Real-Time Physics Simulation Forum 2019-02-22T19:45:30+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/12614 2019-02-22T19:45:30+00:00 2019-02-22T19:45:30+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=41879#p41879 <![CDATA[Re: Simulating closed loop structure in PyBullet]]>
PyBullet provides user constraints to close loops.
See our Minitaur example how to add such constraint.
https://github.com/bulletphysics/bullet ... ur.py#L391
See createConstraint in the examples and PyBullet Quickstart Guide.
https://docs.google.com/document/d/10sX ... e70wns7io3

Statistics: Posted by Erwin Coumans — Fri Feb 22, 2019 7:45 pm

]]> 2019-02-21T21:49:39+00:00 2019-02-21T21:49:39+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=41878#p41878 <![CDATA[Simulating closed loop structure in PyBullet]]>
I am trying to load an SDF file into the pybullet environment. However, it comes up with the
"error: Cannot load SDF file."
My code is as follows:

import pybullet as p
import time
import pybullet_data
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setGravity(0,0,-10)
planeId = p.loadSDF("plane_stadium.sdf")
boxId = p.loadSDF("free_loop.sdf")

for i in range (3000):
p.stepSimulation()
time.sleep(1./240.)
p.disconnect()

I have made sure that the files are in the correct directory.
The free_loop.sdf file has a closed loop structure ( wherein the links are connected in a loop)
I wonder, if it is not possible to load an SDF file into pybullet which has a closed structure (unlike the tree structure of URDF format)?
Is there any easy workaround to this? Any example would be appreciated.
Thank you!

Statistics: Posted by prakhar — Thu Feb 21, 2019 9:49 pm

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