmpOrn = p.multiplyTransforms(childInertiaPos,childInertiaOrn,parentCom2JointPos,parentCom2JointOrn)
tmpPosInv,tmpOrnInv = p.invertTransform(tmpPos,tmpOrn)
dynParent = p.getDynamicsInfo(bodyUid,orgParentIndex,physicsClientId=physicsClientId)
parentInertiaPos = dynParent[3]
parentInertiaOrn = dynParent[4]
pos,orn = p.multiplyTransforms(parentInertiaPos,parentInertiaOrn, tmpPosInv, tmpOrnInv)
pos,orn_unused=p.multiplyTransforms(parentInertiaPos,parentInertiaOrn, parentCom2JointPos,[0,0,0,1])
urdfJoint.joint_origin_xyz = pos
urdfJoint.joint_origin_rpy = p.getEulerFromQuaternion(orn)
self.urdfJoints.append(urdfJoint)
Example #9
| Source File: robot_bases.py From GtS with MIT License | 4 votes |
|
def addToScene(self, bodies):
if self.parts is not None:
parts = self.parts
else:
parts = {}
if self.jdict is not None:
joints = self.jdict
else:
joints = {}
if self.ordered_joints is not None:
ordered_joints = self.ordered_joints
else:
ordered_joints = []
dump = 0
for i in range(len(bodies)):
if p.getNumJoints(bodies[i]) == 0:
part_name, robot_name = p.getBodyInfo(bodies[i], 0)
robot_name = robot_name.decode("utf8")
part_name = part_name.decode("utf8")
parts[part_name] = BodyPart(part_name, bodies, i, -1, self.scale, model_type=self.model_type)
for j in range(p.getNumJoints(bodies[i])):
p.setJointMotorControl2(bodies[i],j,p.POSITION_CONTROL,positionGain=0.1,velocityGain=0.1,force=0)
## TODO (hzyjerry): the following is diabled due to pybullet update
#_,joint_name,joint_type, _,_,_, _,_,_,_, _,_, part_name = p.getJointInfo(bodies[i], j)
_,joint_name,joint_type, _,_,_, _,_,_,_, _,_, part_name, _,_,_,_ = p.getJointInfo(bodies[i], j)
joint_name = joint_name.decode("utf8")
part_name = part_name.decode("utf8")
if dump: print("ROBOT PART '%s'" % part_name)
if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
parts[part_name] = BodyPart(part_name, bodies, i, j, self.scale, model_type=self.model_type)
if part_name == self.robot_name:
self.robot_body = parts[part_name]
if i == 0 and j == 0 and self.robot_body is None: # if nothing else works, we take this as robot_body
parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1, self.scale, model_type=self.model_type)
self.robot_body = parts[self.robot_name]
if joint_name[:6] == "ignore":
Joint(joint_name, bodies, i, j, self.scale).disable_motor()
continue
if joint_name[:8] != "jointfix" and joint_type != p.JOINT_FIXED:
joints[joint_name] = Joint(joint_name, bodies, i, j, self.scale, model_type=self.model_type)
ordered_joints.append(joints[joint_name])
joints[joint_name].power_coef = 100.0
debugmode = 0
if debugmode:
for j in ordered_joints:
print(j, j.power_coef)
return parts, joints, ordered_joints, self.robot_body
Example #10
| Source File: robot_bases.py From midlevel-reps with MIT License | 4 votes |
|
def addToScene(self, bodies):
if self.parts is not None:
parts = self.parts
else:
parts = {}
if self.jdict is not None:
joints = self.jdict
else:
joints = {}
if self.ordered_joints is not None:
ordered_joints = self.ordered_joints
else:
ordered_joints = []
dump = 0
for i in range(len(bodies)):
if p.getNumJoints(bodies[i]) == 0:
part_name, robot_name = p.getBodyInfo(bodies[i], 0)
robot_name = robot_name.decode("utf8")
part_name = part_name.decode("utf8")
parts[part_name] = BodyPart(part_name, bodies, i, -1, self.scale, model_type=self.model_type)
for j in range(p.getNumJoints(bodies[i])):
p.setJointMotorControl2(bodies[i],j,p.POSITION_CONTROL,positionGain=0.1,velocityGain=0.1,force=0)
## TODO (hzyjerry): the following is diabled due to pybullet update
#_,joint_name,joint_type, _,_,_, _,_,_,_, _,_, part_name = p.getJointInfo(bodies[i], j)
_,joint_name,joint_type, _,_,_, _,_,_,_, _,_, part_name, _,_,_,_ = p.getJointInfo(bodies[i], j)
joint_name = joint_name.decode("utf8")
part_name = part_name.decode("utf8")
if dump: print("ROBOT PART '%s'" % part_name)
if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
parts[part_name] = BodyPart(part_name, bodies, i, j, self.scale, model_type=self.model_type)
if part_name == self.robot_name:
self.robot_body = parts[part_name]
if i == 0 and j == 0 and self.robot_body is None: # if nothing else works, we take this as robot_body
parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1, self.scale, model_type=self.model_type)
self.robot_body = parts[self.robot_name]
if joint_name[:6] == "ignore":
Joint(joint_name, bodies, i, j, self.scale).disable_motor()
continue
if joint_name[:8] != "jointfix" and joint_type != p.JOINT_FIXED:
joints[joint_name] = Joint(joint_name, bodies, i, j, self.scale, model_type=self.model_type)
ordered_joints.append(joints[joint_name])
joints[joint_name].power_coef = 100.0
debugmode = 0
if debugmode:
for j in ordered_joints:
print(j, j.power_coef)
return parts, joints, ordered_joints, self.robot_body
Example #11
| Source File: gym_mujoco_xml_env.py From bullet-gym with MIT License | 4 votes |
|
def addToScene(self, bodies):
if self.parts is not None:
parts = self.parts
else:
parts = {}
if self.jdict is not None:
joints = self.jdict
else:
joints = {}
if self.ordered_joints is not None:
ordered_joints = self.ordered_joints
else:
ordered_joints = []
dump = 0
for i in range(len(bodies)):
if p.getNumJoints(bodies[i]) == 0:
part_name, robot_name = p.getBodyInfo(bodies[i], 0)
robot_name = robot_name.decode("utf8")
part_name = part_name.decode("utf8")
parts[part_name] = BodyPart(part_name, bodies, i, -1)
for j in range(p.getNumJoints(bodies[i])):
_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
joint_name = joint_name.decode("utf8")
part_name = part_name.decode("utf8")
if dump: print("ROBOT PART '%s'" % part_name)
if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
parts[part_name] = BodyPart(part_name, bodies, i, j)
if part_name == self.robot_name:
self.robot_body = parts[part_name]
if i == 0 and j == 0 and self.robot_body is None: # if nothing else works, we take this as robot_body
parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1)
self.robot_body = parts[self.robot_name]
if joint_name[:8] != "jointfix":
joints[joint_name] = Joint(joint_name, bodies, i, j)
ordered_joints.append(joints[joint_name])
if joint_name[:6] == "ignore":
joints[joint_name].disable_motor()
continue
joints[joint_name].power_coef = 100.0
return parts, joints, ordered_joints, self.robot_body
