《PyBullet入门精华》

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1 PyBullet入门介绍

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2 相机入门介绍

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3 机械臂入门介绍

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4 URDF入门介绍

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5 机械臂与强化学习

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import pybullet as p
import pybullet_data as pd
import time
import numpy as np
import cv2

p.connect(p.GUI)
# p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
p.setAdditionalSearchPath(pd.getDataPath())
plane = p.loadURDF("plane.urdf")
startPos = [0, 0, 0.5]
startOrientation = p.getQuaternionFromEuler([0, 0, 0])
boxId = p.loadURDF("r2d2.urdf", startPos, startOrientation)

cameraDistance = 3
position, orientation = p.getBasePositionAndOrientation(boxId)
p.resetDebugVisualizerCamera(cameraDistance, cameraYaw=80, cameraPitch=-30, cameraTargetPosition=position)
view_matrix = p.computeViewMatrixFromYawPitchRoll(cameraTargetPosition=position,
                                                  distance=cameraDistance,
                                                  yaw=0,
                                                  pitch=-30,
                                                  roll=0, upAxisIndex=2)
proj_matrix = p.computeProjectionMatrixFOV(fov=60, aspect=float(960) / 720,
                                           nearVal=0.1,
                                           farVal=100.0)
(_, _, px, _, _) = p.getCameraImage(width=600, height=600,
                                    viewMatrix=view_matrix,
                                    projectionMatrix=proj_matrix,
                                    renderer=p.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px, dtype=np.uint8)
rgb_array = np.reshape(rgb_array, (600, 600, 4))
rgb_array = rgb_array[:, :, :3]
render_array_rgb = cv2.cvtColor(rgb_array, cv2.COLOR_BGR2RGB)
cv2.imwrite("r2d2.png", render_array_rgb)

time.sleep(3)

p.disconnect()

运行结果如下所示：

提醒

注意上图中有两个视觉角度：resetDebugVisualizerCamera和view_matrix。前者表示全局大图场景，后者表示左侧小图场景。如果想保持相同的视觉角度，直接使用下面代码即可：

(_, _, px, _, _) = p.getCameraImage(600,600)

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