Python pybullet.setPhysicsEngineParameter方法代碼示例

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

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

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

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

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

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

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

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import setPhysicsEngineParameter [as 別名]
def clean_everything(self):
		p.resetSimulation()
		p.setGravity(0, 0, -self.gravity)
		p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=2) 

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

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

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

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