Python pybullet.resetJointState函数代码示例

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本文整理汇总了Python中pybullet.resetJointState函数的典型用法代码示例。如果您正苦于以下问题：Python resetJointState函数的具体用法？Python resetJointState怎么用？Python resetJointState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resetJointState函数的20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: reset

 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)

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:28，代码来源:kuka.py

示例2: Step

def Step(stepIndex):
	for objectId in range(objectNum):
		record = log[stepIndex*objectNum+objectId]
		Id = record[2]
		pos = [record[3],record[4],record[5]]
		orn = [record[6],record[7],record[8],record[9]]
		p.resetBasePositionAndOrientation(Id,pos,orn)
		numJoints = p.getNumJoints(Id)
		for i in range (numJoints):
			jointInfo = p.getJointInfo(Id,i)
			qIndex = jointInfo[3]
			if qIndex > -1:
				p.resetJointState(Id,i,record[qIndex-7+17])

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:13，代码来源:kuka_grasp_block_playback.py

示例3: accurateCalculateInverseKinematics

def accurateCalculateInverseKinematics( kukaId, endEffectorId, targetPos, threshold, maxIter):
	closeEnough = False
	iter = 0
	dist2 = 1e30
	while (not closeEnough and iter<maxIter):
		jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,targetPos)
		for i in range (numJoints):
			p.resetJointState(kukaId,i,jointPoses[i])
		ls = p.getLinkState(kukaId,kukaEndEffectorIndex)	
		newPos = ls[4]
		diff = [targetPos[0]-newPos[0],targetPos[1]-newPos[1],targetPos[2]-newPos[2]]
		dist2 = (diff[0]*diff[0] + diff[1]*diff[1] + diff[2]*diff[2])
		closeEnough = (dist2 < threshold)
		iter=iter+1
	#print ("Num iter: "+str(iter) + "threshold: "+str(dist2))
	return jointPoses

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:16，代码来源:inverse_kinematics_husky_kuka.py

示例4: _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])
    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6: print

    
print("loaded!")


#p.changeDynamics(sphere ,-1, mass=1000)

door = p.loadURDF("door.urdf",[0,0,-11])
p.changeDynamics(door ,1, linearDamping=0, angularDamping=0, jointDamping=0, mass=1)
print("numJoints = ", p.getNumJoints(door))


p.setGravity(0,0,-10)
position_control = True

angle = math.pi*0.25
p.resetJointState(door,1,angle)  
angleread = p.getJointState(door,1)
print("angleread = ",angleread)
prevTime = time.time()

angle = math.pi*0.5

count=0
while (1):
  count+=1
  if (count==12):
      p.stopStateLogging(logId)
      p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)

  curTime = time.time()

开发者ID:jiapei100，项目名称:bullet3，代码行数:29，代码来源:otherPhysicsEngine.py

示例7:

import pybullet as p
import time
import math

p.connect(p.SHARED_MEMORY)
p.loadURDF("plane.urdf")
quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
#p.getNumJoints(1)

#right front leg
p.resetJointState(quadruped,0,1.57)
p.resetJointState(quadruped,2,-2.2)
p.resetJointState(quadruped,3,-1.57)
p.resetJointState(quadruped,5,2.2)
p.createConstraint(quadruped,2,quadruped,5,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])

p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,1.57,1)
p.setJointMotorControl(quadruped,1,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,2,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,4,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,5,p.VELOCITY_CONTROL,0,0)

#left front leg
p.resetJointState(quadruped,6,1.57)
p.resetJointState(quadruped,8,-2.2)
p.resetJointState(quadruped,9,-1.57)
p.resetJointState(quadruped,11,2.2)
p.createConstraint(quadruped,8,quadruped,11,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])

p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,1.57,1)

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

示例8: range

  if (useRealTimeSimulation):
    dt = datetime.now()
    t = (dt.second / 60.) * 2. * math.pi
  else:
    t = t + 0.01
    time.sleep(0.01)

  for i in range(1):
    pos = [2. * math.cos(t), 2. * math.cos(t), 0. + 2. * math.sin(t)]
    jointPoses = p.calculateInverseKinematics(sawyerId,
                                              sawyerEndEffectorIndex,
                                              pos,
                                              jointDamping=jd,
                                              solver=ikSolver,
                                              maxNumIterations=100)

    #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
    for i in range(numJoints):
      jointInfo = p.getJointInfo(sawyerId, i)
      qIndex = jointInfo[3]
      if qIndex > -1:
        p.resetJointState(sawyerId, i, jointPoses[qIndex - 7])

  ls = p.getLinkState(sawyerId, sawyerEndEffectorIndex)
  if (hasPrevPose):
    p.addUserDebugLine(prevPose, pos, [0, 0, 0.3], 1, trailDuration)
    p.addUserDebugLine(prevPose1, ls[4], [1, 0, 0], 1, trailDuration)
  prevPose = pos
  prevPose1 = ls[4]
  hasPrevPose = 1

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

示例9: readLogFile

  return log

#clid = p.connect(p.SHARED_MEMORY)
p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.3])
p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
p.loadURDF("cube.urdf",[2,2,5])
p.loadURDF("cube.urdf",[-2,-2,5])
p.loadURDF("cube.urdf",[2,-2,5])

log = readLogFile("LOG0001.txt")

recordNum = len(log)
itemNum = len(log[0])
print('record num:'),
print(recordNum)
print('item num:'),
print(itemNum)

for record in log:
    Id = record[2]
    pos = [record[3],record[4],record[5]]
    orn = [record[6],record[7],record[8],record[9]]
    p.resetBasePositionAndOrientation(Id,pos,orn)
    numJoints = p.getNumJoints(Id)
    for i in range (numJoints):
        jointInfo = p.getJointInfo(Id,i)
        qIndex = jointInfo[3]
        if qIndex > -1:
            p.resetJointState(Id,i,record[qIndex-7+17])
    sleep(0.0005)

开发者ID:mrcrr8614，项目名称:bullet3，代码行数:31，代码来源:kuka_with_cube_playback.py

示例10: resetPose

  def resetPose(self):
    kneeFrictionForce = 0
    halfpi = 1.57079632679
    kneeangle = -2.1834 #halfpi - acos(upper_leg_length / lower_leg_length)

    #left front leg
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],self.motorDir[0]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],self.motorDir[0]*kneeangle)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],self.motorDir[1]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.motorDir[1]*kneeangle)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
    self.setMotorAngleByName('motor_front_leftL_joint', self.motorDir[0]*halfpi)
    self.setMotorAngleByName('motor_front_leftR_joint', self.motorDir[1]*halfpi)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)

    #left back leg
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],self.motorDir[2]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],self.motorDir[2]*kneeangle)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],self.motorDir[3]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.motorDir[3]*kneeangle)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
    self.setMotorAngleByName('motor_back_leftL_joint',self.motorDir[2]*halfpi)
    self.setMotorAngleByName('motor_back_leftR_joint',self.motorDir[3]*halfpi)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
 
    #right front leg
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],self.motorDir[4]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],self.motorDir[4]*kneeangle)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],self.motorDir[5]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.motorDir[5]*kneeangle)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
    self.setMotorAngleByName('motor_front_rightL_joint',self.motorDir[4]*halfpi)
    self.setMotorAngleByName('motor_front_rightR_joint',self.motorDir[5]*halfpi)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
 

    #right back leg
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],self.motorDir[6]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],self.motorDir[6]*kneeangle)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],self.motorDir[7]*halfpi)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.motorDir[7]*kneeangle)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
    self.setMotorAngleByName('motor_back_rightL_joint',self.motorDir[6]*halfpi)
    self.setMotorAngleByName('motor_back_rightR_joint',self.motorDir[7]*halfpi)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)

开发者ID:nafeesb，项目名称:bullet3，代码行数:49，代码来源:minitaur.py

示例11: range

objects = [
    p.loadURDF("plane.urdf", 0.000000, 0.000000, -.300000, 0.000000, 0.000000, 0.000000, 1.000000)
]
objects = [
    p.loadURDF("quadruped/minitaur.urdf", [-0.000046, -0.000068, 0.200774],
               [-0.000701, 0.000387, -0.000252, 1.000000],
               useFixedBase=False)
]
ob = objects[0]
jointPositions = [
    0.000000, 1.531256, 0.000000, -2.240112, 1.527979, 0.000000, -2.240646, 1.533105, 0.000000,
    -2.238254, 1.530335, 0.000000, -2.238298, 0.000000, -1.528038, 0.000000, 2.242656, -1.525193,
    0.000000, 2.244008, -1.530011, 0.000000, 2.240683, -1.528687, 0.000000, 2.240517
]
for ji in range(p.getNumJoints(ob)):
  p.resetJointState(ob, ji, jointPositions[ji])
  p.setJointMotorControl2(bodyIndex=ob, jointIndex=ji, controlMode=p.VELOCITY_CONTROL, force=0)

cid0 = p.createConstraint(1, 3, 1, 6, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000],
                          [0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000],
                          [0.000000, 0.000000, 0.000000, 1.000000],
                          [0.000000, 0.000000, 0.000000, 1.000000])
p.changeConstraint(cid0, maxForce=500.000000)
cid1 = p.createConstraint(1, 16, 1, 19, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000],
                          [0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000],
                          [0.000000, 0.000000, 0.000000, 1.000000],
                          [0.000000, 0.000000, 0.000000, 1.000000])
p.changeConstraint(cid1, maxForce=500.000000)
cid2 = p.createConstraint(1, 9, 1, 12, p.JOINT_POINT2POINT, [0.000000, 0.000000, 0.000000],
                          [0.000000, 0.005000, 0.200000], [0.000000, 0.010000, 0.200000],
                          [0.000000, 0.000000, 0.000000, 1.000000],

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

示例12: resetPose

  def resetPose(self):
    #right front leg
    self.disableAllMotors()
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],-2.2)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],-1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],2.2)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
    self.setMotorAngleByName('motor_front_rightR_joint', 1.57)
    self.setMotorAngleByName('motor_front_rightL_joint',-1.57)

    #left front leg
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],-2.2)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],-1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],2.2)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
    self.setMotorAngleByName('motor_front_leftR_joint', 1.57)
    self.setMotorAngleByName('motor_front_leftL_joint',-1.57)

    #right back leg
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],-2.2)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],-1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],2.2)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
    self.setMotorAngleByName('motor_back_rightR_joint', 1.57)
    self.setMotorAngleByName('motor_back_rightL_joint',-1.57)

    #left back leg
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],-2.2)
    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],-1.57)
    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],2.2)
    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
    self.setMotorAngleByName('motor_back_leftR_joint', 1.57)
    self.setMotorAngleByName('motor_back_leftL_joint',-1.57)

开发者ID:MixerMovies，项目名称:RedShadow，代码行数:37，代码来源:minitaur.py

示例13: while

import pybullet as p
import time

cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
	p.connect(p.GUI)
p.loadURDF("plane.urdf")
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textSize=1.5,parentObjectUniqueId=kuka, parentLinkIndex=6)
p.addUserDebugLine([0,0,0],[0.1,0,0],[1,0,0],parentObjectUniqueId=kuka, parentLinkIndex=6)
p.addUserDebugLine([0,0,0],[0,0.1,0],[0,1,0],parentObjectUniqueId=kuka, parentLinkIndex=6)
p.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],parentObjectUniqueId=kuka, parentLinkIndex=6)
p.setRealTimeSimulation(0)
angle=0
while (True):
	time.sleep(0.01)
	p.resetJointState(kuka,2,angle)
	p.resetJointState(kuka,3,angle)
	angle+=0.01

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

示例14: range

import math
from datetime import datetime
from datetime import datetime

clid = p.connect(p.SHARED_MEMORY)
if (clid<0):
	p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.3])
husky = p.loadURDF("husky/husky.urdf",[0.290388,0.329902,-0.310270],[0.002328,-0.000984,0.996491,0.083659])
for i in range (p.getNumJoints(husky)):
	print(p.getJointInfo(husky,i))
kukaId  = p.loadURDF("kuka_iiwa/model_free_base.urdf", 0.193749,0.345564,0.120208,0.002327,-0.000988,0.996491,0.083659)
ob = kukaId
jointPositions=[ 3.559609, 0.411182, 0.862129, 1.744441, 0.077299, -1.129685, 0.006001 ]
for jointIndex in range (p.getNumJoints(ob)):
	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])


#put kuka on top of husky

cid = p.createConstraint(husky,-1,kukaId,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0.,0.,-.5],[0,0,0,1])


baseorn = p.getQuaternionFromEuler([3.1415,0,0.3])
baseorn = [0,0,0,1]
#[0, 0, 0.707, 0.707]

#p.resetBasePositionAndOrientation(kukaId,[0,0,0],baseorn)#[0,0,0,1])
kukaEndEffectorIndex = 6
numJoints = p.getNumJoints(kukaId)
if (numJoints!=7):

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

示例15: print

import pybullet as p
import time

p.connect(p.GUI)
p.loadURDF("plane.urdf", [0, 0, -0.25])
minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf", useFixedBase=True)
print(p.getNumJoints(minitaur))
p.resetDebugVisualizerCamera(cameraDistance=1,
                             cameraYaw=23.2,
                             cameraPitch=-6.6,
                             cameraTargetPosition=[-0.064, .621, -0.2])
motorJointId = 1
p.setJointMotorControl2(minitaur, motorJointId, p.VELOCITY_CONTROL, targetVelocity=100000, force=0)

p.resetJointState(minitaur, motorJointId, targetValue=0, targetVelocity=1)
angularDampingSlider = p.addUserDebugParameter("angularDamping", 0, 1, 0)
jointFrictionForceSlider = p.addUserDebugParameter("jointFrictionForce", 0, 0.1, 0)

textId = p.addUserDebugText("jointVelocity=0", [0, 0, -0.2])
p.setRealTimeSimulation(1)
while (1):
  frictionForce = p.readUserDebugParameter(jointFrictionForceSlider)
  angularDamping = p.readUserDebugParameter(angularDampingSlider)
  p.setJointMotorControl2(minitaur,
                          motorJointId,
                          p.VELOCITY_CONTROL,
                          targetVelocity=0,
                          force=frictionForce)
  p.changeDynamics(minitaur, motorJointId, linearDamping=0, angularDamping=angularDamping)

  time.sleep(0.01)

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

示例16: applyAction

 def applyAction(self, motorCommands):
   
   #print ("self.numJoints")
   #print (self.numJoints)
   if (self.useInverseKinematics):
     
     dx = motorCommands[0]
     dy = motorCommands[1]
     dz = motorCommands[2]
     da = motorCommands[3]
     fingerAngle = motorCommands[4]
     
     state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
     actualEndEffectorPos = state[0]
     #print("pos[2] (getLinkState(kukaEndEffectorIndex)")
     #print(actualEndEffectorPos[2])
     
   
     
     self.endEffectorPos[0] = self.endEffectorPos[0]+dx
     if (self.endEffectorPos[0]>0.65):
       self.endEffectorPos[0]=0.65
     if (self.endEffectorPos[0]<0.50):
       self.endEffectorPos[0]=0.50
     self.endEffectorPos[1] = self.endEffectorPos[1]+dy
     if (self.endEffectorPos[1]<-0.17):
       self.endEffectorPos[1]=-0.17
     if (self.endEffectorPos[1]>0.22):
       self.endEffectorPos[1]=0.22
     
     #print ("self.endEffectorPos[2]")
     #print (self.endEffectorPos[2])
     #print("actualEndEffectorPos[2]")
     #print(actualEndEffectorPos[2])
     #if (dz<0 or actualEndEffectorPos[2]<0.5):
     self.endEffectorPos[2] = self.endEffectorPos[2]+dz
   
    
     self.endEffectorAngle = self.endEffectorAngle + da
     pos = self.endEffectorPos
     orn = p.getQuaternionFromEuler([0,-math.pi,0]) # -math.pi,yaw])
     if (self.useNullSpace==1):
       if (self.useOrientation==1):
         jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,self.ll,self.ul,self.jr,self.rp)
       else:
         jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,lowerLimits=self.ll, upperLimits=self.ul, jointRanges=self.jr, restPoses=self.rp)
     else:
       if (self.useOrientation==1):
         jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,jointDamping=self.jd)
       else:
         jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos)
   
     #print("jointPoses")
     #print(jointPoses)
     #print("self.kukaEndEffectorIndex")
     #print(self.kukaEndEffectorIndex)
     if (self.useSimulation):
       for i in range (self.kukaEndEffectorIndex+1):
         #print(i)
         p.setJointMotorControl2(bodyUniqueId=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,maxVelocity=self.maxVelocity, positionGain=0.3,velocityGain=1)
     else:
       #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
       for i in range (self.numJoints):
         p.resetJointState(self.kukaUid,i,jointPoses[i])
     #fingers
     p.setJointMotorControl2(self.kukaUid,7,p.POSITION_CONTROL,targetPosition=self.endEffectorAngle,force=self.maxForce)
     p.setJointMotorControl2(self.kukaUid,8,p.POSITION_CONTROL,targetPosition=-fingerAngle,force=self.fingerAForce)
     p.setJointMotorControl2(self.kukaUid,11,p.POSITION_CONTROL,targetPosition=fingerAngle,force=self.fingerBForce)
     
     p.setJointMotorControl2(self.kukaUid,10,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
     p.setJointMotorControl2(self.kukaUid,13,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
     
     
   else:
     for action in range (len(motorCommands)):
       motor = self.motorIndices[action]
       p.setJointMotorControl2(self.kukaUid,motor,p.POSITION_CONTROL,targetPosition=motorCommands[action],force=self.maxForce)

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:77，代码来源:kuka.py

示例17: set_state

	def set_state(self, x, vx):
		p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:2，代码来源:robot_bases.py

示例18: reset_position

	def reset_position(self, position, velocity):
		p.resetJointState(self.bodies[self.bodyIndex],self.jointIndex,targetValue=position, targetVelocity=velocity)
		self.disable_motor()

开发者ID:AndrewMeadows，项目名称:bullet3，代码行数:3，代码来源:robot_bases.py

示例19: exit

if (numJoints != 7):
  exit()

#lower limits for null space
ll = [-.967, -2, -2.96, 0.19, -2.96, -2.09, -3.05]
#upper limits for null space
ul = [.967, 2, 2.96, 2.29, 2.96, 2.09, 3.05]
#joint ranges for null space
jr = [5.8, 4, 5.8, 4, 5.8, 4, 6]
#restposes for null space
rp = [0, 0, 0, 0.5 * math.pi, 0, -math.pi * 0.5 * 0.66, 0]
#joint damping coefficents
jd = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]

for i in range(numJoints):
  p.resetJointState(kukaId, i, rp[i])

p.setGravity(0, 0, 0)
t = 0.
prevPose = [0, 0, 0]
prevPose1 = [0, 0, 0]
hasPrevPose = 0
useNullSpace = 1

useOrientation = 1
#If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
#This can be used to test the IK result accuracy.
useSimulation = 0
useRealTimeSimulation = 1
ikSolver = 0
p.setRealTimeSimulation(useRealTimeSimulation)

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

示例20: print

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])
	p.setJointMotorControl2(kuka,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)

objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.700000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.800000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.900000,0.000000,0.000000,0.000000,1.000000)]

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

注：本文中的pybullet.resetJointState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.resetJointState函数代码示例

示例1: reset

示例2: Step

示例3: accurateCalculateInverseKinematics

示例4: _reset

示例5: _reset

示例6: print

示例7:

示例8: range

示例9: readLogFile

示例10: resetPose

示例11: range

示例12: resetPose

示例13: while

示例14: range

示例15: print

示例16: applyAction

示例17: set_state

示例18: reset_position

示例19: exit

示例20: print

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