test_pybullet.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "pybullet build time: Oct 11 2021 20:59:39\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "startThreads creating 1 threads.\n",
      "starting thread 0\n",
      "started thread 0 \n",
      "argc=2\n",
      "argv[0] = --unused\n",
      "argv[1] = --start_demo_name=Physics Server\n",
      "ExampleBrowserThreadFunc started\n",
      "X11 functions dynamically loaded using dlopen/dlsym OK!\n",
      "X11 functions dynamically loaded using dlopen/dlsym OK!\n",
      "Creating context\n",
      "Created GL 3.3 context\n",
      "Direct GLX rendering context obtained\n",
      "Making context current\n",
      "GL_VENDOR=NVIDIA Corporation\n",
      "GL_RENDERER=NVIDIA GeForce RTX 3070/PCIe/SSE2\n",
      "GL_VERSION=3.3.0 NVIDIA 470.103.01\n",
      "GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler\n",
      "pthread_getconcurrency()=0\n",
      "Version = 3.3.0 NVIDIA 470.103.01\n",
      "Vendor = NVIDIA Corporation\n",
      "Renderer = NVIDIA GeForce RTX 3070/PCIe/SSE2\n",
      "b3Printf: Selected demo: Physics Server\n",
      "startThreads creating 1 threads.\n",
      "starting thread 0\n",
      "started thread 0 \n",
      "MotionThreadFunc thread started\n"
     ]
    }
   ],
   "source": [
    "import pybullet\n",
    "import pybullet_data\n",
    "import time\n",
    "pybullet.connect(pybullet.GUI)\n",
    "pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "ven = NVIDIA Corporation\n",
      "ven = NVIDIA Corporation\n"
     ]
    }
   ],
   "source": [
    "pybullet.resetSimulation()\n",
    "plane = pybullet.loadURDF(\"plane.urdf\", [0, 0, 0])\n",
    "\n",
    "sphereRadius = 0.05\n",
    "colBoxId = pybullet.createCollisionShape(pybullet.GEOM_BOX,\n",
    "                                  halfExtents=[sphereRadius, sphereRadius, 0.025])\n",
    "pybullet.setGravity(0, 0, -9.81)\n",
    "pybullet.setTimeStep(0.0001)\n",
    "pybullet.setRealTimeSimulation(0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "pybullet.createMultiBody(1000, colBoxId, -1, [0, 0, 0.025], [0, 0, 0, 1])\n",
    "box = pybullet.loadURDF(\"cube.urdf\", [0, 0, 4.5])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "numActiveThreads = 0\n",
      "stopping threads\n",
      "Thread with taskId 0 exiting\n",
      "Thread TERMINATED\n",
      "destroy semaphore\n",
      "semaphore destroyed\n",
      "destroy main semaphore\n",
      "main semaphore destroyed\n",
      "finished\n"
     ]
    }
   ],
   "source": [
    "field = pybullet.loadURDF(\"gym_pybullet_drones/assets/field/field.urdf\", [0, 0, 0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
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    },
    {
     "ename": "KeyboardInterrupt",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
      "\u001b[0;32m/tmp/ipykernel_665517/300595122.py\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m      9\u001b[0m   \u001b[0mprint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mkeys\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     10\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 11\u001b[0;31m   \u001b[0mtime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msleep\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m0.01\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
     ]
    }
   ],
   "source": [
    "\n",
    "pybullet.setRealTimeSimulation(1)\n",
    "\n",
    "# p.getNumJoints(sphereUid)\n",
    "# for i in range(p.getNumJoints(sphereUid)):\n",
    "#   p.getJointInfo(sphereUid, i)\n",
    "\n",
    "while (1):\n",
    "  keys = pybullet.getKeyboardEvents()\n",
    "  print(keys)\n",
    "\n",
    "  time.sleep(0.01)"
   ]
  }
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