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disable the gMaxNumCmdPer1ms experiment by default (-1)

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fix minitaur_evaluate.py script, quadruped.py
This commit is contained in:
erwincoumans
2017-03-04 12:59:21 -08:00
parent dcc4c0bda8
commit 44b140dd38
5 changed files with 95 additions and 45 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -48,7 +48,7 @@ bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = 10;//experiment: add some delay to avoid threads starving other threads
int gMaxNumCmdPer1ms = -1;//experiment: add some delay to avoid threads starving other threads
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);

14
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -313,13 +313,15 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
b3Clock::usleep(0);
}
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
if (gMaxNumCmdPer1ms>0)
{
BT_PROFILE("usleep(1000)");
b3Clock::usleep(1000);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
}
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
{
BT_PROFILE("usleep(10)");
b3Clock::usleep(10);
numCmdSinceSleep1ms = 0;
sleepClock.reset();
}
if (sleepClock.getTimeMilliseconds()>1)
{
sleepClock.reset();

2
examples/pybullet/minitaur_evaluate.py
View File

@@ -18,7 +18,7 @@ def current_position():
def is_fallen():
global minitaur
orientation = minitaur.getBaseOrientation()
rotMat = p.getMatrixFromQuaterion(orientation)
rotMat = p.getMatrixFromQuaternion(orientation)
localUp = rotMat[6:]
return np.dot(np.asarray([0, 0, 1]), np.asarray(localUp)) < 0

5
examples/pybullet/pybullet.c
View File

@@ -606,7 +606,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int numSubSteps = -1;
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
int maxNumCmdPer1ms = -1;
int maxNumCmdPer1ms = -2;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
@@ -658,7 +658,8 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetContactBreakingThreshold(command,contactBreakingThreshold);
}
if (maxNumCmdPer1ms>=0)
//-1 is disables the maxNumCmdPer1ms feature, allow it
if (maxNumCmdPer1ms>=-1)
{
b3PhysicsParamSetMaxNumCommandsPer1ms(command,maxNumCmdPer1ms);
}

117
examples/pybullet/quadruped.py
View File

@@ -2,19 +2,59 @@ import pybullet as p
import time
import math
useRealTime = 0
useRealTime = 1
fixedTimeStep = 0.001
speed = 10
amplitude = 1.3
jump_amp = 0.5
maxForce = 3.5
kp = .6
kd = 1
physId = p.connect(p.SHARED_MEMORY)
if (physId<0):
p.connect(p.GUI)
p.loadURDF("plane.urdf")
p.setGravity(0,0,-1)
p.setGravity(0,0,-10)
p.setTimeStep(fixedTimeStep)
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,1)
p.setRealTimeSimulation(1)
quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,0.3)
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']
#p.getNumJoints(1)
#right front leg
p.resetJointState(quadruped,0,1.57)
@@ -74,10 +114,16 @@ p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p_gain =1
speed = 10
amplitude = 1.3
#stand still
p.setRealTimeSimulation(useRealTime)
@@ -92,12 +138,11 @@ while t < t_end:
p.stepSimulation()
else:
t = time.time()-ref_time
p.setGravity(0,0,-1)
p.setGravity(0,0,-10)
p.setGravity(0,0,-10)
jump_amp = 0.5
#jump
t = 0.0
t_end = t + 10
@@ -110,18 +155,18 @@ while t < t_end:
else:
t = t+fixedTimeStep
p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
if (useRealTime==0):
p.stepSimulation()
#hop forward
t_end = 20
i=0
@@ -131,14 +176,15 @@ while t < t_end:
else:
t = t+fixedTimeStep
p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain)
p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,p_gain)
p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain)
p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-1.57,p_gain)
p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,math.sin(t*speed+3.14)*amplitude+1.57,p_gain)
p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,p_gain)
p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed+3.14)*amplitude+1.57,p_gain)
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,p_gain)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed+3.14)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed+3.14)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
if (useRealTime==0):
p.stepSimulation()
@@ -151,14 +197,15 @@ while t < t_end:
else:
t = t+fixedTimeStep
p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*3)*.3+1.57,1)
p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*3+0.5*3.14)*.3+1.57,1)
p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,math.sin(t*3+3.14)*.3+1.57,1)
p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*3+1.5*3.14)*.3+1.57,1)
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3+0.5*3.14)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3+3.14)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3+1.5*3.14)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
p.stepSimulation()
p.setRealTimeSimulation(1)