pybullet学习笔记

官网：pybullet官网
官方教程：pybullet快速入门手册

一、安装

pip install pybullet

二、helloworld例子

import pybullet as p
import time
import pybullet_data
physicsClient = p.connect(p.GUI)  # or p.DIRECT for non-graphical version
p.setAdditionalSearchPath(pybullet_data.getDataPath())  # optionally
p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0, 0, 1]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
boxId = p.loadURDF("r2d2.urdf", cubeStartPos, cubeStartOrientation)
for i in range(10000):
    p.stepSimulation()
    time.sleep(1./240.)
cubePos, cubeOrn = p.getBasePositionAndOrientation(boxId)
print(cubePos, cubeOrn)
p.disconnect()

运行后界面如下

三、更换为自己的URDF文件

创建了一个简单的圆柱体文件microfinger.urdf

<robot name="micorfinger">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="2" radius="0.2"/>
      </geometry>
      <origin xyz="0 0 2"/>
    </visual>
  </link>
</robot>

和2个简单的球文件laser1

<robot name="laser1">
  <link name="base_link">
    <visual>
      <geometry>
        <sphere radius="0.4"/>
      </geometry>
      <origin xyz="0 0 2"/>
    </visual>
  </link>
</robot>

和laser2

<robot name="laser2">
  <link name="base_link">
    <visual>
      <geometry>
        <sphere radius="0.4"/>
      </geometry>
      <origin xyz="0 0 0"/>
    </visual>
  </link>
</robot>

添加到环境中

import pybullet as p
import time
import pybullet_data
# 图形用户界面将创建一个具有图形用户界面前端的物理引擎，并与之通信
physicsClient = p.connect(p.GUI)  # or p.DIRECT for non-graphical version
# 渲染图像
p.setAdditionalSearchPath(pybullet_data.getDataPath())  
# 加载URDF文件
finger = p.loadURDF("./microfinger.urdf")
laser1 = p.loadURDF("./laser1.urdf")
laser2 = p.loadURDF("./laser2.urdf")
for i in range(10000):
    # 在单个正向动力学仿真步骤中执行所有动作，例如碰撞检测、约束求解和集成
    p.stepSimulation()
    time.sleep(1./240.)
# 报告实体在笛卡尔世界坐标中的当前位置和方向
cubePos, cubeOrn = p.getBasePositionAndOrientation(finger)
print(cubePos, cubeOrn)
p.disconnect()

运行后界面如下