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
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
|
import pybullet as p
import pybullet_data
import time
import motion_capture_data
import quadrupedPoseInterpolator
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
plane = p.loadURDF("plane.urdf")
p.setGravity(0,0,-9.8)
timeStep=1./500
p.setTimeStep(timeStep)
#p.setDefaultContactERP(0)
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
urdfFlags = p.URDF_USE_SELF_COLLISION
startPos=[0.007058990464444105, 0.03149299192130908, 0.4918981912395484]
startOrn=[0.005934649695708604, 0.7065453990917289, 0.7076373820553712, -0.0027774940359030264]
quadruped = p.loadURDF("laikago/laikago.urdf",startPos,startOrn, flags = urdfFlags,useFixedBase=False)
p.resetBasePositionAndOrientation(quadruped,startPos,startOrn)
#This cube is added as a soft constraint to keep the laikago from falling
#since we didn't train it yet, it doesn't balance
cube = p.loadURDF("cube_no_rotation.urdf",[0,0,-0.5],[0,0.5,0.5,0])
p.setCollisionFilterGroupMask(cube,-1,0,0)
for j in range(p.getNumJoints(cube)):
p.setJointMotorControl2(cube,j,p.POSITION_CONTROL,force=0)
p.setCollisionFilterGroupMask(cube,j,0,0)
p.changeVisualShape(cube,j,rgbaColor=[1,0,0,0])
cid = p.createConstraint(cube,p.getNumJoints(cube)-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,1,0],[0,0,0])
p.changeConstraint(cid, maxForce=10)
jointIds=[]
paramIds=[]
jointOffsets=[]
jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
for i in range (4):
jointOffsets.append(0)
jointOffsets.append(-0.7)
jointOffsets.append(0.7)
maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
for j in range (p.getNumJoints(quadruped)):
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped,j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
jointIds.append(j)
startQ=[0.08389, 0.8482, -1.547832, -0.068933, 0.625726, -1.272086, 0.074398, 0.61135, -1.255892, -0.068262, 0.836745, -1.534517]
for j in range(p.getNumJoints(quadruped)):
p.resetJointState(quadruped,jointIds[j],jointDirections[j]*startQ[j]+jointOffsets[j])
qpi = quadrupedPoseInterpolator.QuadrupedPoseInterpolator()
#enable collision between lower legs
for j in range (p.getNumJoints(quadruped)):
print(p.getJointInfo(quadruped,j))
#2,5,8 and 11 are the lower legs
lower_legs = [2,5,8,11]
for l0 in lower_legs:
for l1 in lower_legs:
if (l1>l0):
enableCollision = 1
print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
jointIds=[]
paramIds=[]
jointOffsets=[]
jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
for i in range (4):
jointOffsets.append(0)
jointOffsets.append(-0.7)
jointOffsets.append(0.7)
maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
for j in range (p.getNumJoints(quadruped)):
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped,j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
jointIds.append(j)
p.getCameraImage(480,320)
p.setRealTimeSimulation(0)
joints=[]
mocapData = motion_capture_data.MotionCaptureData()
motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.json"
mocapData.Load(motionPath)
print("mocapData.NumFrames=",mocapData.NumFrames())
print("mocapData.KeyFrameDuraction=",mocapData.KeyFrameDuraction())
print("mocapData.getCycleTime=",mocapData.getCycleTime())
print("mocapData.computeCycleOffset=",mocapData.computeCycleOffset())
cycleTime = mocapData.getCycleTime()
t=0
while t<10.*cycleTime:
#get interpolated joint
keyFrameDuration = mocapData.KeyFrameDuraction()
cycleTime = mocapData.getCycleTime()
cycleCount = mocapData.calcCycleCount(t, cycleTime)
#print("cycleTime=",cycleTime)
#print("cycleCount=",cycleCount)
#print("cycles=",cycles)
frameTime = t - cycleCount*cycleTime
#print("frameTime=",frameTime)
if (frameTime<0):
frameTime += cycleTime
frame = int(frameTime/keyFrameDuration)
frameNext = frame+1
if (frameNext >= mocapData.NumFrames()):
frameNext = frame
frameFraction = (frameTime - frame*keyFrameDuration)/(keyFrameDuration)
#print("frame=",frame)
#print("frameFraction=",frameFraction)
frameData = mocapData._motion_data['Frames'][frame]
frameDataNext = mocapData._motion_data['Frames'][frameNext]
joints,qdot=qpi.Slerp(frameFraction, frameData, frameDataNext, p)
maxForce = p.readUserDebugParameter(maxForceId)
for j in range (12):
targetPos = float(joints[j])
p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
p.stepSimulation()
t+=timeStep
time.sleep(timeStep)
useOrgData=False
if useOrgData:
with open("data1.txt","r") as filestream:
for line in filestream:
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
frame = currentline[0]
t = currentline[1]
joints=currentline[2:14]
for j in range (12):
targetPos = float(joints[j])
p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
p.stepSimulation()
for lower_leg in lower_legs:
#print("points for ", quadruped, " link: ", lower_leg)
pts = p.getContactPoints(quadruped,-1, lower_leg)
#print("num points=",len(pts))
#for pt in pts:
# print(pt[9])
time.sleep(1./500.)
for j in range (p.getNumJoints(quadruped)):
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped,j)
js = p.getJointState(quadruped,j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[j])/jointDirections[j]))
p.setRealTimeSimulation(1)
while (1):
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
|
