Python pybullet.setPhysicsEngineParameter() Examples
The following are 13
code examples of pybullet.setPhysicsEngineParameter().
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Example #1
| Source File: kukaGymEnv.py From soccer-matlab with BSD 2-Clause "Simplified" License | 6 votes |
|
def _reset(self):
#print("KukaGymEnv _reset")
self.terminated = 0
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.55 +0.12*random.random()
ypos = 0 +0.2*random.random()
ang = 3.14*0.5+3.1415925438*random.random()
orn = p.getQuaternionFromEuler([0,0,ang])
self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.15,orn[0],orn[1],orn[2],orn[3])
p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
p.stepSimulation()
self._observation = self.getExtendedObservation()
return np.array(self._observation)
Example #2
| Source File: kukaCamGymEnv.py From soccer-matlab with BSD 2-Clause "Simplified" License | 6 votes |
|
def _reset(self):
self.terminated = 0
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.5 +0.2*random.random()
ypos = 0 +0.25*random.random()
ang = 3.1415925438*random.random()
orn = p.getQuaternionFromEuler([0,0,ang])
self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
p.stepSimulation()
self._observation = self.getExtendedObservation()
return np.array(self._observation)
Example #3
| Source File: pose_env.py From tensor2robot with Apache License 2.0 | 6 votes |
|
def _setup(self):
"""Sets up the robot + tray + objects.
"""
pybullet.resetSimulation(physicsClientId=self.cid)
pybullet.setPhysicsEngineParameter(numSolverIterations=150,
physicsClientId=self.cid)
# pybullet.setTimeStep(self._time_step, physicsClientId=self.cid)
pybullet.setGravity(0, 0, -10, physicsClientId=self.cid)
plane_path = os.path.join(self._urdf_root, 'plane.urdf')
pybullet.loadURDF(plane_path, [0, 0, -1],
physicsClientId=self.cid)
table_path = os.path.join(self._urdf_root, 'table/table.urdf')
pybullet.loadURDF(table_path, [0.0, 0.0, -.65],
[0., 0., 0., 1.], physicsClientId=self.cid)
# Load the target object
duck_path = os.path.join(self._urdf_root, 'duck_vhacd.urdf')
pos = [0]*3
orn = [0., 0., 0., 1.]
self._target_uid = pybullet.loadURDF(
duck_path, pos, orn, physicsClientId=self.cid)
Example #4
| Source File: saveRestoreStateTest.py From soccer-matlab with BSD 2-Clause "Simplified" License | 5 votes |
|
def setupWorld(self):
numObjects = 50
maximalCoordinates = False
p.resetSimulation()
p.setPhysicsEngineParameter(deterministicOverlappingPairs=1)
p.loadURDF("planeMesh.urdf",useMaximalCoordinates=maximalCoordinates)
kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10], useMaximalCoordinates=maximalCoordinates)
for i in range (p.getNumJoints(kukaId)):
p.setJointMotorControl2(kukaId,i,p.POSITION_CONTROL,force=0)
for i in range (numObjects):
cube = p.loadURDF("cube_small.urdf",[0,i*0.02,(i+1)*0.2])
#p.changeDynamics(cube,-1,mass=100)
p.stepSimulation()
p.setGravity(0,0,-10)
Example #5
| Source File: kuka_diverse_object_gym_env.py From soccer-matlab with BSD 2-Clause "Simplified" License | 5 votes |
|
def _reset(self):
"""Environment reset called at the beginning of an episode.
"""
# Set the camera settings.
look = [0.23, 0.2, 0.54]
distance = 1.
pitch = -56 + self._cameraRandom*np.random.uniform(-3, 3)
yaw = 245 + self._cameraRandom*np.random.uniform(-3, 3)
roll = 0
self._view_matrix = p.computeViewMatrixFromYawPitchRoll(
look, distance, yaw, pitch, roll, 2)
fov = 20. + self._cameraRandom*np.random.uniform(-2, 2)
aspect = self._width / self._height
near = 0.01
far = 10
self._proj_matrix = p.computeProjectionMatrixFOV(
fov, aspect, near, far)
self._attempted_grasp = False
self._env_step = 0
self.terminated = 0
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
p.stepSimulation()
# Choose the objects in the bin.
urdfList = self._get_random_object(
self._numObjects, self._isTest)
self._objectUids = self._randomly_place_objects(urdfList)
self._observation = self._get_observation()
return np.array(self._observation)
Example #6
| Source File: scene_abstract.py From midlevel-reps with MIT License | 5 votes |
|
def clean_everything(self):
#p.resetSimulation()
p.setGravity(0, 0, -self.gravity)
#p.setDefaultContactERP(0.9)
p.setPhysicsEngineParameter(fixedTimeStep=self.timestep*self.frame_skip, numSolverIterations=50, numSubSteps=(self.frame_skip-1))
Example #7
| Source File: scene_abstract.py From bullet-gym with MIT License | 5 votes |
|
def clean_everything(self): p.resetSimulation() p.setGravity(0, 0, -self.gravity) p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=2)
Example #8
| Source File: icub_reach_gym_env.py From pybullet-robot-envs with GNU Lesser General Public License v2.1 | 5 votes |
|
def reset_simulation(self):
self.terminated = 0
# --- reset simulation --- #
p.resetSimulation(physicsClientId=self._physics_client_id)
p.setPhysicsEngineParameter(numSolverIterations=150, physicsClientId=self._physics_client_id)
p.setTimeStep(self._time_step, physicsClientId=self._physics_client_id)
self._env_step_counter = 0
p.setGravity(0, 0, -9.8, physicsClientId=self._physics_client_id)
# --- reset robot --- #
self._robot.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
# --- reset world --- #
self._world.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
# --- draw some reference frames in the simulation for debugging --- #
self._robot.debug_gui()
self._world.debug_gui()
p.stepSimulation(physicsClientId=self._physics_client_id)
Example #9
| Source File: icub_push_gym_env.py From pybullet-robot-envs with GNU Lesser General Public License v2.1 | 5 votes |
|
def reset_simulation(self):
self.terminated = 0
# --- reset simulation --- #
p.resetSimulation(physicsClientId=self._physics_client_id)
p.setPhysicsEngineParameter(numSolverIterations=150, physicsClientId=self._physics_client_id)
p.setTimeStep(self._time_step, physicsClientId=self._physics_client_id)
self._env_step_counter = 0
p.setGravity(0, 0, -9.8, physicsClientId=self._physics_client_id)
# --- reset robot --- #
self._robot.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
# --- reset world --- #
self._world.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
if self._use_IK:
self._hand_pose = self._robot._home_hand_pose
# --- draw some reference frames in the simulation for debugging --- #
self._robot.debug_gui()
self._world.debug_gui()
p.stepSimulation(physicsClientId=self._physics_client_id)
Example #10
| Source File: panda_push_gym_env.py From pybullet-robot-envs with GNU Lesser General Public License v2.1 | 5 votes |
|
def reset_simulation(self):
self.terminated = 0
# --- reset simulation --- #
p.resetSimulation(physicsClientId=self._physics_client_id)
p.setPhysicsEngineParameter(numSolverIterations=150, physicsClientId=self._physics_client_id)
p.setTimeStep(self._timeStep, physicsClientId=self._physics_client_id)
self._env_step_counter = 0
p.setGravity(0, 0, -9.8, physicsClientId=self._physics_client_id)
# --- reset robot --- #
self._robot.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
# --- reset world --- #
self._world.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
if self._use_IK:
self._hand_pose = self._robot._home_hand_pose
# --- draw some reference frames in the simulation for debugging --- #
self._robot.debug_gui()
self._world.debug_gui()
p.stepSimulation(physicsClientId=self._physics_client_id)
Example #11
| Source File: panda_reach_gym_env.py From pybullet-robot-envs with GNU Lesser General Public License v2.1 | 5 votes |
|
def reset_simulation(self):
self.terminated = 0
# --- reset simulation --- #
p.resetSimulation(physicsClientId=self._physics_client_id)
p.setPhysicsEngineParameter(numSolverIterations=150, physicsClientId=self._physics_client_id)
p.setTimeStep(self._timeStep, physicsClientId=self._physics_client_id)
self._env_step_counter = 0
p.setGravity(0, 0, -9.8, physicsClientId=self._physics_client_id)
# --- reset robot --- #
self._robot.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
# --- reset world --- #
self._world.reset()
# Let the world run for a bit
for _ in range(100):
p.stepSimulation(physicsClientId=self._physics_client_id)
if self._use_IK:
self._hand_pose = self._robot._home_hand_pose
# --- draw some reference frames in the simulation for debugging --- #
self._robot.debug_gui()
self._world.debug_gui()
p.stepSimulation(physicsClientId=self._physics_client_id)
Example #12
| Source File: saveRestoreState.py From soccer-matlab with BSD 2-Clause "Simplified" License | 4 votes |
|
def setupWorld():
p.resetSimulation()
p.setPhysicsEngineParameter(deterministicOverlappingPairs=1)
p.loadURDF("planeMesh.urdf")
kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10])
for i in range (p.getNumJoints(kukaId)):
p.setJointMotorControl2(kukaId,i,p.POSITION_CONTROL,force=0)
for i in range (numObjects):
cube = p.loadURDF("cube_small.urdf",[0,i*0.02,(i+1)*0.2])
#p.changeDynamics(cube,-1,mass=100)
p.stepSimulation()
p.setGravity(0,0,-10)
Example #13
| Source File: minitaur_env.py From midlevel-reps with MIT License | 4 votes |
|
def __init__(self, config, gpu_count=0):
"""Initialize the minitaur gym environment.
Args:
distance_weight: The weight of the distance term in the reward.
energy_weight: The weight of the energy term in the reward.
shake_weight: The weight of the vertical shakiness term in the reward.
drift_weight: The weight of the sideways drift term in the reward.
distance_limit: The maximum distance to terminate the episode.
observation_noise_stdev: The standard deviation of observation noise.
leg_model_enabled: Whether to use a leg motor to reparameterize the action
space.
hard_reset: Whether to wipe the simulation and load everything when reset
is called. If set to false, reset just place the minitaur back to start
position and set its pose to initial configuration.
env_randomizer: An EnvRandomizer to randomize the physical properties
during reset().
"""
self.config = self.parse_config(config)
assert(self.config["envname"] == self.__class__.__name__ or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self, self.config, gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Minitaur(self.config, env=self,
pd_control_enabled=self.pd_control_enabled,
accurate_motor_model_enabled=self.accurate_motor_model_enabled))
self.scene_introduce()
self.gui = self.config["mode"] == "gui"
self.total_reward = 0
self.total_frame = 0
self.action_repeat = 1
## Important: PD controller needs more accuracy
'''if self.pd_control_enabled or self.accurate_motor_model_enabled:
self.time_step = self.config["speed"]["timestep"]
self.time_step /= self.NUM_SUBSTEPS
self.num_bullet_solver_iterations /= self.NUM_SUBSTEPS
self.action_repeat *= self.NUM_SUBSTEPS
pybullet.setPhysicsEngineParameter(physicsClientId=self.physicsClientId,
numSolverIterations=int(self.num_bullet_solver_iterations))
pybullet.setTimeStep(self.time_step, physicsClientId=self.physicsClientId)
'''
pybullet.setPhysicsEngineParameter(physicsClientId=self.physicsClientId,
numSolverIterations=int(self.num_bullet_solver_iterations))
self._observation = []
self._last_base_position = [0, 0, 0]
self._action_bound = self.action_bound
self._env_randomizer = self.env_randomizer
if self._env_randomizer is not None:
self._env_randomizer.randomize_env(self)
self._objectives = []
self.viewer = None
self.Amax = [0] * 8
