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How to use the pybullet.readUserDebugParameter function in pybullet

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github StanfordVL / GibsonEnvV2 / realenv / core / physics / physics_env.py View on Github external
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)
            p.resetDebugVisualizerCamera(cameraDist, cameraYaw, cameraPitch, pos_xyz)
github araffin / robotics-rl-srl / environments / kuka_button_gym_env.py View on Github external
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)
            # self._cam_roll = p.readUserDebugParameter(self.roll_slider)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
github StanfordVL / GibsonEnvV2 / realenv / core / physics / physics_env.py View on Github external
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)
            p.resetDebugVisualizerCamera(cameraDist, cameraYaw, cameraPitch, pos_xyz)
github araffin / robotics-rl-srl / environments / kuka_gym / kuka_button_gym_env.py View on Github external
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)
            # self._cam_roll = p.readUserDebugParameter(self.roll_slider)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix1 = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix1 = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
            nearVal=0.1, farVal=100.0)
        (_, _, px1, _, _) = p.getCameraImage(
            width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix1,
github FlorianWilk / SpotMicroAI / Core / example_leg_motion.py View on Github external
[-50, -100, spurWidth, 1], [-50, -100, -spurWidth, 1]])

motion=KinematicMotion(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()

rtime=time.time()
s=False
while True:

    stepHeight = p.readUserDebugParameter(IDstepHeight)
    spurWidth = p.readUserDebugParameter(IDspurWidth)
    #stepLength = p.readUserDebugParameter(IDstepLength)
    speed1=p.readUserDebugParameter(IDspeed1)
    speed2=p.readUserDebugParameter(IDspeed2)
    speed3=p.readUserDebugParameter(IDspeed3)
    iXf=p.readUserDebugParameter(IDixf)
    iXb=p.readUserDebugParameter(IDixb)

    frontSideStepLength=-(joy_z-128)*0.4
    backSideStepLength=frontSideStepLength
    stepLength=-(joy_rz-128)*1.3

    if(stepLength<0):
        stepLength=stepLength/3
    else:
        stepLength=stepLength/2
github araffin / robotics-rl-srl / environments / mobile_robot / mobile_robot_env.py View on Github external
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
            nearVal=0.1, farVal=100.0)
        (_, _, px1, _, _) = p.getCameraImage(
github araffin / robotics-rl-srl / environments / mobile_robot / mobile_robot_env.py View on Github external
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
            nearVal=0.1, farVal=100.0)
        (_, _, px1, _, _) = p.getCameraImage(
            width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
            projectionMatrix=proj_matrix, renderer=self.renderer)
github araffin / robotics-rl-srl / environments / mobile_robot / mobile_robot_env.py View on Github external
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
            nearVal=0.1, farVal=100.0)
github araffin / robotics-rl-srl / environments / kuka_gym / kuka_button_gym_env.py View on Github external
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)
            # self._cam_roll = p.readUserDebugParameter(self.roll_slider)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix1 = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix1 = p.computeProjectionMatrixFOV(
github araffin / robotics-rl-srl / environments / mobile_robot / mobile_robot_env.py View on Github external
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
            nearVal=0.1, farVal=100.0)
        (_, _, px1, _, _) = p.getCameraImage(
            width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,

pybullet

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

GitHub
Zlib
Latest version published 6 months ago

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