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4cebba5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 | import os, math, random
if "PYOPENGL_PLATFORM" not in os.environ:
if not os.environ.get("DISPLAY"):
os.environ["PYOPENGL_PLATFORM"] = "egl"
import numpy as np
import pybullet as p
pb = p
import pybullet_data
import trimesh
import pyrender
import imageio
G = 9.81
RESOLUTION = (480, 480)
FPS = 30
STEP_RATE = 240
def _hsv_rgb(h, s, v):
hi = int(h*6)%6; f=h*6-int(h*6); p_=v*(1-s); q=v*(1-f*s); t=v*(1-(1-f)*s)
return [(v,t,p_),(q,v,p_),(p_,v,t),(p_,q,v),(t,p_,v),(v,p_,q)][hi]
def random_hue_color(s=0.85, v=0.90):
r, g, b = _hsv_rgb(random.random(), s, v)
return [r, g, b, 1.0]
def muted_grey(lo=0.30, hi=0.55):
c = random.uniform(lo, hi)
return [c, c + random.uniform(-0.03, 0.03), c + random.uniform(-0.03, 0.03), 1.0]
def floor_color():
return muted_grey(0.38, 0.52)
def _look_at(eye, target, up=(0,0,1)):
eye=np.array(eye,float); target=np.array(target,float); up=np.array(up,float)
fwd=target-eye; fwd/=np.linalg.norm(fwd)
right=np.cross(fwd,up)
if np.linalg.norm(right)<1e-8: right=np.array([1.,0.,0.])
right/=np.linalg.norm(right); up2=np.cross(right,fwd)
m=np.eye(4); m[:3,0]=right; m[:3,1]=up2; m[:3,2]=-fwd; m[:3,3]=eye
return m
def _q2r(xyzw):
x,y,z,w=xyzw
return np.array([[1-2*(y*y+z*z),2*(x*y-z*w),2*(x*z+y*w)],
[2*(x*y+z*w),1-2*(x*x+z*z),2*(y*z-x*w)],
[2*(x*z-y*w),2*(y*z+x*w),1-2*(x*x+y*y)]])
def _set_pose(scene, node, pos, quat):
R=_q2r(quat); m=np.eye(4); m[:3,:3]=R; m[:3,3]=np.array(pos)
scene.set_pose(node, pose=m)
def _make_renderer(cam_eye, cam_target):
W,H=RESOLUTION
ren=pyrender.OffscreenRenderer(W,H)
sc=pyrender.Scene(ambient_light=[0.10,0.10,0.12,1.0],bg_color=[0.06,0.06,0.10,1.0])
for color,intensity,eye in [([1.00,0.95,0.88],5.5,[-3,-4,6]),
([0.50,0.62,1.00],2.0,[4,3,4]),
([0.90,0.90,0.90],0.8,[0,-5,1])]:
sc.add(pyrender.DirectionalLight(color=color,intensity=intensity),
pose=_look_at(eye,[0,0,0]))
cam=pyrender.PerspectiveCamera(yfov=math.pi/4,aspectRatio=W/H,znear=0.05,zfar=300.)
sc.add(cam,pose=_look_at(cam_eye,cam_target))
return ren,sc
def _mat(color,metallic=0.05,roughness=0.5):
return pyrender.MetallicRoughnessMaterial(baseColorFactor=color,
metallicFactor=metallic,roughnessFactor=roughness)
def _add_sphere(sc,name,nodes,r,color,metallic=0.1,roughness=0.3):
tm=trimesh.creation.icosphere(subdivisions=3,radius=r)
nodes[name]=sc.add(pyrender.Mesh.from_trimesh(tm,material=_mat(color,metallic,roughness),smooth=True),pose=np.eye(4))
def _add_box(sc,name,nodes,he,color,metallic=0.05,roughness=0.55):
tm=trimesh.creation.box(extents=[e*2 for e in he])
nodes[name]=sc.add(pyrender.Mesh.from_trimesh(tm,material=_mat(color,metallic,roughness),smooth=False),pose=np.eye(4))
def _add_cylinder(sc,name,nodes,r,h,color,metallic=0.05,roughness=0.5):
tm=trimesh.creation.cylinder(radius=r,height=h,sections=32)
nodes[name]=sc.add(pyrender.Mesh.from_trimesh(tm,material=_mat(color,metallic,roughness),smooth=True),pose=np.eye(4))
def _add_capsule(sc,name,nodes,r,h,color):
tm=trimesh.creation.capsule(radius=r,height=h,count=[8,8])
nodes[name]=sc.add(pyrender.Mesh.from_trimesh(tm,material=_mat(color),smooth=True),pose=np.eye(4))
def _update_string(sc,nodes,name,p1,p2,radius=0.006,color=None):
if color is None: color=[0.22,0.16,0.10,1.0]
if name in nodes: sc.remove_node(nodes.pop(name))
p1=np.array(p1,float); p2=np.array(p2,float)
diff=p2-p1; length=float(np.linalg.norm(diff))
if length<1e-6: return
mid=(p1+p2)*0.5; z=diff/length
up=np.array([0.,0.,1.]) if abs(z[2])<0.95 else np.array([0.,1.,0.])
x=np.cross(up,z); x/=np.linalg.norm(x); y=np.cross(z,x)
m=np.eye(4); m[:3,0]=x; m[:3,1]=y; m[:3,2]=z; m[:3,3]=mid
tm=trimesh.creation.cylinder(radius=radius,height=length,sections=8)
mat=pyrender.MetallicRoughnessMaterial(baseColorFactor=color,metallicFactor=0.3,roughnessFactor=0.7)
nodes[name]=sc.add(pyrender.Mesh.from_trimesh(tm,material=mat,smooth=True),pose=m)
def _save_video(frames,path,fps=FPS):
w=imageio.get_writer(path,fps=fps,codec='libx264',quality=5,macro_block_size=None)
for f in frames: w.append_data(f)
w.close()
def _init_physics():
c=p.connect(p.DIRECT)
p.setGravity(0,0,-G,physicsClientId=c)
p.setAdditionalSearchPath(pybullet_data.getDataPath(),physicsClientId=c)
p.setPhysicsEngineParameter(fixedTimeStep=1.0/STEP_RATE,
restitutionVelocityThreshold=0.2,useSplitImpulse=1,
splitImpulsePenetrationThreshold=-0.02,contactSlop=0.0,
physicsClientId=c)
return c
import math, pybullet as pb, numpy as np
N_FRAMES=150; CAM_EYE=(3.5, -4.5, 2.2); CAM_TARGET=(0.5, 0.0, 0.4)
A=1.1628946679559673; OMG=11.25143956684665; FR=0.5770325859317526
PUCK_R=0.1; PUCK_H=0.06; PM=0.18; NP=5
PANEL_M=50.0
PUCK_COLS=[[0.9, 0.13500000000000004, 0.32504568583185994, 1.0], [0.13500000000000004, 0.9, 0.2990710892974331, 1.0], [0.13500000000000004, 0.7494865781672225, 0.9, 1.0], [0.13500000000000004, 0.9, 0.3249753326487045, 1.0], [0.13500000000000004, 0.6700854374764816, 0.9, 1.0]]
MARK_COLS=[[1.0, 0.050000000000000044, 0.9533932691485902, 1.0], [1.0, 0.050000000000000044, 0.09100445296653115, 1.0], [1.0, 0.050000000000000044, 0.4573177504975948, 1.0], [1.0, 0.050000000000000044, 0.4016412703490756, 1.0], [1.0, 0.3600213931372337, 0.050000000000000044, 1.0]]
def main():
c=_init_physics(); ren,sc=_make_renderer(CAM_EYE,CAM_TARGET); nodes={}
plane_bid=pb.loadURDF("plane.urdf",[0,0,0],physicsClientId=c)
pb.changeDynamics(plane_bid,-1,lateralFriction=0.04,physicsClientId=c)
_add_box(sc,"fl",nodes,[4,4,0.02],[0.38,0.38,0.42,1.0]); _set_pose(sc,nodes["fl"],[0,0,-0.02],[0,0,0,1])
he=[1.0,0.7,0.04]; pz=he[2]
s=pb.createCollisionShape(pb.GEOM_BOX,halfExtents=he,physicsClientId=c)
pbid=pb.createMultiBody(PANEL_M,s,-1,[0,0,pz],[0,0,0,1],physicsClientId=c)
pb.changeDynamics(pbid,-1,lateralFriction=FR,restitution=0.1,linearDamping=0.0,angularDamping=0.5,physicsClientId=c)
_add_box(sc,"panel",nodes,he,[0.5, 0.5, 0.55, 1.0]); bids=[("panel",pbid)]
sphere_R=PUCK_H/2; top_z=2*he[2]; puck_z0=top_z+sphere_R+0.001
pos_xy=[(-0.55,-0.20),(-0.25,0.25),(0.05,-0.20),(0.30,0.25),(0.60,-0.20)]
disc_Iz=0.5*PM*PUCK_R*PUCK_R; big_I=100.0
mark_r=0.022; mark_off=np.array([PUCK_R*0.78,0.0,PUCK_H/2+mark_r])
for i in range(NP):
x,y=pos_xy[i]; od=1 if i%2==0 else -1
s=pb.createCollisionShape(pb.GEOM_SPHERE,radius=sphere_R,physicsClientId=c)
bid=pb.createMultiBody(PM,s,-1,[x,y,puck_z0],[0,0,0,1],physicsClientId=c)
pb.changeDynamics(bid,-1,lateralFriction=FR,restitution=0.0,linearDamping=0.0,angularDamping=0.0,localInertiaDiagonal=[big_I,big_I,disc_Iz],physicsClientId=c)
pb.resetBaseVelocity(bid,[0,0,0],[0,0,OMG*od],physicsClientId=c)
_add_cylinder(sc,f"p{i}",nodes,PUCK_R,PUCK_H,PUCK_COLS[i])
_add_sphere(sc,f"m{i}",nodes,mark_r,MARK_COLS[i]); bids.append((f"p{i}",bid))
F=PANEL_M*A; frames=[]
for fi in range(N_FRAMES):
for __ in range(8):
pb.applyExternalForce(pbid,-1,[F,0,0],[0,0,0],pb.LINK_FRAME,physicsClientId=c)
pb.stepSimulation(physicsClientId=c)
for nm,bid in bids:
pp,oo=pb.getBasePositionAndOrientation(bid,physicsClientId=c); _set_pose(sc,nodes[nm],pp,oo)
for i in range(NP):
_,bid=bids[i+1]; pp,oo=pb.getBasePositionAndOrientation(bid,physicsClientId=c)
R=_q2r(oo); mw=np.array(pp)+R@mark_off
_set_pose(sc,nodes[f"m{i}"],mw.tolist(),oo)
rgba,_=ren.render(sc,flags=pyrender.RenderFlags.RGBA); frames.append(rgba[:,:,:3])
_save_video(frames,"video.mp4"); pb.disconnect(c); ren.delete(); print("Saved video.mp4")
if __name__=="__main__": main()
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