diff --git a/data/quadruped/vision/chassis.mtl b/data/quadruped/vision/chassis.mtl new file mode 100644 index 000000000..89e23e69c --- /dev/null +++ b/data/quadruped/vision/chassis.mtl @@ -0,0 +1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None.002 +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/data/quadruped/vision/chassis.obj b/data/quadruped/vision/chassis.obj new file mode 100644 index 000000000..e554523ef --- /dev/null +++ b/data/quadruped/vision/chassis.obj @@ -0,0 +1,32 @@ +# Blender v2.78 (sub 0) OBJ File: '' +# www.blender.org +mtllib chassis.mtl +o Cube.002 +v -0.150000 -0.065000 0.043500 +v -0.150000 0.065000 -0.043500 +v -0.150000 -0.065000 -0.043500 +v -0.150000 0.065000 0.043500 +v 0.150000 0.065000 -0.043500 +v 0.150000 0.065000 0.043500 +v 0.150000 -0.065000 -0.043500 +v 0.150000 -0.065000 0.043500 +vn -1.0000 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15/47/34 19/51/34 31/63/34 +f 25/57/34 27/59/34 31/63/34 +f 31/63/34 37/69/34 39/71/34 +f 41/73/34 43/75/34 47/79/34 +f 47/79/34 51/83/34 55/87/34 +f 57/89/34 59/91/34 63/95/34 +f 3/34/34 7/39/34 15/47/34 +f 19/51/34 23/55/34 31/63/34 +f 31/63/34 39/71/34 47/79/34 +f 47/79/34 55/87/34 31/63/34 +f 63/95/34 15/47/34 31/63/34 diff --git a/data/quadruped/vision/vision.py b/data/quadruped/vision/vision.py new file mode 100644 index 000000000..0901d7dfc --- /dev/null +++ b/data/quadruped/vision/vision.py @@ -0,0 +1,220 @@ +import pybullet as p +import time +import math + +pi = 3.14159264 +limitVal = 2*pi +legpos = 3./4.*pi +legposS = 0 +legposSright = 0#-0.3 +legposSleft = 0#0.3 + +defaultERP=0.4 +maxMotorForce = 5000 +maxGearForce = 10000 +jointFriction = 0.1 + + +p.connect(p.GUI) + + +amplitudeId= p.addUserDebugParameter("amplitude",0,3.14,0.5) +timeScaleId = p.addUserDebugParameter("timeScale",0,10,1) + + +jointTypeNames={} +jointTypeNames[p.JOINT_REVOLUTE]="JOINT_REVOLUTE" +jointTypeNames[p.JOINT_FIXED]="JOINT_FIXED" +p.setPhysicsEngineParameter(numSolverIterations=100) +p.loadURDF("plane_transparent.urdf", useMaximalCoordinates=True) +#disable rendering during creation. +#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) +p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1) + + +jointNamesToIndex={} + + +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) +vision = p.loadURDF("vision60.urdf",[0,0,0.4],useFixedBase=False) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) + + +for j in range(p.getNumJoints(vision)): + jointInfo = p.getJointInfo(vision,j) + jointInfoName = jointInfo[1].decode("utf-8") + print("joint ",j," = ",jointInfoName, "type=",jointTypeNames[jointInfo[2]]) + jointNamesToIndex[jointInfoName ]=j + #print("jointNamesToIndex[..]=",jointNamesToIndex[jointInfoName]) + p.setJointMotorControl2(vision,j,p.VELOCITY_CONTROL,targetVelocity=0, force=jointFriction) + + +chassis_right_center = jointNamesToIndex['chassis_right_center'] +motor_front_rightR_joint = jointNamesToIndex['motor_front_rightR_joint'] +motor_front_rightS_joint = jointNamesToIndex['motor_front_rightS_joint'] +hip_front_rightR_joint = jointNamesToIndex['hip_front_rightR_joint'] +knee_front_rightR_joint = jointNamesToIndex['knee_front_rightR_joint'] +motor_front_rightL_joint = jointNamesToIndex['motor_front_rightL_joint'] +motor_back_rightR_joint = jointNamesToIndex['motor_back_rightR_joint'] +motor_back_rightS_joint = jointNamesToIndex['motor_back_rightS_joint'] +hip_back_rightR_joint = jointNamesToIndex['hip_back_rightR_joint'] +knee_back_rightR_joint = jointNamesToIndex['knee_back_rightR_joint'] +motor_back_rightL_joint = jointNamesToIndex['motor_back_rightL_joint'] +chassis_left_center = jointNamesToIndex['chassis_left_center'] +motor_front_leftL_joint = jointNamesToIndex['motor_front_leftL_joint'] +motor_front_leftS_joint = jointNamesToIndex['motor_front_leftS_joint'] +hip_front_leftL_joint = jointNamesToIndex['hip_front_leftL_joint'] +knee_front_leftL_joint = jointNamesToIndex['knee_front_leftL_joint'] +motor_front_leftR_joint = jointNamesToIndex['motor_front_leftR_joint'] +motor_back_leftL_joint = jointNamesToIndex['motor_back_leftL_joint'] +hip_back_leftL_joint = jointNamesToIndex['hip_back_leftL_joint'] +knee_back_leftL_joint = jointNamesToIndex['knee_back_leftL_joint'] +motor_back_leftR_joint = jointNamesToIndex['motor_back_leftR_joint'] +motor_back_leftS_joint = jointNamesToIndex['motor_back_leftS_joint'] + +motA_rf_Id= p.addUserDebugParameter("motA_rf",-limitVal,limitVal,legpos) +motB_rf_Id= p.addUserDebugParameter("motB_rf",-limitVal,limitVal,legpos) +motC_rf_Id= p.addUserDebugParameter("motC_rf",-limitVal,limitVal,legposSright) +erp_rf_Id= p.addUserDebugParameter("erp_rf",0,1,defaultERP) +relPosTarget_rf_Id= p.addUserDebugParameter("relPosTarget_rf",-limitVal,limitVal,0) + + +motA_lf_Id= p.addUserDebugParameter("motA_lf",-limitVal,limitVal,-legpos) +motB_lf_Id= p.addUserDebugParameter("motB_lf",-limitVal,limitVal,-legpos) +motC_lf_Id= p.addUserDebugParameter("motC_lf",-limitVal,limitVal,legposSleft) + +erp_lf_Id= p.addUserDebugParameter("erp_lf",0,1,defaultERP) +relPosTarget_lf_Id= p.addUserDebugParameter("relPosTarget_lf",-limitVal,limitVal,0) + +motA_rb_Id= p.addUserDebugParameter("motA_rb",-limitVal,limitVal,legpos) +motB_rb_Id= p.addUserDebugParameter("motB_rb",-limitVal,limitVal,legpos) +motC_rb_Id= p.addUserDebugParameter("motC_rb",-limitVal,limitVal,legposSright) + +erp_rb_Id= p.addUserDebugParameter("erp_rb",0,1,defaultERP) +relPosTarget_rb_Id= p.addUserDebugParameter("relPosTarget_rb",-limitVal,limitVal,0) + + +motA_lb_Id= p.addUserDebugParameter("motA_lb",-limitVal,limitVal,-legpos) +motB_lb_Id= p.addUserDebugParameter("motB_lb",-limitVal,limitVal,-legpos) +motC_lb_Id= p.addUserDebugParameter("motC_lb",-limitVal,limitVal,legposSleft) + +erp_lb_Id= p.addUserDebugParameter("erp_lb",0,1,defaultERP) +relPosTarget_lb_Id= p.addUserDebugParameter("relPosTarget_lb",-limitVal,limitVal,0) + +camTargetPos=[0.25,0.62,-0.15] +camDist = 2 +camYaw = -2 +camPitch=-16 +p.resetDebugVisualizerCamera(camDist, camYaw, camPitch, camTargetPos) + + + + + +c_rf = p.createConstraint(vision,knee_front_rightR_joint,vision,motor_front_rightL_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0]) +p.changeConstraint(c_rf,gearRatio=-1, gearAuxLink = motor_front_rightR_joint,maxForce=maxGearForce) + +c_lf = p.createConstraint(vision,knee_front_leftL_joint,vision,motor_front_leftR_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0]) +p.changeConstraint(c_lf,gearRatio=-1, gearAuxLink = motor_front_leftL_joint,maxForce=maxGearForce) + +c_rb = p.createConstraint(vision,knee_back_rightR_joint,vision,motor_back_rightL_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0]) +p.changeConstraint(c_rb,gearRatio=-1, gearAuxLink = motor_back_rightR_joint,maxForce=maxGearForce) + +c_lb = p.createConstraint(vision,knee_back_leftL_joint,vision,motor_back_leftR_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0]) +p.changeConstraint(c_lb,gearRatio=-1, gearAuxLink = motor_back_leftL_joint,maxForce=maxGearForce) + + + + +p.setRealTimeSimulation(1) +for i in range (1): +#while (1): + motA_rf = p.readUserDebugParameter(motA_rf_Id) + motB_rf = p.readUserDebugParameter(motB_rf_Id) + motC_rf = p.readUserDebugParameter(motC_rf_Id) + erp_rf = p.readUserDebugParameter(erp_rf_Id) + relPosTarget_rf = p.readUserDebugParameter(relPosTarget_rf_Id) + #motC_rf + p.setJointMotorControl2(vision,motor_front_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rf,force=maxMotorForce) + p.changeConstraint(c_rf,gearRatio=-1, gearAuxLink = motor_front_rightR_joint,erp=erp_rf, relativePositionTarget=relPosTarget_rf,maxForce=maxGearForce) + + motA_lf = p.readUserDebugParameter(motA_lf_Id) + motB_lf = p.readUserDebugParameter(motB_lf_Id) + motC_lf = p.readUserDebugParameter(motC_lf_Id) + erp_lf = p.readUserDebugParameter(erp_lf_Id) + relPosTarget_lf = p.readUserDebugParameter(relPosTarget_lf_Id) + p.setJointMotorControl2(vision,motor_front_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lf,force=maxMotorForce) + p.changeConstraint(c_lf,gearRatio=-1, gearAuxLink = motor_front_leftL_joint,erp=erp_lf, relativePositionTarget=relPosTarget_lf,maxForce=maxGearForce) + + + motA_rb = p.readUserDebugParameter(motA_rb_Id) + motB_rb = p.readUserDebugParameter(motB_rb_Id) + motC_rb = p.readUserDebugParameter(motC_rb_Id) + erp_rb = p.readUserDebugParameter(erp_rb_Id) + relPosTarget_rb = p.readUserDebugParameter(relPosTarget_rb_Id) + p.setJointMotorControl2(vision,motor_back_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rb,force=maxMotorForce) + p.changeConstraint(c_rb,gearRatio=-1, gearAuxLink = motor_back_rightR_joint,erp=erp_rb, relativePositionTarget=relPosTarget_rb,maxForce=maxGearForce) + + motA_lb = p.readUserDebugParameter(motA_lb_Id) + motB_lb = p.readUserDebugParameter(motB_lb_Id) + motC_lb = p.readUserDebugParameter(motC_lb_Id) + erp_lb = p.readUserDebugParameter(erp_lb_Id) + relPosTarget_lb = p.readUserDebugParameter(relPosTarget_lb_Id) + p.setJointMotorControl2(vision,motor_back_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lb,force=maxMotorForce) + p.changeConstraint(c_lb,gearRatio=-1, gearAuxLink = motor_back_leftL_joint,erp=erp_lb, relativePositionTarget=relPosTarget_lb,maxForce=maxGearForce) + + + + p.setGravity(0,0,-10) + time.sleep(1./240.) +t = 0 +prevTime = time.time() +while (1): + timeScale = p.readUserDebugParameter(timeScaleId) + amplitude = p.readUserDebugParameter(amplitudeId) + newTime = time.time() + dt = (newTime-prevTime)*timeScale + t = t+dt + prevTime = newTime + + amp=amplitude + motA_rf = math.sin(t)*amp+legpos + motA_rb = math.sin(t)*amp+legpos + motA_lf = -(math.sin(t)*amp+legpos) + motA_lb = -(math.sin(t)*amp+legpos) + + motB_rf = math.sin(t)*amp+legpos + motB_rb = math.sin(t)*amp+legpos + motB_lf = -(math.sin(t)*amp+legpos) + motB_lb = -(math.sin(t)*amp+legpos) + + p.setJointMotorControl2(vision,motor_front_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rf,force=maxMotorForce) + + + p.setJointMotorControl2(vision,motor_front_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lf,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_front_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lf,force=maxMotorForce) + + + p.setJointMotorControl2(vision,motor_back_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rb,force=maxMotorForce) + + + p.setJointMotorControl2(vision,motor_back_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lb,force=maxMotorForce) + p.setJointMotorControl2(vision,motor_back_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lb,force=maxMotorForce) + + p.setGravity(0,0,-10) + time.sleep(1./240.) + diff --git a/data/quadruped/vision/vision60.urdf b/data/quadruped/vision/vision60.urdf new file mode 100644 index 000000000..cc66a5960 --- /dev/null +++ b/data/quadruped/vision/vision60.urdf @@ -0,0 +1,696 @@ + + + + + + + + + + + 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