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|
import pybullet as p
import time
import math
def drawInertiaBox(parentUid, parentLinkIndex, color):
dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
mass = dyn[0]
frictionCoeff = dyn[1]
inertia = dyn[2]
if (mass > 0):
Ixx = inertia[0]
Iyy = inertia[1]
Izz = inertia[2]
boxScaleX = 0.5 * math.sqrt(6 * (Izz + Iyy - Ixx) / mass)
boxScaleY = 0.5 * math.sqrt(6 * (Izz + Ixx - Iyy) / mass)
boxScaleZ = 0.5 * math.sqrt(6 * (Ixx + Iyy - Izz) / mass)
halfExtents = [boxScaleX, boxScaleY, boxScaleZ]
pts = [[halfExtents[0], halfExtents[1], halfExtents[2]],
[-halfExtents[0], halfExtents[1], halfExtents[2]],
[halfExtents[0], -halfExtents[1], halfExtents[2]],
[-halfExtents[0], -halfExtents[1], halfExtents[2]],
[halfExtents[0], halfExtents[1], -halfExtents[2]],
[-halfExtents[0], halfExtents[1], -halfExtents[2]],
[halfExtents[0], -halfExtents[1], -halfExtents[2]],
[-halfExtents[0], -halfExtents[1], -halfExtents[2]]]
p.addUserDebugLine(pts[0],
pts[1],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[1],
pts[3],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[3],
pts[2],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[2],
pts[0],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[0],
pts[4],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[1],
pts[5],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[2],
pts[6],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[3],
pts[7],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[4 + 0],
pts[4 + 1],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[4 + 1],
pts[4 + 3],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[4 + 3],
pts[4 + 2],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
p.addUserDebugLine(pts[4 + 2],
pts[4 + 0],
color,
1,
parentObjectUniqueId=parentUid,
parentLinkIndex=parentLinkIndex)
toeConstraint = True
useMaximalCoordinates = False
useRealTime = 1
#the fixedTimeStep and numSolverIterations are the most important parameters to trade-off quality versus performance
fixedTimeStep = 1. / 100
numSolverIterations = 50
if (useMaximalCoordinates):
fixedTimeStep = 1. / 500
numSolverIterations = 200
speed = 10
amplitude = 0.8
jump_amp = 0.5
maxForce = 3.5
kneeFrictionForce = 0
kp = 1
kd = .5
maxKneeForce = 1000
physId = p.connect(p.SHARED_MEMORY)
if (physId < 0):
p.connect(p.GUI)
#p.resetSimulation()
angle = 0 # pick in range 0..0.2 radians
orn = p.getQuaternionFromEuler([0, angle, 0])
p.loadURDF("plane.urdf", [0, 0, 0], orn)
p.setPhysicsEngineParameter(numSolverIterations=numSolverIterations)
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,
"genericlogdata.bin",
maxLogDof=16,
logFlags=p.STATE_LOG_JOINT_TORQUES)
p.setTimeOut(4000000)
p.setGravity(0, 0, 0)
p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0, 0, 0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf", [1, -1, .3],
orn,
useFixedBase=False,
useMaximalCoordinates=useMaximalCoordinates,
flags=p.URDF_USE_IMPLICIT_CYLINDER)
nJoints = p.getNumJoints(quadruped)
jointNameToId = {}
for i in range(nJoints):
jointInfo = p.getJointInfo(quadruped, i)
jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
knee_front_rightL_link = jointNameToId['knee_front_rightL_link']
hip_front_rightR_link = jointNameToId['hip_front_rightR_link']
knee_front_rightR_link = jointNameToId['knee_front_rightR_link']
motor_front_rightL_link = jointNameToId['motor_front_rightL_link']
motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint']
hip_front_leftR_link = jointNameToId['hip_front_leftR_link']
knee_front_leftR_link = jointNameToId['knee_front_leftR_link']
motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
motor_front_leftL_link = jointNameToId['motor_front_leftL_link']
knee_front_leftL_link = jointNameToId['knee_front_leftL_link']
motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint']
hip_rightR_link = jointNameToId['hip_rightR_link']
knee_back_rightR_link = jointNameToId['knee_back_rightR_link']
motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
motor_back_rightL_link = jointNameToId['motor_back_rightL_link']
knee_back_rightL_link = jointNameToId['knee_back_rightL_link']
motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint']
hip_leftR_link = jointNameToId['hip_leftR_link']
knee_back_leftR_link = jointNameToId['knee_back_leftR_link']
motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
motor_back_leftL_link = jointNameToId['motor_back_leftL_link']
knee_back_leftL_link = jointNameToId['knee_back_leftL_link']
#fixtorso = p.createConstraint(-1,-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,0])
motordir = [-1, -1, -1, -1, 1, 1, 1, 1]
halfpi = 1.57079632679
twopi = 4 * halfpi
kneeangle = -2.1834
dyn = p.getDynamicsInfo(quadruped, -1)
mass = dyn[0]
friction = dyn[1]
localInertiaDiagonal = dyn[2]
print("localInertiaDiagonal", localInertiaDiagonal)
#this is a no-op, just to show the API
p.changeDynamics(quadruped, -1, localInertiaDiagonal=localInertiaDiagonal)
#for i in range (nJoints):
# p.changeDynamics(quadruped,i,localInertiaDiagonal=[0.000001,0.000001,0.000001])
drawInertiaBox(quadruped, -1, [1, 0, 0])
#drawInertiaBox(quadruped,motor_front_rightR_joint, [1,0,0])
for i in range(nJoints):
drawInertiaBox(quadruped, i, [0, 1, 0])
if (useMaximalCoordinates):
steps = 400
for aa in range(steps):
p.setJointMotorControl2(quadruped, motor_front_leftL_joint, p.POSITION_CONTROL,
motordir[0] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, motor_front_leftR_joint, p.POSITION_CONTROL,
motordir[1] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, motor_back_leftL_joint, p.POSITION_CONTROL,
motordir[2] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, motor_back_leftR_joint, p.POSITION_CONTROL,
motordir[3] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, motor_front_rightL_joint, p.POSITION_CONTROL,
motordir[4] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, motor_front_rightR_joint, p.POSITION_CONTROL,
motordir[5] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, motor_back_rightL_joint, p.POSITION_CONTROL,
motordir[6] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL,
motordir[7] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_leftL_link, p.POSITION_CONTROL,
motordir[0] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_leftR_link, p.POSITION_CONTROL,
motordir[1] * kneeangle * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_leftL_link, p.POSITION_CONTROL,
motordir[2] * kneeangle * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_leftR_link, p.POSITION_CONTROL,
motordir[3] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_rightL_link, p.POSITION_CONTROL,
motordir[4] * (kneeangle) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_rightR_link, p.POSITION_CONTROL,
motordir[5] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_rightL_link, p.POSITION_CONTROL,
motordir[6] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_rightR_link, p.POSITION_CONTROL,
motordir[7] * kneeangle * float(aa) / steps)
p.stepSimulation()
#time.sleep(fixedTimeStep)
else:
p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi)
p.resetJointState(quadruped, knee_front_leftL_link, motordir[0] * kneeangle)
p.resetJointState(quadruped, motor_front_leftR_joint, motordir[1] * halfpi)
p.resetJointState(quadruped, knee_front_leftR_link, motordir[1] * kneeangle)
p.resetJointState(quadruped, motor_back_leftL_joint, motordir[2] * halfpi)
p.resetJointState(quadruped, knee_back_leftL_link, motordir[2] * kneeangle)
p.resetJointState(quadruped, motor_back_leftR_joint, motordir[3] * halfpi)
p.resetJointState(quadruped, knee_back_leftR_link, motordir[3] * kneeangle)
p.resetJointState(quadruped, motor_front_rightL_joint, motordir[4] * halfpi)
p.resetJointState(quadruped, knee_front_rightL_link, motordir[4] * kneeangle)
p.resetJointState(quadruped, motor_front_rightR_joint, motordir[5] * halfpi)
p.resetJointState(quadruped, knee_front_rightR_link, motordir[5] * kneeangle)
p.resetJointState(quadruped, motor_back_rightL_joint, motordir[6] * halfpi)
p.resetJointState(quadruped, knee_back_rightL_link, motordir[6] * kneeangle)
p.resetJointState(quadruped, motor_back_rightR_joint, motordir[7] * halfpi)
p.resetJointState(quadruped, knee_back_rightR_link, motordir[7] * kneeangle)
#p.getNumJoints(1)
if (toeConstraint):
cid = p.createConstraint(quadruped, knee_front_leftR_link, quadruped, knee_front_leftL_link,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce)
cid = p.createConstraint(quadruped, knee_front_rightR_link, quadruped, knee_front_rightL_link,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce)
cid = p.createConstraint(quadruped, knee_back_leftR_link, quadruped, knee_back_leftL_link,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce)
cid = p.createConstraint(quadruped, knee_back_rightR_link, quadruped, knee_back_rightL_link,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce)
if (1):
p.setJointMotorControl(quadruped, knee_front_leftL_link, p.VELOCITY_CONTROL, 0,
kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_front_leftR_link, p.VELOCITY_CONTROL, 0,
kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_front_rightL_link, p.VELOCITY_CONTROL, 0,
kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_front_rightR_link, p.VELOCITY_CONTROL, 0,
kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_rightL_link, p.VELOCITY_CONTROL, 0,
kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_rightR_link, p.VELOCITY_CONTROL, 0,
kneeFrictionForce)
p.setGravity(0, 0, -10)
legnumbering = [
motor_front_leftL_joint, motor_front_leftR_joint, motor_back_leftL_joint,
motor_back_leftR_joint, motor_front_rightL_joint, motor_front_rightR_joint,
motor_back_rightL_joint, motor_back_rightR_joint
]
for i in range(8):
print(legnumbering[i])
#use the Minitaur leg numbering
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[0],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[0] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[1],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[1] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[2],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[2] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[3],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[3] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[4],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[4] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[5],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[5] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[6],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[6] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[7],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[7] * 1.57,
positionGain=kp,
velocityGain=kd,
force=maxForce)
#stand still
p.setRealTimeSimulation(useRealTime)
t = 0.0
t_end = t + 15
ref_time = time.time()
while (t < t_end):
p.setGravity(0, 0, -10)
if (useRealTime):
t = time.time() - ref_time
else:
t = t + fixedTimeStep
if (useRealTime == 0):
p.stepSimulation()
time.sleep(fixedTimeStep)
print("quadruped Id = ")
print(quadruped)
p.saveWorld("quadru.py")
logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR, "quadrupedLog.bin", [quadruped])
#jump
t = 0.0
t_end = t + 100
i = 0
ref_time = time.time()
while (1):
if (useRealTime):
t = time.time() - ref_time
else:
t = t + fixedTimeStep
if (True):
target = math.sin(t * speed) * jump_amp + 1.57
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[0],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[0] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[1],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[1] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[2],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[2] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[3],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[3] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[4],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[4] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[5],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[5] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[6],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[6] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped,
jointIndex=legnumbering[7],
controlMode=p.POSITION_CONTROL,
targetPosition=motordir[7] * target,
positionGain=kp,
velocityGain=kd,
force=maxForce)
if (useRealTime == 0):
p.stepSimulation()
time.sleep(fixedTimeStep)
|
