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-rw-r--r--examples/pybullet/examples/createObstacleCourse.py256
1 files changed, 128 insertions, 128 deletions
diff --git a/examples/pybullet/examples/createObstacleCourse.py b/examples/pybullet/examples/createObstacleCourse.py
index 2bfc45093..df2d37d3c 100644
--- a/examples/pybullet/examples/createObstacleCourse.py
+++ b/examples/pybullet/examples/createObstacleCourse.py
@@ -1,128 +1,128 @@
-import pybullet as p
-import time
-import math
-
-p.connect(p.GUI)
-#don't create a ground plane, to allow for gaps etc
-p.resetSimulation()
-#p.createCollisionShape(p.GEOM_PLANE)
-#p.createMultiBody(0,0)
-#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
-p.resetDebugVisualizerCamera(15, -346, -16, [-15, 0, 1])
-
-p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
-
-sphereRadius = 0.05
-colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
-
-#a few different ways to create a mesh:
-
-#convex mesh from obj
-stoneId = p.createCollisionShape(p.GEOM_MESH, fileName="stone.obj")
-
-boxHalfLength = 0.5
-boxHalfWidth = 2.5
-boxHalfHeight = 0.1
-segmentLength = 5
-
-colBoxId = p.createCollisionShape(p.GEOM_BOX,
- halfExtents=[boxHalfLength, boxHalfWidth, boxHalfHeight])
-
-mass = 1
-visualShapeId = -1
-
-segmentStart = 0
-
-for i in range(segmentLength):
- p.createMultiBody(baseMass=0,
- baseCollisionShapeIndex=colBoxId,
- basePosition=[segmentStart, 0, -0.1])
- segmentStart = segmentStart - 1
-
-for i in range(segmentLength):
- height = 0
- if (i % 2):
- height = 1
- p.createMultiBody(baseMass=0,
- baseCollisionShapeIndex=colBoxId,
- basePosition=[segmentStart, 0, -0.1 + height])
- segmentStart = segmentStart - 1
-
-baseOrientation = p.getQuaternionFromEuler([math.pi / 2., 0, math.pi / 2.])
-
-for i in range(segmentLength):
- p.createMultiBody(baseMass=0,
- baseCollisionShapeIndex=colBoxId,
- basePosition=[segmentStart, 0, -0.1])
- segmentStart = segmentStart - 1
- if (i % 2):
- p.createMultiBody(baseMass=0,
- baseCollisionShapeIndex=colBoxId,
- basePosition=[segmentStart, i % 3, -0.1 + height + boxHalfWidth],
- baseOrientation=baseOrientation)
-
-for i in range(segmentLength):
- p.createMultiBody(baseMass=0,
- baseCollisionShapeIndex=colBoxId,
- basePosition=[segmentStart, 0, -0.1])
- width = 4
- for j in range(width):
- p.createMultiBody(baseMass=0,
- baseCollisionShapeIndex=stoneId,
- basePosition=[segmentStart, 0.5 * (i % 2) + j - width / 2., 0])
- segmentStart = segmentStart - 1
-
-link_Masses = [1]
-linkCollisionShapeIndices = [colBoxId]
-linkVisualShapeIndices = [-1]
-linkPositions = [[0, 0, 0]]
-linkOrientations = [[0, 0, 0, 1]]
-linkInertialFramePositions = [[0, 0, 0]]
-linkInertialFrameOrientations = [[0, 0, 0, 1]]
-indices = [0]
-jointTypes = [p.JOINT_REVOLUTE]
-axis = [[1, 0, 0]]
-
-baseOrientation = [0, 0, 0, 1]
-for i in range(segmentLength):
- boxId = p.createMultiBody(0,
- colSphereId,
- -1, [segmentStart, 0, -0.1],
- baseOrientation,
- linkMasses=link_Masses,
- linkCollisionShapeIndices=linkCollisionShapeIndices,
- linkVisualShapeIndices=linkVisualShapeIndices,
- linkPositions=linkPositions,
- linkOrientations=linkOrientations,
- linkInertialFramePositions=linkInertialFramePositions,
- linkInertialFrameOrientations=linkInertialFrameOrientations,
- linkParentIndices=indices,
- linkJointTypes=jointTypes,
- linkJointAxis=axis)
- p.changeDynamics(boxId, -1, spinningFriction=0.001, rollingFriction=0.001, linearDamping=0.0)
- print(p.getNumJoints(boxId))
- for joint in range(p.getNumJoints(boxId)):
- targetVelocity = 10
- if (i % 2):
- targetVelocity = -10
- p.setJointMotorControl2(boxId,
- joint,
- p.VELOCITY_CONTROL,
- targetVelocity=targetVelocity,
- force=100)
- segmentStart = segmentStart - 1.1
-
-p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
-while (1):
- camData = p.getDebugVisualizerCamera()
- viewMat = camData[2]
- projMat = camData[3]
- p.getCameraImage(256,
- 256,
- viewMatrix=viewMat,
- projectionMatrix=projMat,
- renderer=p.ER_BULLET_HARDWARE_OPENGL)
- keys = p.getKeyboardEvents()
- p.stepSimulation()
- #print(keys)
- time.sleep(0.01)
+import pybullet as p
+import time
+import math
+
+p.connect(p.GUI)
+#don't create a ground plane, to allow for gaps etc
+p.resetSimulation()
+#p.createCollisionShape(p.GEOM_PLANE)
+#p.createMultiBody(0,0)
+#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
+p.resetDebugVisualizerCamera(15, -346, -16, [-15, 0, 1])
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
+
+#a few different ways to create a mesh:
+
+#convex mesh from obj
+stoneId = p.createCollisionShape(p.GEOM_MESH, fileName="stone.obj")
+
+boxHalfLength = 0.5
+boxHalfWidth = 2.5
+boxHalfHeight = 0.1
+segmentLength = 5
+
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+ halfExtents=[boxHalfLength, boxHalfWidth, boxHalfHeight])
+
+mass = 1
+visualShapeId = -1
+
+segmentStart = 0
+
+for i in range(segmentLength):
+ p.createMultiBody(baseMass=0,
+ baseCollisionShapeIndex=colBoxId,
+ basePosition=[segmentStart, 0, -0.1])
+ segmentStart = segmentStart - 1
+
+for i in range(segmentLength):
+ height = 0
+ if (i % 2):
+ height = 1
+ p.createMultiBody(baseMass=0,
+ baseCollisionShapeIndex=colBoxId,
+ basePosition=[segmentStart, 0, -0.1 + height])
+ segmentStart = segmentStart - 1
+
+baseOrientation = p.getQuaternionFromEuler([math.pi / 2., 0, math.pi / 2.])
+
+for i in range(segmentLength):
+ p.createMultiBody(baseMass=0,
+ baseCollisionShapeIndex=colBoxId,
+ basePosition=[segmentStart, 0, -0.1])
+ segmentStart = segmentStart - 1
+ if (i % 2):
+ p.createMultiBody(baseMass=0,
+ baseCollisionShapeIndex=colBoxId,
+ basePosition=[segmentStart, i % 3, -0.1 + height + boxHalfWidth],
+ baseOrientation=baseOrientation)
+
+for i in range(segmentLength):
+ p.createMultiBody(baseMass=0,
+ baseCollisionShapeIndex=colBoxId,
+ basePosition=[segmentStart, 0, -0.1])
+ width = 4
+ for j in range(width):
+ p.createMultiBody(baseMass=0,
+ baseCollisionShapeIndex=stoneId,
+ basePosition=[segmentStart, 0.5 * (i % 2) + j - width / 2., 0])
+ segmentStart = segmentStart - 1
+
+link_Masses = [1]
+linkCollisionShapeIndices = [colBoxId]
+linkVisualShapeIndices = [-1]
+linkPositions = [[0, 0, 0]]
+linkOrientations = [[0, 0, 0, 1]]
+linkInertialFramePositions = [[0, 0, 0]]
+linkInertialFrameOrientations = [[0, 0, 0, 1]]
+indices = [0]
+jointTypes = [p.JOINT_REVOLUTE]
+axis = [[1, 0, 0]]
+
+baseOrientation = [0, 0, 0, 1]
+for i in range(segmentLength):
+ boxId = p.createMultiBody(0,
+ colSphereId,
+ -1, [segmentStart, 0, -0.1],
+ baseOrientation,
+ linkMasses=link_Masses,
+ linkCollisionShapeIndices=linkCollisionShapeIndices,
+ linkVisualShapeIndices=linkVisualShapeIndices,
+ linkPositions=linkPositions,
+ linkOrientations=linkOrientations,
+ linkInertialFramePositions=linkInertialFramePositions,
+ linkInertialFrameOrientations=linkInertialFrameOrientations,
+ linkParentIndices=indices,
+ linkJointTypes=jointTypes,
+ linkJointAxis=axis)
+ p.changeDynamics(boxId, -1, spinningFriction=0.001, rollingFriction=0.001, linearDamping=0.0)
+ print(p.getNumJoints(boxId))
+ for joint in range(p.getNumJoints(boxId)):
+ targetVelocity = 10
+ if (i % 2):
+ targetVelocity = -10
+ p.setJointMotorControl2(boxId,
+ joint,
+ p.VELOCITY_CONTROL,
+ targetVelocity=targetVelocity,
+ force=100)
+ segmentStart = segmentStart - 1.1
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+while (1):
+ camData = p.getDebugVisualizerCamera()
+ viewMat = camData[2]
+ projMat = camData[3]
+ p.getCameraImage(256,
+ 256,
+ viewMatrix=viewMat,
+ projectionMatrix=projMat,
+ renderer=p.ER_BULLET_HARDWARE_OPENGL)
+ keys = p.getKeyboardEvents()
+ p.stepSimulation()
+ #print(keys)
+ time.sleep(0.01)
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