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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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This commit is contained in:
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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2
data/plane.urdf
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@@ -2,7 +2,7 @@
<robot name="cube.urdf"> <robot name="cube.urdf">
<link name="planeLink"> <link name="planeLink">
<contact> <contact>
<lateral_friction value="1.5"/> <lateral_friction value="2"/>
</contact> </contact>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>

2
data/quadruped/quadruped.urdf
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@@ -15,7 +15,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="1."/> <mass value="3.2"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial> </inertial>
</link> </link>

21
examples/pybullet/minitaur.py
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@@ -1,4 +1,5 @@
import pybullet as p import pybullet as p
import numpy as np
class Minitaur: class Minitaur:
def __init__(self): def __init__(self):
@@ -8,7 +9,8 @@ class Minitaur:
self.quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3) self.quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
self.kp = 1 self.kp = 1
self.kd = 0.1 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) nJoints = p.getNumJoints(self.quadruped)
self.jointNameToId = {} self.jointNameToId = {}
for i in range(nJoints): for i in range(nJoints):
@@ -73,11 +75,12 @@ class Minitaur:
return orientation return orientation
def applyAction(self, motorCommands): def applyAction(self, motorCommands):
self.setMotorAngleByName('motor_front_rightR_joint', motorCommands[0]) motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
self.setMotorAngleByName('motor_front_rightL_joint', motorCommands[1]) self.setMotorAngleByName('motor_front_leftR_joint', motorCommandsWithDir[0])
self.setMotorAngleByName('motor_front_leftR_joint', motorCommands[2]) self.setMotorAngleByName('motor_front_leftL_joint', motorCommandsWithDir[1])
self.setMotorAngleByName('motor_front_leftL_joint', motorCommands[3]) self.setMotorAngleByName('motor_back_leftR_joint', motorCommandsWithDir[2])
self.setMotorAngleByName('motor_back_rightR_joint', motorCommands[4]) self.setMotorAngleByName('motor_back_leftL_joint', motorCommandsWithDir[3])
self.setMotorAngleByName('motor_back_rightL_joint', motorCommands[5]) self.setMotorAngleByName('motor_front_rightL_joint', motorCommandsWithDir[4])
self.setMotorAngleByName('motor_back_leftR_joint', motorCommands[6]) self.setMotorAngleByName('motor_front_rightR_joint', motorCommandsWithDir[5])
self.setMotorAngleByName('motor_back_leftL_joint', motorCommands[7]) self.setMotorAngleByName('motor_back_rightL_joint', motorCommandsWithDir[6])
self.setMotorAngleByName('motor_back_rightR_joint', motorCommandsWithDir[7])

2
examples/pybullet/minitaur_test.py
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@@ -21,7 +21,7 @@ def main(unused_args):
for i in range(1000): for i in range(1000):
a1 = math.sin(i*speed)*amplitude+1.57 a1 = math.sin(i*speed)*amplitude+1.57
a2 = math.sin(i*speed+3.14)*amplitude+1.57 a2 = math.sin(i*speed+3.14)*amplitude+1.57
joint_values = [a1, -1.57, a1, -1.57, a2, -1.57, a2, -1.57] joint_values = [a1, 1.57, a2, 1.57, 1.57, a1, 1.57, a2]
minitaur.applyAction(joint_values) minitaur.applyAction(joint_values)
p.stepSimulation() p.stepSimulation()