本文整理匯總了Python中pybullet.loadSDF方法的典型用法代碼示例。如果您正苦於以下問題:Python pybullet.loadSDF方法的具體用法?Python pybullet.loadSDF怎麽用?Python pybullet.loadSDF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.loadSDF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: _setup
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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
示例2: reset
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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)
示例3: load
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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
示例4: reset
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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)
示例5: _setup
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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
示例6: _setup
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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
示例7: __init__
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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
示例8: episode_restart
# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import loadSDF [as 別名]
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"))