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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Trouble describing a robot's joint origin/axis using URDF and Pybullet

I have created a complete URDF for my robot in PyBullet, but I'm having trouble getting the joints to rotate correctly. Specifically, when I try to move a joint, it doesn't rotate about the correct coordinate, and the link separates from the body of…
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Quadrotor Not Colliding with Custom Terrain in PyBullet (Python)

I am working on a simulation project involving a quadrotor in a Mars-like environment using PyBullet in Python. I have successfully loaded a custom terrain from an STL file, but I am facing an issue with collision detection between the quadrotor and…
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bullet: the applied force caused weird result

Currently, I want to stack several capsule to simulate a elastic tube. It looks like: Then, I want to apply a force to the top capsule. I expect these capsules to bend to an arc. However, when I add the x-force/y-force to the top capsule, a twisty…
Qiang Zhang
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Why URDF-related error raises when loading XML mujoco file in pybullet?

I'm trying to import xml file in pybullet which has no problem on loading in mujoco. Error message is that b3Printf: b3Warning[examples/SharedMemory/PhysicsServerCommandProcessor.cpp,3584]: b3Printf: URDF file with multiple root links found Even…
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defining a robot not in urdf (or SDF/MJCF) format in pybullet

I am relatively new to the world of robotic simulations, so please forgive my ignorance on the matter. I am trying to design and simulate a tetrahedral robot (like this - https://attic.gsfc.nasa.gov/ants/art.html) . To simulate the robot, I chose…
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How to interact with PyBullet GUI in jupyter notebook?

I used the following code in a jupyter notebook p.connect(p.GUI) which creates a popup window that looks like this: Unfortunately, I can't interact with the window or the contents at all. Every time I scroll over it I get the Mac OS spinning…
Nova
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The PyBullet GUI GPU issue on macOS M2 max

Sample Displayed UI I am trying to run a PyBullet project of my own. The terminal output seems okay with following messagelines. However, the UI is broken and very tiny. I am wondering if there is anything I am doing wrong or I didn't…
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Pybullet: limit joint torque in POSITION_COONTROL mode

I'm working with a robot in Pybullet in POSITION_COONTROL mode (torque control is not convinient in my specific case). I would like to limit torque scalar on each joint. How can I achieve it without switching to torque control mode?
Ivan Sudos
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Replicating AI-generated animation in PyBullet

Previously this was posted on the PyBullet forums but I haven't gotten a response so I'm looking for assistance here. I am currently working on a project where I have trained my own AI to simulate a specific movement and have recorded the movement…
Drum
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PyBullet garbage console output how to run pybullet without that

When running PyBullet the console gets converted to a PyBullet one printing debugging info like these one: numActiveThreads = 0 stopping threads destroy semaphore Thread with taskId 0 exiting Thread TERMINATED semaphore destroyed destroy main…
Phrixus
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PyBullet get names of bodies in world

I load an SDF file which contains multiple robots/objects and I want to get back the "names" of these robots/objects as defined in the SDF. PyBullet when using loadSDF will return a list of unique IDs for these bodies, I want to convert these IDs to…
Phrixus
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ModuleNotFoundError: No module named 'pybullet' even after installing PyBullet

I have installed pybullet with !pip install pybullet It shows a warning: WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager. It is recommended to use a virtual…
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Definition of Collision Frame and Inertial Frame in PyBullet

When I am using the functions "createCollisionShape" and "createMultiBody" in PyBullet, I am really confused about the definition of parameters like "collisionFramePosition" and "linkInertialFramePositions." What is the definition of collision frame…
Aurora7979
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TD3 not converging on obstacle avoidance

My objective is obstacle avoidance using TD3 on (drone or uav) and currently I am having 2 spherical obstacles of radius 0.6 meters in my environment and there is a target position. My task is to make UAV reach the target position without colliding…
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Get Humanoid Motion data in npy format

I am using pybullet as 3d engine to my project of redoing my own algo, that make a humanoid learn to do some motion. for my algo i need a dataset of motion, like deepmimic and amp algo need. so i need an npy file that contain all the data about the…