erwincoumans / pybullet_robots Goto Github PK

For the baxter_ik_demo.py, there is a minor issue with the accurateIK(bodyId, ....) function,

numJoints = p.getNumJoints(baxterId) #line 109

it should be:
numJoints = p.getNumJoints(bodyId)

The code works, but not if the function is imported separately.

Hi

In inverse_kinematics_sawyer.py when I replace the line:
p.resetJointState(sawyerId,i,jointPoses[qIndex-7])
with:
p.setJointMotorControl2(sawyerId,i,p.POSITION_CONTROL,jointPoses[qIndex-7], 0)

the Sawyer Arm doesn't move at all. Can you please let me know what might be going wrong?

Thanks

Sir it is getting very difficult to run pybullet in vs code . Pybullet is not going to support in vs code

Dear Erwin, thanks for your work in importing these experimental robots to pybullet. Are you planned to add specific tasks to these robots, e.g let the atlas robots do the back slip like the real atlas, which is a more exciting and challenging RL task?

Thanks for the Repo, How do I cite this work? I looked through CoRL 2017 but couldnt find the reference. Would just the pybullet citation be correct?

@Article{coumans2016pybullet,
title={Pybullet, a python module for physics simulation for games, robotics and machine learning},
author={Coumans, Erwin and Bai, Yunfei},
year={2016}
}

Thanks!

Hello,

I am currently working on a project using PyBullet as a robot simulator and Baxter as the studied robot.

When starting, I used the demo showed in this repo. However, I observed strange behaviors in collision management and overall dynamics.

These behaviors are explained by the fact that in the accurateIK() method, joints are reset at every iteration of the inverse kinematics computation. Therefore, the resulting behavior is completely false.

It would be interesting to modify this in order to help future users of this demo.

Thank you !

Hi:
When I run with

python3 laikgo,py

I got error:segment fault(core dumped)
The full error is :

pybullet build time: Jul  8 2020 18:23:32
argv[0]=--opengl2
startThreads creating 1 threads.
starting thread 0
started thread 0 
argc=3
argv[0] = --unused
argv[1] = --opengl2
argv[2] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
4

	visual 0x21 selected
GL_VENDOR=VMware, Inc.
GL_RENDERER=SVGA3D; build: RELEASE;  LLVM;
GL_VERSION=2.1 Mesa 20.0.8
GL_SHADING_LANGUAGE_VERSION=1.20
pthread_getconcurrency()=0
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
segment fault(core dumped)

looking for your help.

Is there a way I can grab image data and depth data from turtlebot's sensors?

Hi,
While setting equal left and right wheel velocity using setJointMotorControl2, turtle bot does not follow a straight trajectory i.e. it drifts away. Is there a work around this?

Thanks in advance!

is this a simulator? or does it require an actual lidar?

Hi,

Can you please advice on what the upper and lower limits are for the friction coefficient and restitution coefficient in pybullet.
I was under the impression that the limits would be 0 to 1. However, upon reading some of the forum posts on the bullet forum it seems that values can go beyond 1. Would you still say that 0 and 1 realistic lower and upper limits?

I see that you submit a paper which name is Sim-to-Real: Learning Agile Locomotion For Quadruped Robots.
So, do you have this code or solution by this paper?
thank u

Hi and thanks for your work - do you have a quick tip how you'd approach creating a URDF file for pybullet for an Impeller/ EDF?