1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
|
import pybullet as p
import time
import math
from datetime import datetime
from numpy import *
from pylab import *
import struct
import sys
import os, fnmatch
import argparse
from time import sleep
def readLogFile(filename, verbose = True):
f = open(filename, 'rb')
print('Opened'),
print(filename)
keys = f.readline().decode('utf8').rstrip('\n').split(',')
fmt = f.readline().decode('utf8').rstrip('\n')
# The byte number of one record
sz = struct.calcsize(fmt)
# The type number of one record
ncols = len(fmt)
if verbose:
print('Keys:'),
print(keys)
print('Format:'),
print(fmt)
print('Size:'),
print(sz)
print('Columns:'),
print(ncols)
# Read data
wholeFile = f.read()
# split by alignment word
chunks = wholeFile.split(b'\xaa\xbb')
print ("num chunks")
print (len(chunks))
log = list()
for chunk in chunks:
if len(chunk) == sz:
values = struct.unpack(fmt, chunk)
record = list()
for i in range(ncols):
record.append(values[i])
log.append(record)
return log
clid = p.connect(p.SHARED_MEMORY)
log = readLogFile("LOG00076.TXT");
recordNum = len(log)
print('record num:'),
print(recordNum)
itemNum = len(log[0])
print('item num:'),
print(itemNum)
useRealTime = 0
fixedTimeStep = 0.001
speed = 10
amplitude = 0.8
jump_amp = 0.5
maxForce = 3.5
kp = .05
kd = .5
quadruped = 1
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']
hip_front_rightR_link = jointNameToId['hip_front_rightR_link']
knee_front_rightR_link = jointNameToId['knee_front_rightR_link']
motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
motor_front_rightL_link = jointNameToId['motor_front_rightL_link']
knee_front_rightL_link = jointNameToId['knee_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']
motorDir = [1, 1, 1, 1, 1, 1, 1, 1];
legnumbering=[motor_front_leftR_joint,motor_front_leftL_joint,motor_back_leftR_joint,motor_back_leftL_joint,motor_front_rightR_joint,motor_front_rightL_joint,motor_back_rightR_joint,motor_back_rightL_joint]
for record in log:
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[0], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[0]*record[7], positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[1], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[1]*record[8], positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[2], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[2]*record[9], positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[3], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[3]*record[10], positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[4], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[4]*record[11], positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[5], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[5]*record[12], positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[6], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[6]*record[13], positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=legnumbering[7], controlMode=p.POSITION_CONTROL, targetPosition=motorDir[7]*record[14], positionGain=kp, velocityGain=kd, force=maxForce)
p.setGravity(0.000000,0.000000,-10.000000)
p.stepSimulation()
p.stepSimulation()
sleep(0.01)
|
