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()