falling_things_pybullet.py

import glob
import os
import random
import time

import pybullet as pb
import pybullet_data


def main():
    pysics_client = pb.connect(pb.GUI)
    pb.setAdditionalSearchPath(pybullet_data.getDataPath())
    plane_id = pb.loadURDF('plane.urdf')

    shoes_paths = glob.glob("/home/darshanhegde/source/models/google_research_scans/toys/*")
    for i in range(10):
        shoes_path = random.choice(shoes_paths)
        visual_shape_id = pb.createVisualShape(shapeType=pb.GEOM_MESH,
                                            fileName=os.path.join(shoes_path, "meshes/model.obj"),
                                            rgbaColor=None,
                                            meshScale=[1.0, 1.0, 1.0])

        collision_shape_id = pb.createCollisionShape(shapeType=pb.GEOM_MESH,
                                                    fileName=os.path.join(shoes_path, "meshes/model.obj"),
                                                    meshScale=[1.0, 1.0, 1.0])

        multi_body_id = pb.createMultiBody(baseMass=1.0,
                                        baseCollisionShapeIndex=collision_shape_id, 
                                        baseVisualShapeIndex=visual_shape_id,
                                        basePosition=[0, 0, 1 + i * 0.15],
                                        baseOrientation=pb.getQuaternionFromEuler([0, 0, 0]))

        texture_id = pb.loadTexture(os.path.join(shoes_path, "meshes/model.png"))
        pb.changeVisualShape(multi_body_id, -1, textureUniqueId=texture_id)

    pb.setGravity(0, 0, -9.8)
    pb.setRealTimeSimulation(1)

    for i in range (100):
        pb.stepSimulation()
        time.sleep(1./5.)

    view_matrix = pb.computeViewMatrix(cameraEyePosition=[0, 0, 3],
                                       cameraTargetPosition=[0, 0, 0],
                                       cameraUpVector=[0, 1, 0])

    projection_matrix = pb.computeProjectionMatrixFOV(fov=45.0, aspect=1.0, 
                                                     nearVal=0.1, farVal=3.1)

    width, height, rgb_img, depth_img, seg_img = pb.getCameraImage(width=512, height=512, 
                                                                viewMatrix=view_matrix,
                                                                projectionMatrix=projection_matrix)

    time.sleep(15.)

    pb.disconnect()


if __name__ == '__main__':
    main()