Python pybullet.resetSimulation函数代码示例

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本文整理汇总了Python中pybullet.resetSimulation函数的典型用法代码示例。如果您正苦于以下问题：Python resetSimulation函数的具体用法？Python resetSimulation怎么用？Python resetSimulation使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。

在下文中一共展示了resetSimulation函数的16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，您的评价将有助于我们的系统推荐出更棒的Python代码示例。

示例1: setupWorld

def setupWorld():
	p.resetSimulation()
	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)

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:11，代码来源:saveRestoreState.py

示例2: testJacobian

  def testJacobian(self):
    import pybullet as p

    clid = p.connect(p.SHARED_MEMORY)
    if (clid < 0):
      p.connect(p.DIRECT)

    time_step = 0.001
    gravity_constant = -9.81

    urdfs = [
        "TwoJointRobot_w_fixedJoints.urdf", "TwoJointRobot_w_fixedJoints.urdf",
        "kuka_iiwa/model.urdf", "kuka_lwr/kuka.urdf"
    ]
    for urdf in urdfs:
      p.resetSimulation()
      p.setTimeStep(time_step)
      p.setGravity(0.0, 0.0, gravity_constant)

      robotId = p.loadURDF(urdf, useFixedBase=True)
      p.resetBasePositionAndOrientation(robotId, [0, 0, 0], [0, 0, 0, 1])
      numJoints = p.getNumJoints(robotId)
      endEffectorIndex = numJoints - 1

      # Set a joint target for the position control and step the sim.
      self.setJointPosition(robotId, [0.1 * (i % 3) for i in range(numJoints)])
      p.stepSimulation()

      # Get the joint and link state directly from Bullet.
      mpos, mvel, mtorq = self.getMotorJointStates(robotId)

      result = p.getLinkState(robotId,
                              endEffectorIndex,
                              computeLinkVelocity=1,
                              computeForwardKinematics=1)
      link_trn, link_rot, com_trn, com_rot, frame_pos, frame_rot, link_vt, link_vr = result
      # Get the Jacobians for the CoM of the end-effector link.
      # Note that in this example com_rot = identity, and we would need to use com_rot.T * com_trn.
      # The localPosition is always defined in terms of the link frame coordinates.

      zero_vec = [0.0] * len(mpos)
      jac_t, jac_r = p.calculateJacobian(robotId, endEffectorIndex, com_trn, mpos, zero_vec,
                                         zero_vec)

      assert (allclose(dot(jac_t, mvel), link_vt))
      assert (allclose(dot(jac_r, mvel), link_vr))
    p.disconnect()

开发者ID:bulletphysics，项目名称:bullet3，代码行数:47，代码来源:unittests.py

示例3: setupWorld

  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)

开发者ID:bulletphysics，项目名称:bullet3，代码行数:17，代码来源:saveRestoreStateTest.py

示例4: evaluate_params

def evaluate_params(evaluateFunc,
                    params,
                    objectiveParams,
                    urdfRoot='',
                    timeStep=0.01,
                    maxNumSteps=10000,
                    sleepTime=0):
  print('start evaluation')
  beforeTime = time.time()
  p.resetSimulation()

  p.setTimeStep(timeStep)
  p.loadURDF("%s/plane.urdf" % urdfRoot)
  p.setGravity(0, 0, -10)

  global minitaur
  minitaur = Minitaur(urdfRoot)
  start_position = current_position()
  last_position = None  # for tracing line
  total_energy = 0

  for i in range(maxNumSteps):
    torques = minitaur.getMotorTorques()
    velocities = minitaur.getMotorVelocities()
    total_energy += np.dot(np.fabs(torques), np.fabs(velocities)) * timeStep

    joint_values = evaluate_func_map[evaluateFunc](i, params)
    minitaur.applyAction(joint_values)
    p.stepSimulation()
    if (is_fallen()):
      break

    if i % 100 == 0:
      sys.stdout.write('.')
      sys.stdout.flush()
    time.sleep(sleepTime)

  print(' ')

  alpha = objectiveParams[0]
  final_distance = np.linalg.norm(start_position - current_position())
  finalReturn = final_distance - alpha * total_energy
  elapsedTime = time.time() - beforeTime
  print("trial for ", params, " final_distance", final_distance, "total_energy", total_energy,
        "finalReturn", finalReturn, "elapsed_time", elapsedTime)
  return finalReturn

开发者ID:bulletphysics，项目名称:bullet3，代码行数:46，代码来源:minitaur_evaluate.py

示例5: _reset

  def _reset(self):
#    print("-----------reset simulation---------------")
    p.resetSimulation()
    self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cartpole.urdf"),[0,0,0])
    self.timeStep = 0.01
    p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0)
    p.setGravity(0,0, -10)
    p.setTimeStep(self.timeStep)
    p.setRealTimeSimulation(0)

    initialCartPos = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
    initialAngle = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
    p.resetJointState(self.cartpole, 1, initialAngle)
    p.resetJointState(self.cartpole, 0, initialCartPos)

    self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]

    return np.array(self.state)

开发者ID:Valentactive，项目名称:bullet3，代码行数:18，代码来源:cartpole_bullet.py

示例6: _reset

 def _reset(self):
   p.resetSimulation()
   #p.setPhysicsEngineParameter(numSolverIterations=300)
   p.setTimeStep(self._timeStep)
   p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"))
   
   dist = 5 +2.*random.random()
   ang = 2.*3.1415925438*random.random()
   
   ballx = dist * math.sin(ang)
   bally = dist * math.cos(ang)
   ballz = 1
       
   p.setGravity(0,0,-10)
   self._humanoid = simpleHumanoid.SimpleHumanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
   self._envStepCounter = 0
   p.stepSimulation()
   self._observation = self.getExtendedObservation()
   return np.array(self._observation)

开发者ID:Valentactive，项目名称:bullet3，代码行数:19，代码来源:simpleHumanoidGymEnv.py

示例7: enter

    def __enter__(self):
        print("connecting")
        optionstring='--width={} --height={}'.format(pixelWidth,pixelHeight)
        optionstring += ' --window_backend=2 --render_device=0'

        print(self.connection_mode, optionstring,*self.argv)
        cid = pybullet.connect(self.connection_mode, options=optionstring,*self.argv)
        if cid < 0:
            raise ValueError
        print("connected")
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW,0)

        pybullet.resetSimulation()
        pybullet.loadURDF("plane.urdf",[0,0,-1])
        pybullet.loadURDF("r2d2.urdf")
        pybullet.loadURDF("duck_vhacd.urdf")
        pybullet.setGravity(0,0,-10)

开发者ID:jiapei100，项目名称:bullet3，代码行数:20，代码来源:rendertest.py

示例8: _reset

 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)

开发者ID:Valentactive，项目名称:bullet3，代码行数:21，代码来源:kukaCamGymEnv.py

示例9: _reset

  def _reset(self):
#    print("-----------reset simulation---------------")
    p.resetSimulation()
    self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cartpole.urdf"),[0,0,0])
    p.changeDynamics(self.cartpole, -1, linearDamping=0, angularDamping=0)
    p.changeDynamics(self.cartpole, 0, linearDamping=0, angularDamping=0)
    p.changeDynamics(self.cartpole, 1, linearDamping=0, angularDamping=0)
    self.timeStep = 0.02
    p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0)
    p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, force=0)
    p.setGravity(0,0, -9.8)
    p.setTimeStep(self.timeStep)
    p.setRealTimeSimulation(0)

    randstate = self.np_random.uniform(low=-0.05, high=0.05, size=(4,))
    p.resetJointState(self.cartpole, 1, randstate[0], randstate[1])
    p.resetJointState(self.cartpole, 0, randstate[2], randstate[3])
    #print("randstate=",randstate)
    self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
    #print("self.state=", self.state)
    return np.array(self.state)

开发者ID:simo-11，项目名称:bullet3，代码行数:21，代码来源:cartpole_bullet.py

示例10: _reset

  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)

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:40，代码来源:kuka_diverse_object_gym_env.py

示例11: main

def main(unused_args):
  timeStep = 0.01
  c = p.connect(p.SHARED_MEMORY)
  if (c<0):
      c = p.connect(p.GUI)
  p.resetSimulation()
  p.setTimeStep(timeStep)
  p.loadURDF("plane.urdf")
  p.setGravity(0,0,-10)

  minitaur = Minitaur()
  amplitude = 0.24795664427
  speed = 0.2860877729434
  for i in range(1000):
    a1 = math.sin(i*speed)*amplitude+1.57
    a2 = math.sin(i*speed+3.14)*amplitude+1.57
    joint_values = [a1, -1.57, a1, -1.57, a2, -1.57, a2, -1.57]
    minitaur.applyAction(joint_values)

    p.stepSimulation()
#    print(minitaur.getBasePosition())
    time.sleep(timeStep)
  final_distance = np.linalg.norm(np.asarray(minitaur.getBasePosition()))
  print(final_distance)

开发者ID:MixerMovies，项目名称:RedShadow，代码行数:24，代码来源:minitaur_test.py

示例12: range

import pybullet as p
import time
#p.connect(p.UDP,"192.168.86.100")


cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
	p.connect(p.GUI)
p.resetSimulation()
#disable rendering during loading makes it much faster
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("samurai.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("pr2_gripper.urdf", 0.500000,0.300006,0.700000,-0.000000,-0.000000,-0.000031,1.000000)]
pr2_gripper = objects[0]
print ("pr2_gripper=")
print (pr2_gripper)

jointPositions=[ 0.550569, 0.000000, 0.549657, 0.000000 ]
for jointIndex in range (p.getNumJoints(pr2_gripper)):
	p.resetJointState(pr2_gripper,jointIndex,jointPositions[jointIndex])

pr2_cid = p.createConstraint(pr2_gripper,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0.2,0,0],[0.500000,0.300006,0.700000])
print ("pr2_cid")
print (pr2_cid)

objects = [p.loadURDF("kuka_iiwa/model_vr_limits.urdf", 1.400000,-0.200000,0.600000,0.000000,0.000000,0.000000,1.000000)]
kuka = objects[0]
jointPositions=[ -0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001 ]
for jointIndex in range (p.getNumJoints(kuka)):
	p.resetJointState(kuka,jointIndex,jointPositions[jointIndex])

开发者ID:Valentactive，项目名称:bullet3，代码行数:31，代码来源:vr_kuka_setup.py

示例13: print

    stop = time.time()
    print ("renderImage %f" % (stop - start))

    w=img_arr[0] #width of the image, in pixels
    h=img_arr[1] #height of the image, in pixels
    rgb=img_arr[2] #color data RGB
    dep=img_arr[3] #depth data
    #print(rgb)
    print ('width = %d height = %d' % (w,h))

    #note that sending the data using imshow to matplotlib is really slow, so we use set_data

    #plt.imshow(rgb,interpolation='none')


    #reshape is needed
    np_img_arr = np.reshape(rgb, (h, w, 4))
    np_img_arr = np_img_arr*(1./255.)

    image.set_data(np_img_arr)
    ax.plot([0])
    #plt.draw()
    #plt.show()
    plt.pause(0.01)
    
main_stop = time.time()

print ("Total time %f" % (main_stop - main_start))

pybullet.resetSimulation()

开发者ID:jiapei100，项目名称:bullet3，代码行数:30，代码来源:testrender.py

示例14: range

import time
from pybullet_utils import urdfEditor



      
      
##########################################
org2 = p.connect(p.DIRECT)
org = p.connect(p.SHARED_MEMORY)
if (org<0):
	org = p.connect(p.DIRECT)
	
gui = p.connect(p.GUI)

p.resetSimulation(physicsClientId=org)

#door.urdf, hinge.urdf, duck_vhacd.urdf, r2d2.urdf, quadruped/quadruped.urdf



mb = p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER, physicsClientId=org)
for i in range(p.getNumJoints(mb,physicsClientId=org)):
	p.setJointMotorControl2(mb,i,p.VELOCITY_CONTROL,force=0,physicsClientId=org)
	
#print("numJoints:",p.getNumJoints(mb,physicsClientId=org))

#print("base name:",p.getBodyInfo(mb,physicsClientId=org))

#for i in range(p.getNumJoints(mb,physicsClientId=org)):
#	print("jointInfo(",i,"):",p.getJointInfo(mb,i,physicsClientId=org))

开发者ID:CGTGPY3G1，项目名称:bullet3，代码行数:31，代码来源:urdfEditor.py

示例15:

import pybullet as p
import time

p.connect(p.GUI)
logId = p.startStateLogging(p.STATE_LOGGING_ALL_COMMANDS,"commandLog.bin")
p.loadURDF("plane.urdf")
p.loadURDF("r2d2.urdf",[0,0,1])

p.stopStateLogging(logId)
p.resetSimulation();

logId = p.startStateLogging(p.STATE_REPLAY_ALL_COMMANDS,"commandLog.bin")
while(p.isConnected()):
	time.sleep(1./240.)

开发者ID:CGTGPY3G1，项目名称:bullet3，代码行数:14，代码来源:commandLogAndPlayback.py

示例16: clean_everything

	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=5, numSubSteps=self.frame_skip)

开发者ID:Valentactive，项目名称:bullet3，代码行数:5，代码来源:scene_abstract.py

注：本文中的pybullet.resetSimulation函数示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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Python pybullet.resetSimulation函数代码示例

示例1: setupWorld

示例2: testJacobian

示例3: setupWorld

示例4: evaluate_params

示例5: _reset

示例6: _reset

示例7: enter

示例8: _reset

示例9: _reset

示例10: _reset

示例11: main

示例12: range

示例13: print

示例14: range

示例15:

示例16: clean_everything

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Python pybullet.resetSimulation函数代码示例

示例1: setupWorld

示例2: testJacobian

示例3: setupWorld

示例4: evaluate_params

示例5: _reset

示例6: _reset

示例7: __enter__

示例8: _reset

示例9: _reset

示例10: _reset

示例11: main

示例12: range

示例13: print

示例14: range

示例15:

示例16: clean_everything

请发表评论

全部评论

上一篇：

下一篇：

Python util.grid_equal函数代码示例

Python util.get_worker_name函数代码示例

Python util.get_webmention_target函数代

Python util.get_uuid函数代码示例

Python util.get_type_by_name函数代码示例

Python util.grid_equal函数代码示例

Python util.get_worker_name函数代码示例

Python util.get_webmention_target函数代

Python util.get_uuid函数代码示例

Python util.get_type_by_name函数代码示例

Python util.get_stdout函数代码示例

关于我们

产品与服务

解决方案

139-2527-9053

示例7: enter