Python pybullet.setRealTimeSimulation函数代码示例

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本文整理汇总了Python中pybullet.setRealTimeSimulation函数的典型用法代码示例。如果您正苦于以下问题：Python setRealTimeSimulation函数的具体用法？Python setRealTimeSimulation怎么用？Python setRealTimeSimulation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setRealTimeSimulation函数的8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):
#    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2: _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3: range

p.resetBasePositionAndOrientation(ob,[0.000000,1.000000,1.204500],[0.000000,0.000000,0.000000,1.000000])
objects = [p.loadURDF("teddy_vhacd.urdf", -0.100000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("sphere_small.urdf", -0.100000,0.955006,1.169706,0.633232,-0.000000,-0.000000,0.773962)]
objects = [p.loadURDF("cube_small.urdf", 0.300000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("table_square/table_square.urdf", -1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
ob = objects[0]
jointPositions=[ 0.000000 ]
for jointIndex in range (p.getNumJoints(ob)):
	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])

objects = [p.loadURDF("husky/husky.urdf", 2.000000,-5.000000,1.000000,0.000000,0.000000,0.000000,1.000000)]
ob = objects[0]
jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ]
for jointIndex in range (p.getNumJoints(ob)):
	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])

p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)

p.setGravity(0.000000,0.000000,0.000000)
p.setGravity(0,0,-10)

##show this for 10 seconds
#now = time.time()
#while (time.time() < now+10):
#	p.stepSimulation()
p.setRealTimeSimulation(1)

while (1):
	p.setGravity(0,0,-10)
p.disconnect()

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

示例4: duration

p.resetBasePositionAndOrientation(sawyerId, [0, 0, 0], [0, 0, 0, 1])

sawyerEndEffectorIndex = 3
numJoints = p.getNumJoints(sawyerId)
#joint damping coefficents
jd = [0.1, 0.1, 0.1, 0.1]

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

ikSolver = 0
useRealTimeSimulation = 0
p.setRealTimeSimulation(useRealTimeSimulation)
#trailDuration is duration (in seconds) after debug lines will be removed automatically
#use 0 for no-removal
trailDuration = 1

while 1:
  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,

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

示例5: recording

import pybullet as p
import time

cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
	p.connect(p.GUI)
	
p.resetSimulation()
p.setGravity(0,0,-10)
useRealTimeSim = 1

#for video recording (works best on Mac and Linux, not well on Windows)
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
p.setRealTimeSimulation(useRealTimeSim) # either this
p.loadURDF("plane.urdf")
#p.loadSDF("stadium.sdf")

car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
for i in range (p.getNumJoints(car)):
	print (p.getJointInfo(car,i))
for wheel in range(p.getNumJoints(car)):
		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
		p.getJointInfo(car,wheel)	

wheels = [8,15]
print("----------------")

#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)

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

示例6: range

                              basePosition,
                              baseOrientation,
                              linkMasses=link_Masses,
                              linkCollisionShapeIndices=linkCollisionShapeIndices,
                              linkVisualShapeIndices=linkVisualShapeIndices,
                              linkPositions=linkPositions,
                              linkOrientations=linkOrientations,
                              linkInertialFramePositions=linkInertialFramePositions,
                              linkInertialFrameOrientations=linkInertialFrameOrientations,
                              linkParentIndices=indices,
                              linkJointTypes=jointTypes,
                              linkJointAxis=axis,
                              useMaximalCoordinates=useMaximalCoordinates)

p.setGravity(0, 0, -10)
p.setRealTimeSimulation(0)

anistropicFriction = [1, 0.01, 0.01]
p.changeDynamics(sphereUid, -1, lateralFriction=2, anisotropicFriction=anistropicFriction)
p.getNumJoints(sphereUid)
for i in range(p.getNumJoints(sphereUid)):
  p.getJointInfo(sphereUid, i)
  p.changeDynamics(sphereUid, i, lateralFriction=2, anisotropicFriction=anistropicFriction)

dt = 1. / 240.
SNAKE_NORMAL_PERIOD = 0.1  #1.5
m_wavePeriod = SNAKE_NORMAL_PERIOD

m_waveLength = 4
m_wavePeriod = 1.5
m_waveAmplitude = 0.4

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

示例7: print

parser = urdfEditor.UrdfEditor()
parser.initializeFromBulletBody(mb,physicsClientId=org)
parser.saveUrdf("test.urdf")

if (1):
	print("\ncreatingMultiBody...................n")

	obUid = parser.createMultiBody(physicsClientId=gui)

	parser2 = urdfEditor.UrdfEditor()
	print("\n###########################################\n")
	
	parser2.initializeFromBulletBody(obUid,physicsClientId=gui)
	parser2.saveUrdf("test2.urdf")


	for i in range (p.getNumJoints(obUid, physicsClientId=gui)):
		p.setJointMotorControl2(obUid,i,p.VELOCITY_CONTROL,targetVelocity=0,force=1,physicsClientId=gui)
		print(p.getJointInfo(obUid,i,physicsClientId=gui))


	parser=0

p.setRealTimeSimulation(1,physicsClientId=gui)


while (p.getConnectionInfo(physicsClientId=gui)["isConnected"]):
	p.stepSimulation(physicsClientId=gui)
	time.sleep(0.01)

开发者ID:CGTGPY3G1，项目名称:bullet3，代码行数:29，代码来源:urdfEditor.py

示例8:

import pybullet as p
import time
import math

useRealTime = 0
fixedTimeStep = 0.001

physId = p.connect(p.SHARED_MEMORY)
if (physId<0):
	p.connect(p.GUI)

p.loadURDF("plane.urdf")
p.setGravity(0,0,-1)
p.setTimeStep(fixedTimeStep)

p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,1)
#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,p.JOINT_POINT2POINT,[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)

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

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

示例1: _reset

示例2: _reset

示例3: range

示例4: duration

示例5: recording

示例6: range

示例7: print

示例8:

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