Questions tagged [pybullet]

PyBullet is a module for physics simulation, robotics and deep reinforcement learning. It's an easy to use package and highly recommended for real-time collision detection, multi-physics for VR simulations, etc. The tag should be used when asking questions about Python implementations of the Bullet Physics SDK.

PyBullet is a Python package based upon the infamous Bullet Physics SDK/Engine for which the developer, Erwin Coumans, even won a Scientific and Technical Academy Award. The Python module has implemented most of the features the original C++ SDK has as well - referring to this GitHub repository.

With PyBullet comes a lot of functionality (for the list click here), including but not limited to physics simulation, robotics, deep reinforcement learning, dynamics simulation, inverse dynamics computation and so on. Aside from physics simulation, you're also able to either render it via CPU or visualize the data via OpenGL.

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Pybullet - Parallelogram joints aren’t allowed

I have a custom robot URDF that I imported which has parallelogram limbs. The only way I could get it to import was by only creating 3 of the 4 joints on the polygon, and “forcing” all those joints to line up by setting all their angles to the same…
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What does the deterministicOverlappingPairs setting in PyBullet do?

It is not uncommon to find this line in PyBullet examples: p.setPhysicsEngineParameter(deterministicOverlappingPairs=1) What is the purpose of the "deterministicOverlappingPairs" setting? Why should I set it? I have looked at the documentation and…
avgJoe
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Jupyter notebook crashes after rendering pybullet-gym environment

I am using pybullet-gym to evaluate my policy model and visualize its interactions; however, when it renders the environment using the following sample code (taken from its own repo) jupyter notebook crashes and restarts its kernel : import…
NaWeeD
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PyBullet - How to set global coordinates of robot joints?

I am new to PyBullet. Is there a way to set the positions of my robot joints using Cartesian coordinates as input? The function below requires angles as its input. I have looked through the documentation at…
Kong
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How to simulate an object balancing on another in pybullet?

I am trying to simulate a ball balancing on a board with pybullet and openAI gym, but for now I am working with any shapes. I have the gym part down, but I am not sure how to approach this with pybullet. Here is an example of code I wrote up for one…
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PyBullet & OpenGL - Rotations are reversed in OpenGL

I am writing a basic game engine to help with my PhD topic on multi-agent learning. I am using PyBullet as the backend physics engine and OpenGL for visual display. I have OpenGL buffers set up to hold the object information such as position(vec3)…
Ed Adcock
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OpenGL not running on WSL2

I am trying to get PyBullet to work on my WSL2 installation of Ubuntu 22.04 with an Nvidia GTX 1050Ti. When I run p.connect(p.GUI), the execution fails with the following output: startThreads creating 1 threads. starting thread 0 started thread…
dkapur17
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Gaps occur between objects

Forgive my English, which is not very good. I want to pile up objects and see where they collapse. The height is obviously wrong when trying to verify. So, I loaded a simple plate and found that a gap of 1 mm was created between the top and bottom…
Sasami
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STUCK IN PYBULLET SIMULATION( FORCE CONTROL)

i am new to pybullet and wanted to simulate a UR5 bot doing ultrasound on humans. For that i've loaded a ur5 bot and a soccerball{example for human) , i want the end effector to apply a constant 2N force on the surface of the Soccer while moving and…
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The page gets stuck when run the offical demo

I'm new to pybullet, but now I meet some problems after i installed the pybullet and run the demo. The window always gets stuck and no respond when run the offical demo python -m pybullet_envs.examples.enjoy_TF_HumanoidBulletEnv_v0_2017may, which…
chuan
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How can I convert a 4x4 transformation matrix from one coordinate system to another using Python?

I am trying to convert a transformation matrix from one coordinate system to another. The first coordinate system looks like this in a pybullet simulation: I'm assuming this coordinate system would be: X = Forward Y = Away From Camera Z =…
Sergio
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Tracking the Mesh of Deformables (3D .obj files) in PyBullet Simulation (Python)

I am using PyBullet to simulate the behavior of deformable objects. The objects are loaded using PyBullets loadSoftBody() function. I load the deformable from a 3D .obj file where the vertex positions as well as the faces are defined (mesh). I tried…
jannik
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Pybullet: controlling collision of a floating gripper

I am building a simulation of a robot gripper trying out grips in an articulated object (etc microwave, drawer etc) in pybullet. due to performance we are using a floating gripper without the robot arm. The gripper is being moved using…
hensyd
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Can pybullet load obj files using loadMJCF not loadURDF?

I would like to load robot descripted in XML fileformat. But the thing is that it fails to load obj for visual effect. Is there way to process this rendering of .obj through xml file? Checked loading .obj file using loadURDF works well but not in…
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Is it possible to simulate IMU in pybullet?

I want to attach an IMU to a rigid body in pybullet and get accelerations and gyroscope data. I haven't found access to acceleration data in pybullet, how do I get it?
FourierFlux
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