diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_data/aliengo/aliengo.py')
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/aliengo.py | 58 |
1 files changed, 58 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py new file mode 100644 index 000000000..cb4588c46 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py @@ -0,0 +1,58 @@ +import pybullet as p +import time +import pybullet_data as pd +import numpy as np +p.connect(p.GUI) +p.setAdditionalSearchPath(pd.getDataPath()) +dt = 1./240. + +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) +p.loadURDF("plane.urdf") +robot = p.loadURDF("aliengo/aliengo.urdf",[0,0,0.5]) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) +p.setGravity(0,0,-9.8) + +ALIENGO_DEFAULT_ABDUCTION_ANGLE = 0 +ALIENGO_DEFAULT_HIP_ANGLE = 1.2 +ALIENGO_DEFAULT_KNEE_ANGLE = -2.0 +NUM_LEGS = 4 +INIT_MOTOR_ANGLES = np.array([ + ALIENGO_DEFAULT_ABDUCTION_ANGLE, + ALIENGO_DEFAULT_HIP_ANGLE, + ALIENGO_DEFAULT_KNEE_ANGLE +] * NUM_LEGS) + +MOTOR_NAMES = [ + "FR_hip_joint", + "FR_upper_joint", + "FR_lower_joint", + "FL_hip_joint", + "FL_upper_joint", + "FL_lower_joint", + "RR_hip_joint", + "RR_upper_joint", + "RR_lower_joint", + "RL_hip_joint", + "RL_upper_joint", + "RL_lower_joint", +] +motor_ids = [] + +for j in range (p.getNumJoints(robot)): + joint_info = p.getJointInfo(robot,j) + name = joint_info[1].decode('utf-8') + print("joint_info[1]=",name) + if name in MOTOR_NAMES: + motor_ids.append(j) + +for index in range (12): + joint_id = motor_ids[index] + p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index]) + p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index]) + +print("motor_ids=",motor_ids) +while p.isConnected(): + p.stepSimulation() + time.sleep(dt) + + |