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make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf.

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Jie Tan
2017-02-08 17:26:36 -08:00
parent 07ba9f6629
commit 4df8b27626
4 changed files with 15 additions and 12 deletions
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21
examples/pybullet/minitaur.py
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@@ -1,4 +1,5 @@
import pybullet as p
import numpy as np
class Minitaur:
def __init__(self):
@@ -8,7 +9,8 @@ class Minitaur:
self.quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
self.kp = 1
self.kd = 0.1
self.maxForce = 100
self.maxForce = 3.5
self.motorDir = [1, -1, 1, -1, -1, 1, -1, 1]
nJoints = p.getNumJoints(self.quadruped)
self.jointNameToId = {}
for i in range(nJoints):
@@ -73,11 +75,12 @@ class Minitaur:
return orientation
def applyAction(self, motorCommands):
self.setMotorAngleByName('motor_front_rightR_joint', motorCommands[0])
self.setMotorAngleByName('motor_front_rightL_joint', motorCommands[1])
self.setMotorAngleByName('motor_front_leftR_joint', motorCommands[2])
self.setMotorAngleByName('motor_front_leftL_joint', motorCommands[3])
self.setMotorAngleByName('motor_back_rightR_joint', motorCommands[4])
self.setMotorAngleByName('motor_back_rightL_joint', motorCommands[5])
self.setMotorAngleByName('motor_back_leftR_joint', motorCommands[6])
self.setMotorAngleByName('motor_back_leftL_joint', motorCommands[7])
motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
self.setMotorAngleByName('motor_front_leftR_joint', motorCommandsWithDir[0])
self.setMotorAngleByName('motor_front_leftL_joint', motorCommandsWithDir[1])
self.setMotorAngleByName('motor_back_leftR_joint', motorCommandsWithDir[2])
self.setMotorAngleByName('motor_back_leftL_joint', motorCommandsWithDir[3])
self.setMotorAngleByName('motor_front_rightL_joint', motorCommandsWithDir[4])
self.setMotorAngleByName('motor_front_rightR_joint', motorCommandsWithDir[5])
self.setMotorAngleByName('motor_back_rightL_joint', motorCommandsWithDir[6])
self.setMotorAngleByName('motor_back_rightR_joint', motorCommandsWithDir[7])