Python pybullet.applyExternalForce() Examples

The following are 8 code examples of pybullet.applyExternalForce(). 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: CartPolev0Env.py    From bullet-gym with MIT License 6 votes vote down vote up 
def _reset(self):
		# reset state
		self.steps = 0
		self.done = False

		# reset pole on cart in starting poses
		p.resetBasePositionAndOrientation(self.cartpole, (0,0,0.08), (0,0,0,1)) # reset cart position and orientation
		p.resetJointState(self.cartpole, 0, 0) # reset joint position of pole
		for _ in xrange(100): p.stepSimulation()

		# give a fixed force push in a random direction to get things going...
		theta = (np.random.random()*2-1) if self.random_theta else 0.0
		for _ in xrange(self.initial_force_steps):
			p.stepSimulation()
			p.applyExternalForce(self.cartpole, 0, (theta, 0 , 0), (0, 0, 0), p.WORLD_FRAME)
			if self.delay > 0:
				time.sleep(self.delay)

		# bootstrap state by running for all repeats
		for i in xrange(self.repeats):
			self.set_state_element_for_repeat(i)

		# return this state
		return np.copy(self.state)
Example #2
Source File: Detached2DCartPolev0Env.py    From bullet-gym with MIT License 6 votes vote down vote up 
def _reset(self):
		# reset state
		self.steps = 0
		self.done = False

		# reset pole on cart in starting poses
		p.resetBasePositionAndOrientation(self.cart, (0,0,0.08), (0,0,0,1))
		p.resetBasePositionAndOrientation(self.pole, (0,0,0.35), (0,0,0,1))
		for _ in xrange(100): p.stepSimulation()

		# give a fixed force push in a random direction to get things going...
		theta = np.multiply(np.multiply((np.random.random(), np.random.random(), 0),2) - (1,1,0),5) if self.random_theta else (1,0,0)
		
		for _ in xrange(self.initial_force_steps):
			p.stepSimulation()
			p.applyExternalForce(self.pole, -1, theta, (0, 0, 0), p.WORLD_FRAME)
			if self.delay > 0:
				time.sleep(self.delay)

		# bootstrap state by running for all repeats
		for i in xrange(self.repeats):
			self.set_state_element_for_repeat(i)

		# return this state
		return np.copy(self.state)
Example #3
Source File: bullet_physics_engine.py    From NTP-vat-release with MIT License 5 votes vote down vote up 
def apply_force(self, uid, lid, force, pos):
        p.applyExternalForce(uid, lid, force, pos, p.WORLD_FRAME)
Example #4
Source File: bullet_cartpole.py    From cartpoleplusplus with MIT License 5 votes vote down vote up 
def _reset(self):
    # reset state
    self.steps = 0
    self.done = False

    # reset pole on cart in starting poses
    p.resetBasePositionAndOrientation(self.cart, (0,0,0.08), (0,0,0,1))
    p.resetBasePositionAndOrientation(self.pole, (0,0,0.35), (0,0,0,1))
    for _ in xrange(100): p.stepSimulation()

    # give a fixed force push in a random direction to get things going...
    theta = (np.random.random() * 2 * np.pi) if self.random_theta else 0.0
    fx, fy = self.initial_force * np.cos(theta), self.initial_force * np.sin(theta)
    for _ in xrange(self.initial_force_steps):
      p.stepSimulation()
      p.applyExternalForce(self.cart, -1, (fx, fy, 0), (0, 0, 0), p.WORLD_FRAME)
      if self.delay > 0:
        time.sleep(self.delay)

    # bootstrap state by running for all repeats
    for i in xrange(self.repeats):
      self.set_state_element_for_repeat(i)

    # reset event log (if applicable) and add entry with only state
    if self.event_log:
      self.event_log.reset()
      self.event_log.add_just_state(self.state)

    # return this state
    return np.copy(self.state)
Example #5
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 #6
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 #7
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 #8
Source File: TemplateEnv.py    From bullet-gym with MIT License 5 votes vote down vote up 
def _reset(self):
        pass
        # reset your environment
        
#         # reset state
#         self.steps = 0
#         self.done = False
# 
#         # reset pole on cart in starting poses
#         p.resetBasePositionAndOrientation(self.cartpole, (0,0,0.08), (0,0,0,1)) # reset cart position and orientation
#         p.resetJointState(self.cartpole, 0, 0) # reset joint position of pole
#         for _ in xrange(100): p.stepSimulation()
# 
#         # give a fixed force push in a random direction to get things going...
#         theta = (np.random.random()*2-1) if self.random_theta else 0.0
#         for _ in xrange(self.initial_force_steps):
#             p.stepSimulation()
#             p.applyExternalForce(self.cartpole, 0, (theta, 0 , 0), (0, 0, 0), p.WORLD_FRAME)
#             if self.delay > 0:
#                 time.sleep(self.delay)
# 
#         # bootstrap state by running for all repeats
#         for i in xrange(self.repeats):
#             self.set_state_element_for_repeat(i)
# 
#         # return this state
#         return np.copy(self.state)