pybulletX
The lightweight pybullet wrapper for robotics researchers. Build robot simulation with less code. Scale your research with less boilerplate.
Installation
The preferred way of installation is through PyPi:
pip install pybulletXAlternatively, you can clone the repository and install the package using:
git clone https://github.com/facebookresearch/pybulletX.git
cd pybulletX/ && pip install -e .Examples
Here is an example of controlling Kuka arm with PyBulletX.
import time
import numpy as np
import pybullet as p
import pybulletX as px
P_GAIN = 50
desired_joint_positions = np.array([1.218, 0.507, -0.187, 1.235, 0.999, 1.279, 0])
def main():
px.init()
robot = px.Robot("kuka_iiwa/model.urdf", use_fixed_base=True)
robot.torque_control = True
while True:
time.sleep(0.01)
error = desired_joint_positions - robot.get_states().joint_position
actions = robot.action_space.new()
actions.joint_torque = error * P_GAIN
robot.set_actions(actions)
p.stepSimulation()
if __name__ == "__main__":
main()Here is the same example but without PyBulletX.
import time
import numpy as np
import pybullet as p
import pybullet_data
P_GAIN = 50
desired_joint_positions = np.array([1.218, 0.507, -0.187, 1.235, 0.999, 1.279, 0])
def main():
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf")
robot_id = p.loadURDF("kuka_iiwa/model.urdf", useFixedBase=True)
num_dofs = 7
joint_indices = range(num_dofs)
# The magic that enables torque control
p.setJointMotorControlArray(
bodyIndex=robot_id,
jointIndices=joint_indices,
controlMode=p.VELOCITY_CONTROL,
forces=np.zeros(num_dofs),
)
while True:
time.sleep(0.01)
joint_states = p.getJointStates(robot_id, joint_indices)
joint_positions = np.array([j[0] for j in joint_states])
error = desired_joint_positions - joint_positions
torque = error * P_GAIN
p.setJointMotorControlArray(
bodyIndex=robot_id,
jointIndices=joint_indices,
controlMode=p.TORQUE_CONTROL,
forces=torque,
)
p.stepSimulation()
if __name__ == "__main__":
main()The examples above are available in examples/with_pybulletX.py and examples/without_pybulletX.py.
License
PyBulletX is licensed under MIT License.
