sphere_collision.py

# This is the basic script that can render images for a given object. It gives RGB image, Depth Image, and Segmentation Mask. 

import pybullet as pb 
physicsClient = pb.connect(pb.GUI)
import numpy as np

import pybullet_data
pb.setAdditionalSearchPath(pybullet_data.getDataPath())
planeId = pb.loadURDF('plane.urdf')

# sphereId = pb.loadURDF('simple_sphere.urdf', basePosition = [0, 0, 1], baseOrientation = [0,0,0,1], useFixedBase = 1)

sphereId = pb.loadURDF('../data/sphereCollision/simple_sphere_red.urdf', basePosition = [0, 0, 1.5], baseOrientation = [0,0,0,1], useFixedBase = 0)

collision_shape_id = pb.createCollisionShape(shapeType=pb.GEOM_MESH, fileName='../data/sphereCollision/hollow-sphere.obj')
visual_shape_id = pb.createVisualShape(shapeType=pb.GEOM_MESH, fileName='../data/sphereCollision/hollow-sphere.obj')
bullet_body_id = pb.createMultiBody(
                    basePosition=[0,0,0], baseOrientation=[0,0,0,1], 
                    baseCollisionShapeIndex=collision_shape_id, baseVisualShapeIndex=visual_shape_id,
                    )

collisionFilterGroup = 0
collisionFilterMask = 0
pb.setCollisionFilterGroupMask(sphereId, -1, collisionFilterGroup, collisionFilterMask)

enableCollision = 0
pb.setCollisionFilterPair(planeId, sphereId, -1, -1, True)
pb.setCollisionFilterPair(bullet_body_id, sphereId, -1, -1, enableCollision)

# # Create Visual Shape for the object 
# visualShapeId = pb.createVisualShape(shapeType = pb.GEOM_MESH, fileName = 'random_urdfs/000/000.obj', rgbaColor = None, meshScale = [0.1, 0.1, 0.1])

# collisionShapeId = pb.createCollisionShape(shapeType = pb.GEOM_MESH, fileName = 'random_urdfs/000/000_coll.obj', meshScale = [0.1, 0.1, 0.1])

# # Until now the visual shape and the collider are two separate entities. We have to use the below functions to create the object instance in the simulation. 
# multiBodyId = pb. createMultiBody(baseMass = 1.0, baseCollisionShapeIndex = collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [0,0,1], baseOrientation = pb.getQuaternionFromEuler([0, 0, 0]))

# Adding texture to the object 
import os, glob, random 

# texture_paths = glob.glob(os.path.join('dtd', '**', '*.jpg'), recursive = True)

# random_texture_path = texture_paths[random.randint(0, len(texture_paths)-1)]

# textureId = pb. loadTexture(random_texture_path)

# pb.changeVisualShape(multiBodyId, -1, textureUniqueId = textureId)

viewMatrix = pb.computeViewMatrix(
	    cameraEyePosition=[0, 0, 0],
	    cameraTargetPosition=[0, 0,5],
	    cameraUpVector=[0, 1, 0.8])

projectionMatrix = pb.computeProjectionMatrixFOV(
	    fov=100.0,
	    aspect=1.0,
	    nearVal=0.001,
	    farVal=10)

# Adding gravitational force 
pb.setGravity(0, 0, -9.8)

pb.setRealTimeSimulation(1)

while(True):

	

	width, height, rgbImg, depthImg, segImg = pb.getCameraImage(
	    width=224, 
	    height=224,
	    viewMatrix=viewMatrix,
	    projectionMatrix=projectionMatrix)

# input()