mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-09 11:31:38 +08:00
change np.array to np.asarray for bullet simulator
This commit is contained in:
Brian Delhaisse
@@ -361,8 +361,8 @@ class Bullet(Simulator):
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# reset the camera
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self.reset_scene_camera(camera=self._camera)
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elif mode == 'rgb' or mode == 'rgba':
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width, height, view_matrix, projection_matrix = self.sim.get_debug_visualizer()[:4]
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img = np.array(self.sim.get_camera_image(width, height, view_matrix, projection_matrix)[2])
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width, height, view_matrix, projection_matrix = self.get_debug_visualizer()[:4]
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img = np.asarray(self.get_camera_image(width, height, view_matrix, projection_matrix)[2])
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img = img.reshape(width, height, 4) # RGBA
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if mode == 'rgb':
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return img[:, :, :3]
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@@ -439,8 +439,8 @@ class Bullet(Simulator):
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"""
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d = self.sim.getPhysicsEngineParameters()
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properties = dict()
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properties['gravity'] = np.array([d['gravityAccelerationX'], d['gravityAccelerationY'],
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d['gravityAccelerationZ']])
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properties['gravity'] = np.asarray([d['gravityAccelerationX'], d['gravityAccelerationY'],
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d['gravityAccelerationZ']])
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properties['num_solver_iterations'] = d['numSolverIterations']
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properties['use_real_time_simulation'] = d['useRealTimeSimulation']
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properties['num_sub_steps'] = d['numSubSteps']
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@@ -1224,7 +1224,7 @@ class Bullet(Simulator):
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np.float[4]: base orientation (quaternion [x,y,z,w])
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"""
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pos, orientation = self.sim.getBasePositionAndOrientation(body_id)
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return np.array(pos), np.array(orientation)
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return np.asarray(pos), np.asarray(orientation)
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def get_base_position(self, body_id):
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"""
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@@ -1299,7 +1299,7 @@ class Bullet(Simulator):
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np.float[3]: angular velocity of the base in Cartesian world space coordinates
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"""
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lin_vel, ang_vel = self.sim.getBaseVelocity(body_id)
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return np.array(lin_vel), np.array(ang_vel)
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return np.asarray(lin_vel), np.asarray(ang_vel)
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def get_base_linear_velocity(self, body_id):
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"""
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@@ -1488,9 +1488,9 @@ class Bullet(Simulator):
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[16] int: parent link index, -1 for base
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"""
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info = list(self.sim.getJointInfo(body_id, joint_id))
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info[13] = np.array(info[13])
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info[14] = np.array(info[14])
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info[15] = np.array(info[15])
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info[13] = np.asarray(info[13])
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info[14] = np.asarray(info[14])
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info[15] = np.asarray(info[15])
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return info
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def get_joint_state(self, body_id, joint_id):
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@@ -1511,7 +1511,7 @@ class Bullet(Simulator):
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is exactly what you provide, so there is no need to report it separately.
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"""
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pos, vel, forces, torque = self.sim.getJointState(body_id, joint_id)
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return pos, vel, np.array(forces), torque
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return pos, vel, np.asarray(forces), torque
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def get_joint_states(self, body_id, joint_ids):
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"""
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@@ -1533,7 +1533,7 @@ class Bullet(Simulator):
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"""
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states = self.sim.getJointStates(body_id, joint_ids)
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for idx, state in enumerate(states):
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states[idx][2] = np.array(state[2])
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states[idx][2] = np.asarray(state[2])
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return states
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def reset_joint_state(self, body_id, joint_id, position, velocity=0.):
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@@ -1667,7 +1667,7 @@ class Bullet(Simulator):
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"""
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results = self.sim.getLinkState(body_id, link_id, computeLinkVelocity=int(compute_velocity),
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computeForwardKinematics=int(compute_forward_kinematics))
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return [np.array(result) for result in results]
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return [np.asarray(result) for result in results]
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def get_link_states(self, body_id, link_ids, compute_velocity=False, compute_forward_kinematics=False):
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"""
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@@ -1729,7 +1729,7 @@ class Bullet(Simulator):
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"""
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if isinstance(link_ids, int):
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return self.sim.getDynamicsInfo(body_id, link_ids)[0]
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return np.array([self.sim.getDynamicsInfo(body_id, link_id)[0] for link_id in link_ids])
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return np.asarray([self.sim.getDynamicsInfo(body_id, link_id)[0] for link_id in link_ids])
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def get_link_frames(self, body_id, link_ids):
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pass
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@@ -1751,14 +1751,14 @@ class Bullet(Simulator):
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if isinstance(link_ids, int):
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if link_ids == -1:
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return self.get_base_position(body_id)
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return np.array(self.sim.getLinkState(body_id, link_ids)[0])
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return np.asarray(self.sim.getLinkState(body_id, link_ids)[0])
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positions = []
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for link_id in link_ids:
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if link_id == -1:
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positions.append(self.get_base_position(body_id))
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else:
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positions.append(np.array(self.sim.getLinkState(body_id, link_id)[0]))
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return np.array(positions)
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positions.append(np.asarray(self.sim.getLinkState(body_id, link_id)[0]))
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return np.asarray(positions)
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def get_link_positions(self, body_id, link_ids):
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pass
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@@ -1780,14 +1780,14 @@ class Bullet(Simulator):
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if isinstance(link_ids, int):
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if link_ids == -1:
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return self.get_base_orientation(body_id)
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return np.array(self.sim.getLinkState(body_id, link_ids)[1])
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return np.asarray(self.sim.getLinkState(body_id, link_ids)[1])
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orientations = []
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for link_id in link_ids:
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if link_id == -1:
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orientations.append(self.get_base_orientation(body_id))
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else:
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orientations.append(np.array(self.sim.getLinkState(body_id, link_id)[1]))
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return np.array(orientations)
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orientations.append(np.asarray(self.sim.getLinkState(body_id, link_id)[1]))
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return np.asarray(orientations)
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def get_link_orientations(self, body_id, link_ids):
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pass
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@@ -1809,14 +1809,14 @@ class Bullet(Simulator):
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if isinstance(link_ids, int):
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if link_ids == -1:
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return self.get_base_linear_velocity(body_id)
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return np.array(self.sim.getLinkState(body_id, link_ids, computeLinkVelocity=1)[6])
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return np.asarray(self.sim.getLinkState(body_id, link_ids, computeLinkVelocity=1)[6])
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velocities = []
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for link_id in link_ids:
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if link_id == -1:
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velocities.append(self.get_base_linear_velocity(body_id))
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else:
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velocities.append(np.array(self.sim.getLinkState(body_id, link_id, computeLinkVelocity=1)[6]))
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return np.array(velocities)
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velocities.append(np.asarray(self.sim.getLinkState(body_id, link_id, computeLinkVelocity=1)[6]))
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return np.asarray(velocities)
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def get_link_world_angular_velocities(self, body_id, link_ids):
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"""
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@@ -1835,14 +1835,14 @@ class Bullet(Simulator):
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if isinstance(link_ids, int):
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if link_ids == -1:
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return self.get_base_linear_velocity(body_id)
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return np.array(self.sim.getLinkState(body_id, link_ids, computeLinkVelocity=1)[7])
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return np.asarray(self.sim.getLinkState(body_id, link_ids, computeLinkVelocity=1)[7])
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velocities = []
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for link_id in link_ids:
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if link_id == -1:
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velocities.append(self.get_base_linear_velocity(body_id))
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else:
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velocities.append(np.array(self.sim.getLinkState(body_id, link_id, computeLinkVelocity=1)[7]))
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return np.array(velocities)
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velocities.append(np.asarray(self.sim.getLinkState(body_id, link_id, computeLinkVelocity=1)[7]))
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return np.asarray(velocities)
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def get_link_world_velocities(self, body_id, link_ids):
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"""
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@@ -1864,7 +1864,7 @@ class Bullet(Simulator):
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lin_vel, ang_vel = self.get_base_velocity(body_id)
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return np.concatenate((lin_vel, ang_vel))
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lin_vel, ang_vel = self.sim.getLinkState(body_id, link_ids, computeLinkVelocity=1)[6:8]
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return np.array(lin_vel + ang_vel)
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return np.asarray(lin_vel + ang_vel)
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velocities = []
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for link_id in link_ids:
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if link_id == -1: # base link
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@@ -1872,7 +1872,7 @@ class Bullet(Simulator):
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else:
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lin_vel, ang_vel = self.sim.getLinkState(body_id, link_id, computeLinkVelocity=1)[6:8]
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velocities.append(np.concatenate((lin_vel, ang_vel)))
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return np.array(velocities)
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return np.asarray(velocities)
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def get_link_velocities(self, body_id, link_ids):
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pass
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@@ -1893,7 +1893,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointInfo(body_id, joint_ids)[3] - 7
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return np.array([self.sim.getJointInfo(body_id, joint_id)[3] for joint_id in joint_ids]) - 7
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return np.asarray([self.sim.getJointInfo(body_id, joint_id)[3] for joint_id in joint_ids]) - 7
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def get_actuated_joint_ids(self, body_id):
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"""
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@@ -1985,7 +1985,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointInfo(body_id, joint_ids)[6]
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return np.array([self.sim.getJointInfo(body_id, joint_id)[6] for joint_id in joint_ids])
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return np.asarray([self.sim.getJointInfo(body_id, joint_id)[6] for joint_id in joint_ids])
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def get_joint_frictions(self, body_id, joint_ids):
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"""
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@@ -2003,7 +2003,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointInfo(body_id, joint_ids)[7]
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return np.array([self.sim.getJointInfo(body_id, joint_id)[7] for joint_id in joint_ids])
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return np.asarray([self.sim.getJointInfo(body_id, joint_id)[7] for joint_id in joint_ids])
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def get_joint_limits(self, body_id, joint_ids):
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"""
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@@ -2020,8 +2020,8 @@ class Bullet(Simulator):
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np.float[N,2]: lower and upper limit for each specified joint
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"""
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if isinstance(joint_ids, int):
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return np.array(self.sim.getJointInfo(body_id, joint_ids)[8:10])
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return np.array([self.sim.getJointInfo(body_id, joint_id)[8:10] for joint_id in joint_ids])
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return np.asarray(self.sim.getJointInfo(body_id, joint_ids)[8:10])
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return np.asarray([self.sim.getJointInfo(body_id, joint_id)[8:10] for joint_id in joint_ids])
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def get_joint_max_forces(self, body_id, joint_ids):
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"""
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@@ -2041,7 +2041,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointInfo(body_id, joint_ids)[10]
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return np.array([self.sim.getJointInfo(body_id, joint_id)[10] for joint_id in joint_ids])
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return np.asarray([self.sim.getJointInfo(body_id, joint_id)[10] for joint_id in joint_ids])
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def get_joint_max_velocities(self, body_id, joint_ids):
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"""
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@@ -2061,7 +2061,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointInfo(body_id, joint_ids)[11]
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return np.array([self.sim.getJointInfo(body_id, joint_id)[11] for joint_id in joint_ids])
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return np.asarray([self.sim.getJointInfo(body_id, joint_id)[11] for joint_id in joint_ids])
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def get_joint_axes(self, body_id, joint_ids):
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"""
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@@ -2078,8 +2078,8 @@ class Bullet(Simulator):
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np.float[N,3]: list of joint axis
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"""
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if isinstance(joint_ids, int):
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return np.array(self.sim.getJointInfo(body_id, joint_ids)[-4])
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return np.array([self.sim.getJointInfo(body_id, joint_id)[-4] for joint_id in joint_ids])
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return np.asarray(self.sim.getJointInfo(body_id, joint_ids)[-4])
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return np.asarray([self.sim.getJointInfo(body_id, joint_id)[-4] for joint_id in joint_ids])
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def set_joint_positions(self, body_id, joint_ids, positions, velocities=None, kps=None, kds=None, forces=None):
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"""
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@@ -2113,7 +2113,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointState(body_id, joint_ids)[0]
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return np.array([state[0] for state in self.sim.getJointStates(body_id, joint_ids)])
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return np.asarray([state[0] for state in self.sim.getJointStates(body_id, joint_ids)])
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def set_joint_velocities(self, body_id, joint_ids, velocities, max_force=None):
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"""
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@@ -2152,7 +2152,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointState(body_id, joint_ids)[1]
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return np.array([state[1] for state in self.sim.getJointStates(body_id, joint_ids)])
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return np.asarray([state[1] for state in self.sim.getJointStates(body_id, joint_ids)])
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def set_joint_accelerations(self, body_id, joint_ids, accelerations, q=None, dq=None):
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"""
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@@ -2270,7 +2270,7 @@ class Bullet(Simulator):
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"""
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if isinstance(joint_ids, int):
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return self.sim.getJointState(body_id, joint_ids)[3]
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return np.array([state[3] for state in self.sim.getJointStates(body_id, joint_ids)])
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return np.asarray([state[3] for state in self.sim.getJointStates(body_id, joint_ids)])
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def get_joint_reaction_forces(self, body_id, joint_ids):
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"""
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@@ -2288,8 +2288,8 @@ class Bullet(Simulator):
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np.float[N,6]: joint reaction forces [N, Nm]
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"""
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if isinstance(joint_ids, int):
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return np.array(self.sim.getJointState(body_id, joint_ids)[2])
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return np.array([state[2] for state in self.sim.getJointStates(body_id, joint_ids)])
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return np.asarray(self.sim.getJointState(body_id, joint_ids)[2])
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return np.asarray([state[2] for state in self.sim.getJointStates(body_id, joint_ids)])
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def get_joint_powers(self, body_id, joint_ids):
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"""
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@@ -2407,9 +2407,9 @@ class Bullet(Simulator):
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shapes = list(self.sim.getVisualShapeData(object_id, flags=flags))
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for idx, shape in enumerate(shapes):
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shapes[idx] = list(shape)
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shapes[idx][3] = np.array(shape[3])
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shapes[idx][5] = np.array(shape[5])
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shapes[idx][6] = np.array(shape[6])
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shapes[idx][3] = np.asarray(shape[3])
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shapes[idx][5] = np.asarray(shape[5])
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shapes[idx][6] = np.asarray(shape[6])
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return shapes
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def change_visual_shape(self, object_id, link_id, shape_id=None, texture_id=None, rgba_color=None,
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@@ -2472,7 +2472,7 @@ class Bullet(Simulator):
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"""
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view = self.sim.computeViewMatrix(cameraEyePosition=eye_position, cameraTargetPosition=target_position,
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cameraUpVector=up_vector)
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return np.array(view).reshape(4, 4).T
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return np.asarray(view).reshape(4, 4).T
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def compute_view_matrix_from_ypr(self, target_position, distance, yaw, pitch, roll, up_axis_index=2):
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"""Compute the view matrix from the yaw, pitch, and roll angles.
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@@ -2499,7 +2499,7 @@ class Bullet(Simulator):
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view = self.sim.computeViewMatrixFromYawPitchRoll(cameraTargetPosition=target_position, distance=distance,
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yaw=np.rad2deg(yaw), pitch=np.rad2deg(pitch),
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roll=np.rad2deg(roll), upAxisIndex=up_axis_index)
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return np.array(view).reshape(4, 4).T
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return np.asarray(view).reshape(4, 4).T
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def compute_projection_matrix(self, left, right, bottom, top, near, far):
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"""Compute the orthographic projection matrix.
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@@ -2529,7 +2529,7 @@ class Bullet(Simulator):
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[2] http://www.thecodecrate.com/opengl-es/opengl-transformation-matrices/
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"""
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proj = self.sim.computeProjectionMatrix(left, right, bottom, top, near, far)
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return np.array(proj).reshape(4, 4).T
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return np.asarray(proj).reshape(4, 4).T
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def compute_projection_matrix_fov(self, fov, aspect, near, far):
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"""Compute the perspective projection matrix using the field of view (FOV).
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@@ -2548,7 +2548,7 @@ class Bullet(Simulator):
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[2] http://www.thecodecrate.com/opengl-es/opengl-transformation-matrices/
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"""
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proj = self.sim.computeProjectionMatrixFOV(fov, aspect, near, far)
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return np.array(proj).reshape(4, 4).T
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return np.asarray(proj).reshape(4, 4).T
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def get_camera_image(self, width, height, view_matrix=None, projection_matrix=None, light_direction=None,
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light_color=None, light_distance=None, shadow=None, light_ambient_coeff=None,
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@@ -2633,9 +2633,9 @@ class Bullet(Simulator):
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kwargs['flags'] = flags
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width, height, rgba, depth, segmentation = self.sim.getCameraImage(width, height, **kwargs)
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rgba = np.array(rgba).reshape(width, height, 4)
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depth = np.array(depth).reshape(width, height)
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segmentation = np.array(segmentation).reshape(width, height)
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rgba = np.asarray(rgba).reshape(width, height, 4)
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depth = np.asarray(depth).reshape(width, height)
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segmentation = np.asarray(segmentation).reshape(width, height)
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return width, height, rgba, depth, segmentation
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def get_rgba_image(self, width, height, view_matrix=None, projection_matrix=None, light_direction=None,
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@@ -2707,7 +2707,7 @@ class Bullet(Simulator):
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if flags is not None:
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kwargs['flags'] = flags
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img = np.array(self.sim.getCameraImage(width, height, **kwargs)[2])
|
||||
img = np.asarray(self.sim.getCameraImage(width, height, **kwargs)[2])
|
||||
img = img.reshape(width, height, 4) # RGBA
|
||||
return img
|
||||
|
||||
@@ -2784,7 +2784,7 @@ class Bullet(Simulator):
|
||||
if flags is not None:
|
||||
kwargs['flags'] = flags
|
||||
|
||||
img = np.array(self.sim.getCameraImage(width, height, **kwargs)[3])
|
||||
img = np.asarray(self.sim.getCameraImage(width, height, **kwargs)[3])
|
||||
img = img.reshape(width, height)
|
||||
return img
|
||||
|
||||
@@ -2862,7 +2862,7 @@ class Bullet(Simulator):
|
||||
if flags is not None:
|
||||
kwargs['flags'] = flags
|
||||
|
||||
img = np.array(self.sim.getCameraImage(width, height, **kwargs)[4])
|
||||
img = np.asarray(self.sim.getCameraImage(width, height, **kwargs)[4])
|
||||
img = img.reshape(width, height)
|
||||
return img
|
||||
|
||||
@@ -2944,7 +2944,8 @@ class Bullet(Simulator):
|
||||
if len(collision) == 0:
|
||||
return collision
|
||||
object_id, link_id, geom_type, dimensions, filename, position, orientation = collision
|
||||
return object_id, link_id, geom_type, np.array(dimensions), filename, np.array(position), np.array(orientation)
|
||||
return object_id, link_id, geom_type, np.asarray(dimensions), filename, np.asarray(position), \
|
||||
np.asarray(orientation)
|
||||
|
||||
def get_overlapping_objects(self, aabb_min, aabb_max):
|
||||
"""
|
||||
@@ -2976,7 +2977,7 @@ class Bullet(Simulator):
|
||||
np.float[3]: maximum coordinates of the axis aligned bounding box
|
||||
"""
|
||||
aabb_min, aabb_max = self.sim.getAABB(body_id, link_id)
|
||||
return np.array(aabb_min), np.array(aabb_max)
|
||||
return np.asarray(aabb_min), np.asarray(aabb_max)
|
||||
|
||||
def get_contact_points(self, body1, body2=None, link1_id=None, link2_id=None):
|
||||
"""
|
||||
@@ -3019,8 +3020,8 @@ class Bullet(Simulator):
|
||||
results = self.sim.getContactPoints(**kwargs)
|
||||
if len(results) == 0:
|
||||
return results
|
||||
return [[r[0], r[1], r[2], r[3], r[4], np.array(r[5]), np.array(r[6]), np.array(r[7]), r[8], r[9], r[10],
|
||||
np.array(r[11]), r[12], np.array(r[13])] for r in results]
|
||||
return [[r[0], r[1], r[2], r[3], r[4], np.asarray(r[5]), np.asarray(r[6]), np.asarray(r[7]), r[8], r[9], r[10],
|
||||
np.asarray(r[11]), r[12], np.asarray(r[13])] for r in results]
|
||||
|
||||
def get_closest_points(self, body1, body2, distance, link1_id=None, link2_id=None):
|
||||
"""
|
||||
@@ -3061,8 +3062,8 @@ class Bullet(Simulator):
|
||||
results = self.sim.getClosestPoints(body1, body2, distance, **kwargs)
|
||||
if len(results) == 0:
|
||||
return results
|
||||
return [[r[0], r[1], r[2], r[3], r[4], np.array(r[5]), np.array(r[6]), np.array(r[7]), r[8], r[9], r[10],
|
||||
np.array(r[11]), r[12], np.array(r[13])] for r in results]
|
||||
return [[r[0], r[1], r[2], r[3], r[4], np.asarray(r[5]), np.asarray(r[6]), np.asarray(r[7]), r[8], r[9], r[10],
|
||||
np.asarray(r[11]), r[12], np.asarray(r[13])] for r in results]
|
||||
|
||||
def ray_test(self, from_position, to_position):
|
||||
"""
|
||||
@@ -3085,7 +3086,7 @@ class Bullet(Simulator):
|
||||
if isinstance(to_position, np.ndarray):
|
||||
to_position = to_position.ravel().tolist()
|
||||
collisions = self.sim.rayTest(from_position, to_position)
|
||||
return [[c[0], c[1], c[2], np.array(c[3]), np.array(c[4])] for c in collisions]
|
||||
return [[c[0], c[1], c[2], np.asarray(c[3]), np.asarray(c[4])] for c in collisions]
|
||||
|
||||
def ray_test_batch(self, from_positions, to_positions, parent_object_id=None, parent_link_id=None):
|
||||
"""Perform a batch of raycasts to find the intersection information of the first objects hit.
|
||||
@@ -3124,7 +3125,7 @@ class Bullet(Simulator):
|
||||
results = self.sim.rayTestBatch(from_positions, to_positions, **kwargs)
|
||||
if len(results) == 0:
|
||||
return results
|
||||
return [[r[0], r[1], r[2], np.array(r[3]), np.array(r[4])] for r in results]
|
||||
return [[r[0], r[1], r[2], np.asarray(r[3]), np.asarray(r[4])] for r in results]
|
||||
|
||||
def set_collision_filter_group_mask(self, body_id, link_id, filter_group, filter_mask):
|
||||
"""
|
||||
@@ -3180,7 +3181,7 @@ class Bullet(Simulator):
|
||||
"""
|
||||
info = list(self.sim.getDynamicsInfo(body_id, link_id))
|
||||
for i in range(2, 5):
|
||||
info[i] = np.array(info[i])
|
||||
info[i] = np.asarray(info[i])
|
||||
return info
|
||||
|
||||
def change_dynamics(self, body_id, link_id=-1, mass=None, lateral_friction=None, spinning_friction=None,
|
||||
@@ -3304,7 +3305,7 @@ class Bullet(Simulator):
|
||||
"""
|
||||
if isinstance(q, np.ndarray):
|
||||
q = q.ravel().tolist() # Note that pybullet doesn't accept numpy arrays here
|
||||
return np.array(self.sim.calculateMassMatrix(body_id, q))
|
||||
return np.asarray(self.sim.calculateMassMatrix(body_id, q))
|
||||
|
||||
def calculate_inverse_kinematics(self, body_id, link_id, position, orientation=None, lower_limits=None,
|
||||
upper_limits=None, joint_ranges=None, rest_poses=None, joint_dampings=None,
|
||||
@@ -3371,7 +3372,7 @@ class Bullet(Simulator):
|
||||
if threshold is not None:
|
||||
kwargs['residualThreshold'] = threshold
|
||||
|
||||
return np.array(self.sim.calculateInverseKinematics(body_id, link_id, position, **kwargs))
|
||||
return np.asarray(self.sim.calculateInverseKinematics(body_id, link_id, position, **kwargs))
|
||||
|
||||
def calculate_inverse_dynamics(self, body_id, q, dq, des_ddq):
|
||||
r"""
|
||||
@@ -3428,7 +3429,7 @@ class Bullet(Simulator):
|
||||
des_ddq = des_ddq.ravel().tolist()
|
||||
|
||||
# return the joint torques to be applied for the desired joint accelerations
|
||||
return np.array(self.sim.calculateInverseDynamics(body_id, q, dq, des_ddq))
|
||||
return np.asarray(self.sim.calculateInverseDynamics(body_id, q, dq, des_ddq))
|
||||
|
||||
def calculate_forward_dynamics(self, body_id, q, dq, torques):
|
||||
r"""
|
||||
@@ -3481,7 +3482,7 @@ class Bullet(Simulator):
|
||||
q = q.ravel().tolist()
|
||||
|
||||
# compute and return joint accelerations
|
||||
torques = np.array(torques)
|
||||
torques = np.asarray(torques)
|
||||
Hinv = np.linalg.inv(self.calculate_mass_matrix(body_id, q))
|
||||
C = self.calculate_inverse_dynamics(body_id, q, dq, np.zeros(len(q)))
|
||||
acc = Hinv.dot(torques - C)
|
||||
@@ -3757,13 +3758,13 @@ class Bullet(Simulator):
|
||||
horizontal, vertical, yaw, pitch, dist, target = self.sim.getDebugVisualizerCamera()
|
||||
|
||||
# convert data to the correct data type
|
||||
view = np.array(view).reshape(4, 4).T
|
||||
proj = np.array(proj).reshape(4, 4).T
|
||||
up_vec = np.array(up_vec)
|
||||
forward_vec = np.array(forward_vec)
|
||||
horizontal = np.array(horizontal)
|
||||
vertical = np.array(vertical)
|
||||
target = np.array(target)
|
||||
view = np.asarray(view).reshape(4, 4).T
|
||||
proj = np.asarray(proj).reshape(4, 4).T
|
||||
up_vec = np.asarray(up_vec)
|
||||
forward_vec = np.asarray(forward_vec)
|
||||
horizontal = np.asarray(horizontal)
|
||||
vertical = np.asarray(vertical)
|
||||
target = np.asarray(target)
|
||||
yaw = np.deg2rad(yaw)
|
||||
pitch = np.deg2rad(pitch)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user