Python pybullet.loadSDF() Examples
The following are 8
code examples of pybullet.loadSDF().
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: mug.py From costar_plan with Apache License 2.0 | 6 votes |
|
def _setup(self):
'''
Create the mug at a random position on the ground, handle facing
roughly towards the robot. Robot's job is to grab and lift.
'''
rospack = rospkg.RosPack()
path = rospack.get_path('costar_objects')
sdf_dir = os.path.join(path, self.sdf_dir)
obj_to_add = os.path.join(sdf_dir, self.model, self.model_file_name)
identity_orientation = pb.getQuaternionFromEuler([0, 0, 0])
try:
obj_id_list = pb.loadSDF(obj_to_add)
for obj_id in obj_id_list:
random_position = np.random.rand(
3) * self.spawn_pos_delta + self.spawn_pos_min
pb.resetBasePositionAndOrientation(
obj_id, random_position, identity_orientation)
except Exception, e:
print e
Example #2
| Source File: kuka.py From soccer-matlab with BSD 2-Clause "Simplified" License | 5 votes |
|
def reset(self):
objects = p.loadSDF(os.path.join(self.urdfRootPath,"kuka_iiwa/kuka_with_gripper2.sdf"))
self.kukaUid = objects[0]
#for i in range (p.getNumJoints(self.kukaUid)):
# print(p.getJointInfo(self.kukaUid,i))
p.resetBasePositionAndOrientation(self.kukaUid,[-0.100000,0.000000,0.070000],[0.000000,0.000000,0.000000,1.000000])
self.jointPositions=[ 0.006418, 0.413184, -0.011401, -1.589317, 0.005379, 1.137684, -0.006539, 0.000048, -0.299912, 0.000000, -0.000043, 0.299960, 0.000000, -0.000200 ]
self.numJoints = p.getNumJoints(self.kukaUid)
for jointIndex in range (self.numJoints):
p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
p.setJointMotorControl2(self.kukaUid,jointIndex,p.POSITION_CONTROL,targetPosition=self.jointPositions[jointIndex],force=self.maxForce)
self.trayUid = p.loadURDF(os.path.join(self.urdfRootPath,"tray/tray.urdf"), 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
self.endEffectorPos = [0.537,0.0,0.5]
self.endEffectorAngle = 0
self.motorNames = []
self.motorIndices = []
for i in range (self.numJoints):
jointInfo = p.getJointInfo(self.kukaUid,i)
qIndex = jointInfo[3]
if qIndex > -1:
#print("motorname")
#print(jointInfo[1])
self.motorNames.append(str(jointInfo[1]))
self.motorIndices.append(i)
Example #3
| Source File: bullet_physics_engine.py From NTP-vat-release with MIT License | 5 votes |
|
def load(self, path, pos=[0, 0, 0], euler=[0, 0, 0], fixed=False):
"""Load an body into the simulation."""
# Set data path
assert osp.exists(path), \
'Model path {} does not exist.'.format(path)
# Load body model
model_name, ext = osp.splitext(path)
if ext == '.urdf':
quat = self.quat_from_euler(euler)
uid = p.loadURDF(path, pos, quat, useFixedBase=fixed)
elif ext == '.sdf':
uid = p.loadSDF(path)
else:
raise ValueError('Unrecognized extension {}.'.format(ext))
return uid
Example #4
| Source File: kuka.py From robotics-rl-srl with MIT License | 5 votes |
|
def reset(self):
"""
Reset the environment
"""
objects = p.loadSDF(os.path.join(self.urdf_root_path, "kuka_iiwa/kuka_with_gripper2.sdf"))
self.kuka_uid = objects[0]
p.resetBasePositionAndOrientation(self.kuka_uid, [-0.100000, 0.000000, -0.15],
[0.000000, 0.000000, 0.000000, 1.000000])
self.joint_positions = [0.006418, 0.113184, -0.011401, -1.289317, 0.005379, 1.737684, -0.006539, 0.000048,
-0.299912, 0.000000, -0.000043, 0.299960, 0.000000, -0.000200]
self.num_joints = p.getNumJoints(self.kuka_uid)
for jointIndex in range(self.num_joints):
p.resetJointState(self.kuka_uid, jointIndex, self.joint_positions[jointIndex])
p.setJointMotorControl2(self.kuka_uid, jointIndex, p.POSITION_CONTROL,
targetPosition=self.joint_positions[jointIndex], force=self.max_force)
self.end_effector_pos = np.array([0.537, 0.0, 0.5])
self.end_effector_angle = 0
self.motor_names = []
self.motor_indices = []
for i in range(self.num_joints):
joint_info = p.getJointInfo(self.kuka_uid, i)
q_index = joint_info[3]
if q_index > -1:
self.motor_names.append(str(joint_info[1]))
self.motor_indices.append(i)
Example #5
| Source File: obstructions.py From costar_plan with Apache License 2.0 | 5 votes |
|
def _setup(self):
'''
Create task by adding objects to the scene
'''
rospack = rospkg.RosPack()
path = rospack.get_path('costar_objects')
urdf_dir = os.path.join(path, self.urdf_dir)
sdf_dir = os.path.join(path, self.sdf_dir)
objs = [obj for obj in os.listdir(
sdf_dir) if os.path.isdir(os.path.join(sdf_dir, obj))]
randn = np.random.randint(1, len(objs))
objs_name_to_add = np.random.choice(objs, randn)
objs_to_add = [os.path.join(sdf_dir, obj, self.model_file_name)
for obj in objs_name_to_add]
identity_orientation = pb.getQuaternionFromEuler([0, 0, 0])
# load sdfs for all objects and initialize positions
for obj_index, obj in enumerate(objs_to_add):
if objs_name_to_add[obj_index] in self.models:
try:
print 'Loading object: ', obj
obj_id_list = pb.loadSDF(obj)
for obj_id in obj_id_list:
self.objs.append(obj_id)
random_position = np.random.rand(
3) * self.spawn_pos_delta + self.spawn_pos_min
pb.resetBasePositionAndOrientation(
obj_id, random_position, identity_orientation)
except Exception, e:
print e
Example #6
| Source File: clutter.py From costar_plan with Apache License 2.0 | 5 votes |
|
def _setup(self):
'''
Create random objects at random positions. Load random objects from the
scene and create them in different places. In the future we may want to
switch from using the list of "all" objects to a subset that we can
actually pick up and manipulate.
'''
rospack = rospkg.RosPack()
path = rospack.get_path('costar_objects')
sdf_dir = os.path.join(path, self.sdf_dir)
objs = [obj for obj in os.listdir(
sdf_dir) if os.path.isdir(os.path.join(sdf_dir, obj))]
randn = np.random.randint(1, len(objs))
objs_name_to_add = np.random.choice(objs, randn)
objs_to_add = [os.path.join(sdf_dir, obj, self.model_file_name)
for obj in objs_name_to_add]
identity_orientation = pb.getQuaternionFromEuler([0, 0, 0])
# load sdfs for all objects and initialize positions
for obj_index, obj in enumerate(objs_to_add):
if objs_name_to_add[obj_index] in self.models:
try:
print 'Loading object: ', obj
obj_id_list = pb.loadSDF(obj)
for obj_id in obj_id_list:
self.objs.append(obj_id)
random_position = np.random.rand(
3) * self.spawn_pos_delta + self.spawn_pos_min
pb.resetBasePositionAndOrientation(
obj_id, random_position, identity_orientation)
except Exception, e:
print e
Example #7
| Source File: scene_stadium.py From midlevel-reps with MIT License | 5 votes |
|
def __init__(self, robot, gravity, timestep, frame_skip, env=None):
Scene.__init__(self, gravity, timestep, frame_skip, env)
filename = os.path.join(pybullet_data.getDataPath(), "stadium_no_collision.sdf")
self.stadium = p.loadSDF(filename)
planeName = os.path.join(pybullet_data.getDataPath(), "mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadMJCF(planeName)
for i in self.ground_plane_mjcf:
pos, orn = p.getBasePositionAndOrientation(i)
p.resetBasePositionAndOrientation(i, [pos[0], pos[1], pos[2] - 0.005], orn)
for i in self.ground_plane_mjcf:
p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.5])
self.scene_obj_list = self.stadium
Example #8
| Source File: scene_stadium.py From bullet-gym with MIT License | 5 votes |
|
def episode_restart(self): Scene.episode_restart(self) # contains cpp_world.clean_everything() # stadium_pose = cpp_household.Pose() # if self.zero_at_running_strip_start_line: # stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants self.stadium = p.loadSDF(os.path.join(os.path.dirname(__file__), "other_assets", "stadium.sdf")) self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", "ground_plane.xml"))
