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How to use the pybullet.addUserDebugParameter function in pybullet

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github araffin / robotics-rl-srl / environments / kuka_button_gym_env.py View on Github external
if self._renders:
            cid = p.connect(p.SHARED_MEMORY)
            if cid < 0:
                p.connect(p.GUI)
            p.resetDebugVisualizerCamera(1.3, 180, -41, [0.52, -0.2, -0.33])

            self.renderer = p.ER_BULLET_HARDWARE_OPENGL
            self.debug = True
            # Debug sliders for moving the camera
            self.x_slider = p.addUserDebugParameter("x_slider", -10, 10, self.camera_target_pos[0])
            self.y_slider = p.addUserDebugParameter("y_slider", -10, 10, self.camera_target_pos[1])
            self.z_slider = p.addUserDebugParameter("z_slider", -10, 10, self.camera_target_pos[2])
            self.dist_slider = p.addUserDebugParameter("cam_dist", 0, 10, self._cam_dist)
            self.yaw_slider = p.addUserDebugParameter("cam_yaw", -180, 180, self._cam_yaw)
            self.pitch_slider = p.addUserDebugParameter("cam_pitch", -180, 180, self._cam_pitch)

        else:
            p.connect(p.DIRECT)

        global CONNECTED_TO_SIMULATOR
        CONNECTED_TO_SIMULATOR = True

        if self._is_discrete:
            self.action_space = spaces.Discrete(N_DISCRETE_ACTIONS)
        else:
            if self.action_joints:
                # 7 angles for the arm rotation, from -1 to 1
                action_dim = 7
                self._action_bound = 1
            else:
                # 3 direction for the arm movement, from -1 to 1
github StanfordVL / GibsonEnvV2 / realenv / core / physics / physics_env.py View on Github external
def _update_debug_panels(self):
        if not (self.r_mode == "human_eye" or self.r_mode == "human_play"):
            return

        if not self.debug_sliders:
            cameraDistSlider  = p.addUserDebugParameter("Distance",0,15,4)
            cameraYawSlider   = p.addUserDebugParameter("Camera Yaw",-180,180,-45)
            cameraPitchSlider = p.addUserDebugParameter("Camera Pitch",-90,90,-30)
            self.debug_sliders = {
                'dist' :cameraDistSlider,
                'yaw'  : cameraYawSlider,
                'pitch': cameraPitchSlider
            }
            self.viewMatrix = p.computeViewMatrixFromYawPitchRoll([0, 0, 0], 10, 0, 90, 0, 2)
            self.projMatrix = p.computeProjectionMatrix(-0.01, 0.01, -0.01, 0.01, 0.01, 128)
            p.getCameraImage(256, 256, viewMatrix = self.viewMatrix, projectionMatrix = self.projMatrix)

        else:
            cameraDist = p.readUserDebugParameter(self.debug_sliders['dist'])
            cameraYaw  = p.readUserDebugParameter(self.debug_sliders['yaw'])
            cameraPitch = p.readUserDebugParameter(self.debug_sliders['pitch'])

            pos_xyz, quat_wxyz = self.robot.getViewPosAndOrientation()
            p.getCameraImage(256, 256, viewMatrix = self.viewMatrix, projectionMatrix = self.projMatrix)
github FlorianWilk / SpotMicroAI / Core / example_leg_motion.py View on Github external
speed2=170
speed3=300

speed1=322
speed2=237
speed3=436

spurWidth=robot.W/2+20
stepLength=0
stepHeight=72
iXf=120
iXb=-132
IDspurWidth = p.addUserDebugParameter("spur width", 0, robot.W, spurWidth)
IDstepLength = p.addUserDebugParameter("step length", -70, 115, stepLength)
IDstepHeight = p.addUserDebugParameter("step height", 0, 150, stepHeight)
IDspeed1 = p.addUserDebugParameter("speed 1", 100, 1000, speed1)
IDspeed2 = p.addUserDebugParameter("speed 2", 100, 1000, speed2)
IDspeed3 = p.addUserDebugParameter("speed 3", 100, 1000, speed3)
IDixf = p.addUserDebugParameter("iXf", 0, 400, iXf)
IDixb = p.addUserDebugParameter("iXb", -200, 200, iXb)

walk=False

# Gamepad Initialisation
# Dictionary of game controller buttons we want to include.
gamepadInputs = {'ABS_X': 128, 'ABS_RZ': 127, 'ABS_Y': 126, 'ABS_Z': 125,
                 'BTN_TIGGER': 124, 'BTN_THUMB': 123, 'BTN_THUMB2': 122, 'BTN_TOP': 121, # right side of gamepad
                 'ABS_HAT0X': 120, 'ABS_HAT0Y': 119, # left
                 'BTN_TOP2': 118, 'BTN_BASE': 117, # left top
                 'BTN_PINKIE': 116, 'BTN_BASE2': 115 # right top
                 }
github erwincoumans / pybullet_robots / baxter_ik_demo.py View on Github external
qIndex = jointInfo[3]
        if qIndex > -1:
            p.setJointMotorControl2(bodyIndex=bodyId, jointIndex=i, controlMode=p.POSITION_CONTROL,
                                    targetPosition=jointPoses[qIndex-7])



if __name__ == "__main__":
    guiClient = p.connect(p.GUI)
    p.resetDebugVisualizerCamera(2., 180, 0., [0.52, 0.2, np.pi/4.])


    targetPosXId = p.addUserDebugParameter("targetPosX",-1,1,0.2)
    targetPosYId = p.addUserDebugParameter("targetPosY",-1,1,0)
    targetPosZId = p.addUserDebugParameter("targetPosZ",-1,1,-0.1)
    nullSpaceId = p.addUserDebugParameter("nullSpace",0,1,1)

    baxterId, endEffectorId = setUpWorld()

    lowerLimits, upperLimits, jointRanges, restPoses = getJointRanges(baxterId, includeFixed=False)

    
    #targetPosition = [0.2, 0.8, -0.1]
    #targetPosition = [0.8, 0.2, -0.1]
    targetPosition = [0.2, 0.0, -0.1]
    
    p.addUserDebugText("TARGET", targetPosition, textColorRGB=[1,0,0], textSize=1.5)


    maxIters = 100000

    sleep(1.)
github StanfordVL / GibsonEnvV2 / realenv / core / physics / render_physics.py View on Github external
def _startDebugRoomMap(self):
        cameraDistSlider  = p.addUserDebugParameter("Distance",0,15,4)
        cameraYawSlider   = p.addUserDebugParameter("Camera Yaw",-180,180,-45)
        cameraPitchSlider = p.addUserDebugParameter("Camera Pitch",-90,90,-30)
        self.debug_sliders = {
            'dist' :cameraDistSlider,
            'yaw'  : cameraYawSlider,
            'pitch': cameraPitchSlider
        }
github FlorianWilk / SpotMicroAI / Core / example_leg_motion.py View on Github external
# TODO: Needs refactoring
speed1=240
speed2=170
speed3=300

speed1=322
speed2=237
speed3=436

spurWidth=robot.W/2+20
stepLength=0
stepHeight=72
iXf=120
iXb=-132
IDspurWidth = p.addUserDebugParameter("spur width", 0, robot.W, spurWidth)
IDstepLength = p.addUserDebugParameter("step length", -70, 115, stepLength)
IDstepHeight = p.addUserDebugParameter("step height", 0, 150, stepHeight)
IDspeed1 = p.addUserDebugParameter("speed 1", 100, 1000, speed1)
IDspeed2 = p.addUserDebugParameter("speed 2", 100, 1000, speed2)
IDspeed3 = p.addUserDebugParameter("speed 3", 100, 1000, speed3)
IDixf = p.addUserDebugParameter("iXf", 0, 400, iXf)
IDixb = p.addUserDebugParameter("iXb", -200, 200, iXb)

walk=False

# Gamepad Initialisation
# Dictionary of game controller buttons we want to include.
gamepadInputs = {'ABS_X': 128, 'ABS_RZ': 127, 'ABS_Y': 126, 'ABS_Z': 125,
                 'BTN_TIGGER': 124, 'BTN_THUMB': 123, 'BTN_THUMB2': 122, 'BTN_TOP': 121, # right side of gamepad
                 'ABS_HAT0X': 120, 'ABS_HAT0Y': 119, # left
                 'BTN_TOP2': 118, 'BTN_BASE': 117, # left top
                 'BTN_PINKIE': 116, 'BTN_BASE2': 115 # right top
github FlorianWilk / SpotMicroAI / Core / example_gamepad.py View on Github external
global joy_x, joy_z, joy_y, joy_rz
    commandInput, commandValue = gamepad.read()
    # Gamepad button command filter
    if commandInput == 'ABS_X':
        joy_x = commandValue
    if commandInput == 'ABS_Y':
        joy_y = commandValue
    if commandInput == 'ABS_Z':
        joy_z = commandValue
    if commandInput == 'ABS_RZ':
        joy_rz = commandValue
    if commandInput == 'BTN_TOP2':
        resetPose()

robot=spotmicroai.Robot()
IDheight = p.addUserDebugParameter("height", -40, 90, 0)
IDroll = p.addUserDebugParameter("roll", -20, 20, 0)
#robot.feetPosition(Lp)
resetPose()

# Initialise the gamepad object using the gamepad inputs Python package
gamepad = ThreadedInputs()
for gamepadInput in gamepadInputs:
    gamepad.append_command(gamepadInput, gamepadInputs[gamepadInput])
gamepad.start()

while True:
    handleGamepad()

    height = p.readUserDebugParameter(IDheight)
    roll = p.readUserDebugParameter(IDroll)
github FlorianWilk / SpotMicroAI / Core / example_leg_motion.py View on Github external
speed1=322
speed2=237
speed3=436

spurWidth=robot.W/2+20
stepLength=0
stepHeight=72
iXf=120
iXb=-132
IDspurWidth = p.addUserDebugParameter("spur width", 0, robot.W, spurWidth)
IDstepLength = p.addUserDebugParameter("step length", -70, 115, stepLength)
IDstepHeight = p.addUserDebugParameter("step height", 0, 150, stepHeight)
IDspeed1 = p.addUserDebugParameter("speed 1", 100, 1000, speed1)
IDspeed2 = p.addUserDebugParameter("speed 2", 100, 1000, speed2)
IDspeed3 = p.addUserDebugParameter("speed 3", 100, 1000, speed3)
IDixf = p.addUserDebugParameter("iXf", 0, 400, iXf)
IDixb = p.addUserDebugParameter("iXb", -200, 200, iXb)

walk=False

# Gamepad Initialisation
# Dictionary of game controller buttons we want to include.
gamepadInputs = {'ABS_X': 128, 'ABS_RZ': 127, 'ABS_Y': 126, 'ABS_Z': 125,
                 'BTN_TIGGER': 124, 'BTN_THUMB': 123, 'BTN_THUMB2': 122, 'BTN_TOP': 121, # right side of gamepad
                 'ABS_HAT0X': 120, 'ABS_HAT0Y': 119, # left
                 'BTN_TOP2': 118, 'BTN_BASE': 117, # left top
                 'BTN_PINKIE': 116, 'BTN_BASE2': 115 # right top
                 }

def resetPose():
    # TODO: globals are bad
    global joy_x, joy_z, joy_y, joy_rz,joy_z
github araffin / robotics-rl-srl / environments / kuka_button_gym_env.py View on Github external
if self.use_srl:
            env_object = self if USE_GROUND_TRUTH or USE_JOINTS else None
            self.srl_model = loadSRLModel(SRL_MODEL_PATH, self.cuda, STATE_DIM, env_object)
            self.state_dim = self.srl_model.state_dim

        if self._renders:
            cid = p.connect(p.SHARED_MEMORY)
            if cid < 0:
                p.connect(p.GUI)
            p.resetDebugVisualizerCamera(1.3, 180, -41, [0.52, -0.2, -0.33])

            self.renderer = p.ER_BULLET_HARDWARE_OPENGL
            self.debug = True
            # Debug sliders for moving the camera
            self.x_slider = p.addUserDebugParameter("x_slider", -10, 10, self.camera_target_pos[0])
            self.y_slider = p.addUserDebugParameter("y_slider", -10, 10, self.camera_target_pos[1])
            self.z_slider = p.addUserDebugParameter("z_slider", -10, 10, self.camera_target_pos[2])
            self.dist_slider = p.addUserDebugParameter("cam_dist", 0, 10, self._cam_dist)
            self.yaw_slider = p.addUserDebugParameter("cam_yaw", -180, 180, self._cam_yaw)
            self.pitch_slider = p.addUserDebugParameter("cam_pitch", -180, 180, self._cam_pitch)

        else:
            p.connect(p.DIRECT)

        global CONNECTED_TO_SIMULATOR
        CONNECTED_TO_SIMULATOR = True

        if self._is_discrete:
            self.action_space = spaces.Discrete(N_DISCRETE_ACTIONS)
        else:
            if self.action_joints:
                # 7 angles for the arm rotation, from -1 to 1
github StanfordVL / GibsonEnvV2 / gibson2 / utils / door_annotation.py View on Github external
import pybullet as p

if __name__ == '__main__':
    s = Simulator(mode='gui')
    scene = BuildingScene('Ohoopee')
    s.import_scene(scene)

    door = InteractiveObj(os.path.join(gibson2.assets_path, 'models', 'scene_components',
                                       'realdoor.urdf'),
                          scale=0.3)
    s.import_interactive_object(door)

    x = p.addUserDebugParameter('x', -10, 10, 0)
    y = p.addUserDebugParameter('y', -10, 10, 0)
    z = p.addUserDebugParameter('z', -5, 5, 0)
    rotate = p.addUserDebugParameter('rotate', -np.pi, np.pi, 0)

    while True:
        x_pos = p.readUserDebugParameter(x)
        y_pos = p.readUserDebugParameter(y)
        z_pos = p.readUserDebugParameter(z)
        rotate_pos = p.readUserDebugParameter(rotate)
        door.set_position_rotation([x_pos, y_pos, z_pos],
                                   p.getQuaternionFromEuler([0, 0, rotate_pos]))
        s.step()

pybullet

Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning

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Zlib
Latest version published 12 months ago

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