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add Laikago quadruped model, thanks to Unitree for the cad meshes.

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If you use the Laikago URDF, please add a citation to PyBullet:

@MISC{coumans2018,
author =   {Erwin Coumans and Yunfei Bai},
title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
This commit is contained in:
Erwin Coumans
2018-10-26 18:49:58 -07:00
parent f1ac24cc60
commit 0511a36a67
24 changed files with 32203 additions and 1 deletions
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examples/pybullet/gym/pybullet_data/laikago/chassis.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

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examples/pybullet/gym/pybullet_data/laikago/chassis.obj Normal file
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examples/pybullet/gym/pybullet_data/laikago/chassis.stl Normal file
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examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None.002
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.800000 0.800000 0.800000
Ni 1.000000
d 1.000000
illum 2

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examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj Normal file
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examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj Normal file
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examples/pybullet/gym/pybullet_data/laikago/data1.txt Normal file
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examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl Normal file
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examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl Normal file
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examples/pybullet/gym/pybullet_data/laikago/laikago.py Normal file
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import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane.urdf")
p.setGravity(0,0,-9.8)
p.setTimeStep(1./500)
#p.setDefaultContactERP(0)
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
urdfFlags = p.URDF_USE_SELF_COLLISION
quadruped = p.loadURDF("laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
#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=[]
with open("data1.txt","r") as filestream:
for line in filestream:
print("line=",line)
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
#print (currentline)
#print("-----")
frame = currentline[0]
t = currentline[1]
#print("frame[",frame,"]")
joints=currentline[2:14]
#print("joints=",joints)
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)

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examples/pybullet/gym/pybullet_data/laikago/laikago.urdf Normal file
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<?xml version="1.0" ?>
<robot name="plane">
<link name="chassis">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
<mass value="13.715"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis.stl" scale="1 1 1"/>
</geometry>
<material name="yellow">
<color rgba="0.95 0.75 0.05 1"/>
</material>
</visual>
<collision>
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
<material name="green">
<color rgba="0.23 0.73 0.33 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry>
<material name="blue">
<color rgba="0.28 0.52 0.93 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red">
<color rgba="0.85 0.19 0.21 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
</robot>

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examples/pybullet/gym/pybullet_data/laikago/license.txt Normal file
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URDF model created by Erwin Coumans.
Meshes derived from Laikago cad model, used by permission of Unitree.
If you use the model, add a citation to PyBullet:
@MISC{coumans2018,
author = {Erwin Coumans and Yunfei Bai},
title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}

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examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

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examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj Normal file
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examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj Normal file
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o convex_0
v -0.035828 -0.166793 -0.155663
v -0.035828 -0.215924 -0.149049
v -0.031106 -0.215924 -0.149049
v -0.029216 -0.164905 -0.110317
v -0.029216 -0.178130 -0.164165
v -0.037718 -0.164905 -0.115042
v -0.028270 -0.211194 -0.135827
v -0.038663 -0.198907 -0.158500
v -0.038663 -0.209301 -0.136771
v -0.029216 -0.164905 -0.154719
v -0.028270 -0.207413 -0.156607
v -0.037718 -0.177186 -0.161333
v -0.035828 -0.210245 -0.133939
v -0.034884 -0.190412 -0.165114
v -0.037718 -0.164905 -0.150937
v -0.034884 -0.166793 -0.111266
v -0.034884 -0.210245 -0.156607
v -0.028270 -0.192295 -0.149049
v -0.038663 -0.212138 -0.150937
v -0.030161 -0.190412 -0.165114
v -0.035828 -0.215924 -0.141492
v -0.034884 -0.177186 -0.164165
v -0.038663 -0.196076 -0.131107
v -0.030161 -0.210245 -0.133939
v -0.028270 -0.212138 -0.153775
v -0.029216 -0.165849 -0.110317
v -0.029216 -0.214970 -0.141492
v -0.028270 -0.196076 -0.135827
v -0.037718 -0.167737 -0.115042
v -0.030161 -0.208357 -0.157551
v -0.037718 -0.192295 -0.162277
v -0.031106 -0.214970 -0.138659
f 27 7 32
f 6 4 10
f 10 1 15
f 6 10 15
f 1 12 15
f 12 8 15
f 4 6 16
f 9 13 16
f 3 2 17
f 5 10 18
f 10 4 18
f 7 11 18
f 11 5 18
f 9 8 19
f 17 2 19
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f 208 237 255
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f 226 247 256
f 252 224 256
f 230 252 256
f 200 227 257
f 227 222 257
f 240 200 257
f 222 240 257
f 202 211 258
f 211 195 258
f 212 202 258
o convex_7
v 0.000779 -0.166794 -0.155662
v 0.002669 -0.216863 -0.149048
v 0.008336 -0.216863 -0.149048
v 0.006446 -0.165845 -0.110311
v 0.007391 -0.178131 -0.164165
v -0.001111 -0.166794 -0.113154
v -0.001111 -0.190413 -0.162276
v 0.010228 -0.212139 -0.135830
v -0.000165 -0.209302 -0.135830
v 0.010228 -0.208358 -0.156606
v 0.006446 -0.165845 -0.154718
v 0.010228 -0.197020 -0.135830
v -0.001111 -0.165845 -0.151885
v 0.002669 -0.211190 -0.133941
v 0.002669 -0.194184 -0.164165
v -0.000165 -0.209302 -0.154718
v 0.001724 -0.178131 -0.164165
v 0.010228 -0.197020 -0.154718
v -0.001111 -0.191352 -0.127327
v 0.002669 -0.211190 -0.156606
v 0.007391 -0.191352 -0.165114
v 0.001724 -0.165845 -0.110311
v 0.002669 -0.216863 -0.141489
v -0.000165 -0.214027 -0.149048
v 0.008336 -0.211190 -0.133941
v 0.010228 -0.215915 -0.142433
v 0.001724 -0.166794 -0.110311
v -0.001111 -0.179075 -0.161332
v 0.001724 -0.181912 -0.165114
v 0.008336 -0.212139 -0.155662
v -0.000165 -0.214027 -0.141489
v 0.006446 -0.166794 -0.110311
f 285 283 290
f 263 259 269
f 262 266 270
f 266 268 270
f 269 262 270
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f 269 259 271
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f 279 268 288
f 278 279 288
f 272 267 289
f 267 277 289
f 281 272 289
f 277 282 289
f 282 281 289
f 266 262 290
f 283 266 290
f 262 285 290
o convex_8
v -0.000167 -0.165837 -0.152826
v 0.014008 -0.151666 -0.099916
v 0.005504 -0.151666 -0.099916
v 0.014008 -0.151666 -0.144323
v 0.014008 -0.164892 -0.109374
v -0.001112 -0.165837 -0.112206
v -0.002057 -0.155447 -0.142435
v 0.014008 -0.161113 -0.149993
v 0.000778 -0.152613 -0.144323
v 0.006447 -0.165837 -0.154714
v -0.002057 -0.157337 -0.113151
v 0.006447 -0.165837 -0.110318
v -0.002057 -0.160169 -0.145267
v 0.004558 -0.151666 -0.141491
v 0.001723 -0.164892 -0.154714
v 0.000778 -0.152613 -0.131095
v -0.002057 -0.160169 -0.110318
v 0.001723 -0.163948 -0.108430
v -0.001112 -0.165837 -0.150938
v 0.014008 -0.152613 -0.099916
v 0.014008 -0.163948 -0.125435
f 300 298 311
f 293 292 294
f 294 292 295
f 294 295 298
f 291 297 299
f 296 291 300
f 294 298 300
f 296 300 302
f 300 295 302
f 301 297 303
f 293 294 304
f 294 299 304
f 299 294 305
f 291 299 305
f 300 291 305
f 294 300 305
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f 301 293 306
f 297 301 306
f 293 304 306
f 304 299 306
f 293 301 307
f 303 296 307
f 301 303 307
f 302 295 308
f 296 302 308
f 293 307 308
f 307 296 308
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f 303 297 309
f 292 293 310
f 295 292 310
f 293 308 310
f 308 295 310
f 298 295 311
f 295 300 311

104
examples/pybullet/gym/pybullet_envs/examples/laikago.py Normal file
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import pybullet as p
import pybullet_data as pd
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
plane = p.loadURDF("plane.urdf")
p.setGravity(0,0,-9.8)
p.setTimeStep(1./500)
#p.setDefaultContactERP(0)
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
urdfFlags = p.URDF_USE_SELF_COLLISION
quadruped = p.loadURDF("laikago/laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
#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=[]
with open(pd.getDataPath()+"/laikago/data1.txt","r") as filestream:
for line in filestream:
print("line=",line)
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
#print (currentline)
#print("-----")
frame = currentline[0]
t = currentline[1]
#print("frame[",frame,"]")
joints=currentline[2:14]
#print("joints=",joints)
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)