Python pybullet.applyExternalForce方法代碼示例

本文整理匯總了Python中pybullet.applyExternalForce方法的典型用法代碼示例。如果您正苦於以下問題：Python pybullet.applyExternalForce方法的具體用法？Python pybullet.applyExternalForce怎麽用？Python pybullet.applyExternalForce使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類pybullet的用法示例。

在下文中一共展示了pybullet.applyExternalForce方法的8個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。

示例1: _reset

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
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)

開發者ID:benelot，項目名稱:bullet-gym，代碼行數:26，代碼來源:CartPolev0Env.py

示例2: _reset

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
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)

開發者ID:benelot，項目名稱:bullet-gym，代碼行數:27，代碼來源:Detached2DCartPolev0Env.py

示例3: apply_force

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
def apply_force(self, uid, lid, force, pos):
        p.applyExternalForce(uid, lid, force, pos, p.WORLD_FRAME)

開發者ID:StanfordVL，項目名稱:NTP-vat-release，代碼行數:4，代碼來源:bullet_physics_engine.py

示例4: _reset

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
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)

開發者ID:matpalm，項目名稱:cartpoleplusplus，代碼行數:32，代碼來源:bullet_cartpole.py

示例5: _flag_reposition

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
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]

開發者ID:alexsax，項目名稱:midlevel-reps，代碼行數:29，代碼來源:ant_env.py

示例6: _flag_reposition

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
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]

開發者ID:alexsax，項目名稱:midlevel-reps，代碼行數:32，代碼來源:humanoid_env.py

示例7: _flag_reposition

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
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]

開發者ID:alexsax，項目名稱:midlevel-reps，代碼行數:32，代碼來源:husky_env.py

示例8: _reset

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import applyExternalForce [as 別名]
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)

開發者ID:benelot，項目名稱:bullet-gym，代碼行數:29，代碼來源:TemplateEnv.py

注：本文中的pybullet.applyExternalForce方法示例由純淨天空整理自Github/MSDocs等開源代碼及文檔管理平台，相關代碼片段篩選自各路編程大神貢獻的開源項目，源碼版權歸原作者所有，傳播和使用請參考對應項目的License；未經允許，請勿轉載。