Hello PyBullet!

This notebook shows how to install and create a simple application on PyBullet.

Setup

First, let's install the PyBullet module.

In [ ]:

# Install the PyBullet module.
!pip install -U pybullet

Hello PyBullet World!

This is based on the PyBullet Quickstart Guide.

After importing the PyBullet module, the first thing to do is 'connecting' to the physics simulation. PyBullet is designed around a client-server driven API, with a client sending commands and a physics server returning the status.

PyBullet has some built-in physics servers: DIRECT and GUI. Both GUI and DIRECT connections will execute the physics simulation and rendering in the same process as PyBullet.

In this example, we'll use the DIRECT mode to do the calculations independently of rendering.

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import pybullet as p

p.connect(p.DIRECT)

We want to access the example Bullet data files. Fortunately, we can specify a new search path in PyBullet and point it to the py_bullet_data.getDataPath().

In [ ]:

import pybullet_data

p.setAdditionalSearchPath(pybullet_data.getDataPath())

Now, we can load models from the example data in the Unified Robot Description Format (URDF) format.

Let's load a plane to serve as our simulation floor plane, and an R2D2 droid.

In Bullet Physics, you can use whatever units you want as long as you are consistent. For this example, we'll use the metric system.

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# First, let's make sure we start with a fresh new simulation.
# Otherwise, we can keep adding objects by running this cell over again.
p.resetSimulation()

# Load our simulation floor plane at the origin (0, 0, 0).
p.loadURDF('plane.urdf')

# Load an R2D2 droid at the position at 0.5 meters height in the z-axis.
r2d2 = p.loadURDF('r2d2.urdf', [0, 0, 0.5])

# We can check the number of bodies we have in the simulation.
p.getNumBodies()

Joint information

Now that we've populated our simulation with those two objects, we can analyze them to see what's inside.

The getJointInfo() function returns a list of all the information from the selected joint.

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# First let's define a class for the JointInfo.
from dataclasses import dataclass

@dataclass
class Joint:
  index: int
  name: str
  type: int
  gIndex: int
  uIndex: int
  flags: int
  damping: float
  friction: float
  lowerLimit: float
  upperLimit: float
  maxForce: float
  maxVelocity: float
  linkName: str
  axis: tuple
  parentFramePosition: tuple
  parentFrameOrientation: tuple
  parentIndex: int

  def __post_init__(self):
    self.name = str(self.name, 'utf-8')
    self.linkName = str(self.linkName, 'utf-8')

# Let's analyze the R2D2 droid!
print(f"r2d2 unique ID: {r2d2}")
for i in range(p.getNumJoints(r2d2)):
  joint = Joint(*p.getJointInfo(r2d2, i))
  print(joint)

r2d2 unique ID: 1
Joint(index=0, name='base_to_right_leg', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='right_leg', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.22, 0.0, 0.25), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=-1)
Joint(index=1, name='right_base_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='right_base', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.2999999996780742, 0.0, -1.3898038463944216e-05), parentFrameOrientation=(0.0, 0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=0)
Joint(index=2, name='right_front_wheel_joint', type=0, gIndex=7, uIndex=6, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='right_front_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, 0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=1)
Joint(index=3, name='right_back_wheel_joint', type=0, gIndex=8, uIndex=7, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='right_back_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, -0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=1)
Joint(index=4, name='base_to_left_leg', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='left_leg', axis=(0.0, 0.0, 0.0), parentFramePosition=(-0.22, 0.0, 0.25), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=-1)
Joint(index=5, name='left_base_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='left_base', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.2999999996780742, 0.0, -1.3898038463944216e-05), parentFrameOrientation=(0.0, 0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=4)
Joint(index=6, name='left_front_wheel_joint', type=0, gIndex=9, uIndex=8, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='left_front_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, 0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=5)
Joint(index=7, name='left_back_wheel_joint', type=0, gIndex=10, uIndex=9, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=100.0, maxVelocity=100.0, linkName='left_back_wheel', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, -0.133333333333, -0.085), parentFrameOrientation=(0.0, -0.7070904020014416, 0.0, 0.7071231599922604), parentIndex=5)
Joint(index=8, name='gripper_extension', type=1, gIndex=11, uIndex=10, flags=1, damping=0.0, friction=0.0, lowerLimit=-0.38, upperLimit=0.0, maxForce=1000.0, maxVelocity=0.5, linkName='gripper_pole', axis=(1.0, 0.0, 0.0), parentFramePosition=(0.0, 0.19, 0.2), parentFrameOrientation=(0.0, 0.0, -0.7070904020014416, 0.7071231599922604), parentIndex=-1)
Joint(index=9, name='left_gripper_joint', type=0, gIndex=12, uIndex=11, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=0.548, maxForce=1000.0, maxVelocity=0.5, linkName='left_gripper', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.2, 0.02, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=8)
Joint(index=10, name='left_tip_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='left_tip', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.0, 0.0, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=9)
Joint(index=11, name='right_gripper_joint', type=0, gIndex=13, uIndex=12, flags=1, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=0.548, maxForce=1000.0, maxVelocity=0.5, linkName='right_gripper', axis=(0.0, 0.0, -1.0), parentFramePosition=(0.2, -0.02, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=8)
Joint(index=12, name='right_tip_joint', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='right_tip', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.0, 0.0, 0.0), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=11)
Joint(index=13, name='head_swivel', type=0, gIndex=14, uIndex=13, flags=1, damping=0.0, friction=0.0, lowerLimit=-0.38, upperLimit=0.0, maxForce=1000.0, maxVelocity=0.5, linkName='head', axis=(0.0, 0.0, 1.0), parentFramePosition=(0.0, 0.0, 0.3), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=-1)
Joint(index=14, name='tobox', type=4, gIndex=-1, uIndex=-1, flags=0, damping=0.0, friction=0.0, lowerLimit=0.0, upperLimit=-1.0, maxForce=0.0, maxVelocity=0.0, linkName='box', axis=(0.0, 0.0, 0.0), parentFramePosition=(0.0, 0.1214, 0.1214), parentFrameOrientation=(0.0, 0.0, 0.0, 1.0), parentIndex=13)

To start the simulation, first we must set the gravity. We'll use Earth's gravity for convenience, so we'll set it up to -9.807 m/s².

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# Set the gravity to Earth's gravity.
p.setGravity(0, 0, -9.807)

# Run the simulation for a fixed amount of steps.
for i in range(20):
    position, orientation = p.getBasePositionAndOrientation(r2d2)
    x, y, z = position
    roll, pitch, yaw = p.getEulerFromQuaternion(orientation)
    print(f"{i:3}: x={x:0.10f}, y={y:0.10f}, z={z:0.10f}), roll={roll:0.10f}, pitch={pitch:0.10f}, yaw={yaw:0.10f}")
    p.stepSimulation()

  0: x=0.0000000000, y=0.0000000000, z=0.5000000000), roll=0.0000000000, pitch=-0.0000000000, yaw=0.0000000000
  1: x=-0.0000000000, y=0.0000000000, z=0.4998297396), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  2: x=-0.0000000000, y=0.0000000000, z=0.4994892187), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  3: x=-0.0000000000, y=0.0000000000, z=0.4989784375), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  4: x=-0.0000000000, y=0.0000000000, z=0.4982973958), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  5: x=-0.0000000000, y=0.0000000000, z=0.4974460937), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  6: x=-0.0000000000, y=0.0000000000, z=0.4964245312), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  7: x=-0.0000000000, y=0.0000000000, z=0.4952327083), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  8: x=-0.0000000000, y=0.0000000000, z=0.4938706250), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
  9: x=-0.0000000000, y=0.0000000000, z=0.4923382813), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 10: x=-0.0000000000, y=0.0000000000, z=0.4906356771), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 11: x=-0.0000000000, y=0.0000000000, z=0.4887628125), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 12: x=-0.0000000000, y=0.0000000000, z=0.4867196875), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 13: x=-0.0000000000, y=0.0000000000, z=0.4845063021), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 14: x=-0.0000000000, y=0.0000000000, z=0.4821226563), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 15: x=-0.0000000000, y=0.0000000000, z=0.4795687500), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 16: x=-0.0000000000, y=0.0000000000, z=0.4768445833), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 17: x=-0.0000000000, y=0.0000000000, z=0.4739501562), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 18: x=-0.0000000000, y=0.0000000000, z=0.4708854687), roll=0.0000000000, pitch=-0.0000000000, yaw=-0.0000000000
 19: x=0.0000001305, y=-0.0000077238, z=0.4708941546), roll=0.0000021144, pitch=0.0000002247, yaw=0.0000001176

Rendering

The getCameraImage API will return a RGB image, a depth buffer and a segmentation mask buffer with body unique ids of visible objects for each pixel

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import numpy as np
from PIL import Image
from IPython.display import display

width = 320
height = 200
img_arr = p.getCameraImage(
    width,
    height,
    viewMatrix=p.computeViewMatrixFromYawPitchRoll(
        cameraTargetPosition=[0, 0, 0],
        distance=4,
        yaw=60,
        pitch=-10,
        roll=0,
        upAxisIndex=2,
    ),
    projectionMatrix=p.computeProjectionMatrixFOV(
        fov=60,
        aspect=width/height,
        nearVal=0.01,
        farVal=100,
    ),
    shadow=True,
    lightDirection=[1, 1, 1],
)

width, height, rgba, depth, mask = img_arr
print(f"rgba shape={rgba.shape}, dtype={rgba.dtype}")
display(Image.fromarray(rgba, 'RGBA'))
print(f"depth shape={depth.shape}, dtype={depth.dtype}, as values from 0.0 (near) to 1.0 (far)")
display(Image.fromarray((depth*255).astype('uint8')))
print(f"mask shape={mask.shape}, dtype={mask.dtype}, as unique values from 0 to N-1 entities, and -1 as None")
display(Image.fromarray(np.interp(mask, (-1, mask.max()), (0, 255)).astype('uint8')))

image size: 320x200
rgba shape=(200, 320, 4) dtype=uint8

depth shape=(200, 320) dtype=float32 as values from 0.0 (near) to 1.0 (far)

mask shape=(200, 320) dtype=int32 as unique values from 0 to N-1 entities, and -1 as None

29 KiB Raw Blame History

Hello PyBullet!

Setup

Hello PyBullet World!

Joint information

Rendering

29 KiB

Raw Blame History