本文整理汇总了Python中pybullet.setPhysicsEngineParameter方法的典型用法代码示例。如果您正苦于以下问题:Python pybullet.setPhysicsEngineParameter方法的具体用法?Python pybullet.setPhysicsEngineParameter怎么用?Python pybullet.setPhysicsEngineParameter使用的例子?那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类pybullet
的用法示例。
在下文中一共展示了pybullet.setPhysicsEngineParameter方法的12个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: setupWorld
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例2: _reset
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例3: _reset
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例4: _setup
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例5: setupWorld
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例6: _reset
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例7: clean_everything
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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))
示例8: clean_everything
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
def clean_everything(self):
p.resetSimulation()
p.setGravity(0, 0, -self.gravity)
p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=2)
示例9: reset_simulation
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例10: reset_simulation
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例11: reset_simulation
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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)
示例12: __init__
# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import setPhysicsEngineParameter [as 别名]
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