diff options
| author | Erwin Coumans <erwin.coumans@gmail.com> | 2019-12-12 07:02:27 -0800 |
|---|---|---|
| committer | Erwin Coumans <erwin.coumans@gmail.com> | 2019-12-12 07:02:27 -0800 |
| commit | 3668bc5e2aad6d47f6d844cd27660d7e215ba657 (patch) | |
| tree | 0a9c130dbaab62af49956a2102cce4ec249c0dc0 | |
| parent | 1a491dc7007f000cf09f9f47eeb732832679f412 (diff) | |
| download | bullet3-3668bc5e2aad6d47f6d844cd27660d7e215ba657.tar.gz | |
tweak premake4 default batch file.
add manual control for joint angles in XArm6 example.
| -rw-r--r-- | build_visual_studio_vr_pybullet_double.bat | 2 | ||||
| -rw-r--r-- | examples/pybullet/gym/pybullet_envs/examples/xarm.py | 25 |
2 files changed, 25 insertions, 2 deletions
diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat index e3e8a4dc5..b6fd3cb93 100644 --- a/build_visual_studio_vr_pybullet_double.bat +++ b/build_visual_studio_vr_pybullet_double.bat @@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2 cd build3 -premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 +premake4 --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm.py b/examples/pybullet/gym/pybullet_envs/examples/xarm.py index 781d5afa4..893ff065e 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/xarm.py +++ b/examples/pybullet/gym/pybullet_envs/examples/xarm.py @@ -1,7 +1,7 @@ import pybullet as p import pybullet_data as pd import time -p.connect(p.GUI) +p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0") p.setAdditionalSearchPath(pd.getDataPath()) @@ -14,7 +14,30 @@ table_pos = [0,0,-0.625] table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase) xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase) +jointIds = [] +paramIds = [] + +for j in range(p.getNumJoints(xarm)): + p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0) + info = p.getJointInfo(xarm, j) + #print(info) + jointName = info[1] + jointType = info[2] + if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE): + jointIds.append(j) + paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0)) + +skip_cam_frames = 10 + while (1): p.stepSimulation() + for i in range(len(paramIds)): + c = paramIds[i] + targetPos = p.readUserDebugParameter(c) + p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.) + skip_cam_frames -= 1 + if (skip_cam_frames<0): + p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL ) + skip_cam_frames = 10 time.sleep(1./240.) |