Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof.
This commit is contained in:
erwincoumans
@@ -4,20 +4,20 @@ import time
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useGUI = True
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if useGUI:
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p.connect(p.GUI)
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p.connect(p.GUI)
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else:
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p.connect(p.DIRECT)
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p.connect(p.DIRECT)
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useZUp = False
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useYUp = not useZUp
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if useYUp:
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p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP , 1)
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p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP , 1)
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from pdControllerExplicit import PDControllerExplicitMultiDof
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from pdControllerStable import PDControllerStableMultiDof
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explicitPD = PDControllerExplicitMultiDof(p)
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stablePD = PDControllerStableMultiDof(p)
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p.resetDebugVisualizerCamera(cameraDistance=7, cameraYaw=-94, cameraPitch=-14, cameraTargetPosition=[0.31,0.03,-1.16])
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@@ -26,7 +26,7 @@ import pybullet_data
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p.setTimeOut(10000)
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useMotionCapture=False
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useMotionCaptureReset=False#not useMotionCapture
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useExplicitPD = True
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.setPhysicsEngineParameter(numSolverIterations=30)
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@@ -66,8 +66,8 @@ forceMotorId = p.addUserDebugParameter("forceMotor",0,2000,1000)
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jointTypes = ["JOINT_REVOLUTE","JOINT_PRISMATIC",
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"JOINT_SPHERICAL","JOINT_PLANAR","JOINT_FIXED"]
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"JOINT_SPHERICAL","JOINT_PLANAR","JOINT_FIXED"]
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startLocations=[[0,0,2],[0,0,0],[0,0,-2],[0,0,-4]]
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p.addUserDebugText("Stable PD", [startLocations[0][0],startLocations[0][1]+1,startLocations[0][2]], [0,0,0])
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@@ -76,14 +76,8 @@ p.addUserDebugText("Explicit PD", [startLocations[2][0],startLocations[2][1]+1,s
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p.addUserDebugText("Kinematic", [startLocations[3][0],startLocations[3][1]+1,startLocations[3][2]], [0,0,0])
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humanoid = p.loadURDF("humanoid/humanoid.urdf", startLocations[0],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
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humanoid2 = p.loadURDF("humanoid/humanoid.urdf", startLocations[1],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
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humanoid3 = p.loadURDF("humanoid/humanoid.urdf", startLocations[2],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
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humanoid4 = p.loadURDF("humanoid/humanoid.urdf", startLocations[3],globalScaling=0.25, useFixedBase=False, flags=p.URDF_MAINTAIN_LINK_ORDER)
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humanoid_fix = p.createConstraint(humanoid,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[0],[0,0,0,1])
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humanoid2_fix = p.createConstraint(humanoid2,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[1],[0,0,0,1])
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humanoid3_fix = p.createConstraint(humanoid3,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[2],[0,0,0,1])
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humanoid3_fix = p.createConstraint(humanoid4,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],startLocations[3],[0,0,0,1])
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startPose = [2,0.847532,0,0.9986781045,0.01410400148,-0.0006980000731,-0.04942300517,0.9988133229,0.009485003066,-0.04756001538,-0.004475001447,
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@@ -96,73 +90,61 @@ startVel = [1.235314324,-0.008525509087,0.1515293946,-1.161516553,0.1866449799,-
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-4.632454387,-0.9111172777,-1.300648184,-1.345694622,0,-1.084238535,0.1313680236,-0.7236998534,0,-0.5278312973]
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p.resetBasePositionAndOrientation(humanoid, startLocations[0],[0,0,0,1])
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p.resetBasePositionAndOrientation(humanoid2, startLocations[1],[0,0,0,1])
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p.resetBasePositionAndOrientation(humanoid3, startLocations[2],[0,0,0,1])
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p.resetBasePositionAndOrientation(humanoid4, startLocations[3],[0,0,0,1])
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index0=7
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for j in range (p.getNumJoints(humanoid)):
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ji = p.getJointInfo(humanoid,j)
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targetPosition=[0]
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jointType = ji[2]
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if (jointType == p.JOINT_SPHERICAL):
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targetPosition=[startPose[index0+1],startPose[index0+2],startPose[index0+3],startPose[index0+0]]
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targetVel = [startVel[index0+0],startVel[index0+1],startVel[index0+2]]
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index0+=4
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print("spherical position: ",targetPosition)
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print("spherical velocity: ",targetVel)
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p.resetJointStateMultiDof(humanoid,j,targetValue=targetPosition,targetVelocity=targetVel)
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p.resetJointStateMultiDof(humanoid2,j,targetValue=targetPosition,targetVelocity=targetVel)
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if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
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targetPosition=[startPose[index0]]
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targetVel = [startVel[index0]]
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index0+=1
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print("revolute:", targetPosition)
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print("revolute velocity:", targetVel)
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p.resetJointStateMultiDof(humanoid,j,targetValue=targetPosition,targetVelocity=targetVel)
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p.resetJointStateMultiDof(humanoid2,j,targetValue=targetPosition,targetVelocity=targetVel)
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ji = p.getJointInfo(humanoid,j)
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targetPosition=[0]
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jointType = ji[2]
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if (jointType == p.JOINT_SPHERICAL):
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targetPosition=[startPose[index0+1],startPose[index0+2],startPose[index0+3],startPose[index0+0]]
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targetVel = [startVel[index0+0],startVel[index0+1],startVel[index0+2]]
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index0+=4
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print("spherical position: ",targetPosition)
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print("spherical velocity: ",targetVel)
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p.resetJointStateMultiDof(humanoid,j,targetValue=targetPosition,targetVelocity=targetVel)
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if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
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targetPosition=[startPose[index0]]
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targetVel = [startVel[index0]]
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index0+=1
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print("revolute:", targetPosition)
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print("revolute velocity:", targetVel)
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p.resetJointStateMultiDof(humanoid,j,targetValue=targetPosition,targetVelocity=targetVel)
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for j in range (p.getNumJoints(humanoid)):
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ji = p.getJointInfo(humanoid,j)
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targetPosition=[0]
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jointType = ji[2]
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if (jointType == p.JOINT_SPHERICAL):
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targetPosition=[0,0,0,1]
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p.setJointMotorControlMultiDof(humanoid,j,p.POSITION_CONTROL,targetPosition, targetVelocity=[0,0,0], positionGain=0,velocityGain=1,force=[0,0,0])
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p.setJointMotorControlMultiDof(humanoid3,j,p.POSITION_CONTROL,targetPosition, targetVelocity=[0,0,0], positionGain=0,velocityGain=1,force=[31,31,31])
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p.setJointMotorControlMultiDof(humanoid4,j,p.POSITION_CONTROL,targetPosition, targetVelocity=[0,0,0], positionGain=0,velocityGain=1,force=[1,1,1])
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ji = p.getJointInfo(humanoid,j)
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targetPosition=[0]
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jointType = ji[2]
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if (jointType == p.JOINT_SPHERICAL):
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targetPosition=[0,0,0,1]
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p.setJointMotorControlMultiDof(humanoid,j,p.POSITION_CONTROL,targetPosition, targetVelocity=[0,0,0], positionGain=0,velocityGain=1,force=[0,0,0])
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if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
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p.setJointMotorControl2(humanoid,j,p.VELOCITY_CONTROL,targetVelocity=0, force=0)
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p.setJointMotorControl2(humanoid3,j,p.VELOCITY_CONTROL,targetVelocity=0, force=31)
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p.setJointMotorControl2(humanoid4,j,p.VELOCITY_CONTROL,targetVelocity=0, force=10)
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#print(ji)
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print("joint[",j,"].type=",jointTypes[ji[2]])
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print("joint[",j,"].name=",ji[1])
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if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
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p.setJointMotorControl2(humanoid,j,p.VELOCITY_CONTROL,targetVelocity=0, force=0)
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#print(ji)
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print("joint[",j,"].type=",jointTypes[ji[2]])
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print("joint[",j,"].name=",ji[1])
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jointIds=[]
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paramIds=[]
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for j in range (p.getNumJoints(humanoid)):
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#p.changeDynamics(humanoid,j,linearDamping=0, angularDamping=0)
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p.changeVisualShape(humanoid,j,rgbaColor=[1,1,1,1])
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info = p.getJointInfo(humanoid,j)
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#print(info)
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if (not useMotionCapture):
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jointName = info[1]
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jointType = info[2]
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if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
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jointIds.append(j)
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#paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,0))
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#print("jointName=",jointName, "at ", j)
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#p.changeDynamics(humanoid,j,linearDamping=0, angularDamping=0)
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p.changeVisualShape(humanoid,j,rgbaColor=[1,1,1,1])
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info = p.getJointInfo(humanoid,j)
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#print(info)
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if (not useMotionCapture):
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jointName = info[1]
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jointType = info[2]
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if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
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jointIds.append(j)
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#paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,0))
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#print("jointName=",jointName, "at ", j)
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p.changeVisualShape(humanoid,2,rgbaColor=[1,0,0,1])
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chest=1
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neck=2
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@@ -199,233 +181,211 @@ p.getCameraImage(320,200)
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while (p.isConnected()):
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if useGUI:
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erp = p.readUserDebugParameter(erpId)
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kpMotor = p.readUserDebugParameter(kpMotorId)
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maxForce=p.readUserDebugParameter(forceMotorId)
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frameReal = p.readUserDebugParameter(frameId)
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else:
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erp = 0.2
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kpMotor = 0.2
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maxForce=1000
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frameReal = 0
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if useGUI:
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erp = p.readUserDebugParameter(erpId)
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kpMotor = p.readUserDebugParameter(kpMotorId)
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maxForce=p.readUserDebugParameter(forceMotorId)
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frameReal = p.readUserDebugParameter(frameId)
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else:
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erp = 0.2
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kpMotor = 0.2
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maxForce=1000
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frameReal = 0
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kp=kpMotor
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frame = int(frameReal)
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frameNext = frame+1
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if (frameNext >= numFrames):
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frameNext = frame
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frameFraction = frameReal - frame
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#print("frameFraction=",frameFraction)
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#print("frame=",frame)
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#print("frameNext=", frameNext)
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#getQuaternionSlerp
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frameData = motion_dict['Frames'][frame]
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frameDataNext = motion_dict['Frames'][frameNext]
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#print("duration=",frameData[0])
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#print(pos=[frameData])
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basePos1Start = [frameData[1],frameData[2],frameData[3]]
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basePos1End = [frameDataNext[1],frameDataNext[2],frameDataNext[3]]
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basePos1 = [basePos1Start[0]+frameFraction*(basePos1End[0]-basePos1Start[0]),
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basePos1Start[1]+frameFraction*(basePos1End[1]-basePos1Start[1]),
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basePos1Start[2]+frameFraction*(basePos1End[2]-basePos1Start[2])]
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baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]]
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baseOrn1Next = [frameDataNext[5],frameDataNext[6], frameDataNext[7],frameDataNext[4]]
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baseOrn1 = p.getQuaternionSlerp(baseOrn1Start,baseOrn1Next,frameFraction)
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#pre-rotate to make z-up
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if (useZUp):
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y2zPos=[0,0,0.0]
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y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
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basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
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p.resetBasePositionAndOrientation(humanoid, basePos,baseOrn)
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y2zPos=[0,2,0.0]
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y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
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basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
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p.resetBasePositionAndOrientation(humanoid2, basePos,baseOrn)
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chestRotStart = [frameData[9],frameData[10],frameData[11],frameData[8]]
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chestRotEnd = [frameDataNext[9],frameDataNext[10],frameDataNext[11],frameDataNext[8]]
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chestRot = p.getQuaternionSlerp(chestRotStart,chestRotEnd,frameFraction)
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neckRotStart = [frameData[13],frameData[14],frameData[15],frameData[12]]
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neckRotEnd= [frameDataNext[13],frameDataNext[14],frameDataNext[15],frameDataNext[12]]
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neckRot = p.getQuaternionSlerp(neckRotStart,neckRotEnd,frameFraction)
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rightHipRotStart = [frameData[17],frameData[18],frameData[19],frameData[16]]
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rightHipRotEnd = [frameDataNext[17],frameDataNext[18],frameDataNext[19],frameDataNext[16]]
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rightHipRot = p.getQuaternionSlerp(rightHipRotStart,rightHipRotEnd,frameFraction)
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rightKneeRotStart = [frameData[20]]
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rightKneeRotEnd = [frameDataNext[20]]
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rightKneeRot = [rightKneeRotStart[0]+frameFraction*(rightKneeRotEnd[0]-rightKneeRotStart[0])]
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rightAnkleRotStart = [frameData[22],frameData[23],frameData[24],frameData[21]]
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rightAnkleRotEnd = [frameDataNext[22],frameDataNext[23],frameDataNext[24],frameDataNext[21]]
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rightAnkleRot = p.getQuaternionSlerp(rightAnkleRotStart,rightAnkleRotEnd,frameFraction)
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rightShoulderRotStart = [frameData[26],frameData[27],frameData[28],frameData[25]]
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rightShoulderRotEnd = [frameDataNext[26],frameDataNext[27],frameDataNext[28],frameDataNext[25]]
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rightShoulderRot = p.getQuaternionSlerp(rightShoulderRotStart,rightShoulderRotEnd,frameFraction)
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rightElbowRotStart = [frameData[29]]
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rightElbowRotEnd = [frameDataNext[29]]
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rightElbowRot = [rightElbowRotStart[0]+frameFraction*(rightElbowRotEnd[0]-rightElbowRotStart[0])]
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leftHipRotStart = [frameData[31],frameData[32],frameData[33],frameData[30]]
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leftHipRotEnd = [frameDataNext[31],frameDataNext[32],frameDataNext[33],frameDataNext[30]]
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leftHipRot = p.getQuaternionSlerp(leftHipRotStart,leftHipRotEnd,frameFraction)
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leftKneeRotStart = [frameData[34]]
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leftKneeRotEnd = [frameDataNext[34]]
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leftKneeRot = [leftKneeRotStart[0] +frameFraction*(leftKneeRotEnd[0]-leftKneeRotStart[0]) ]
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leftAnkleRotStart = [frameData[36],frameData[37],frameData[38],frameData[35]]
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leftAnkleRotEnd = [frameDataNext[36],frameDataNext[37],frameDataNext[38],frameDataNext[35]]
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leftAnkleRot = p.getQuaternionSlerp(leftAnkleRotStart,leftAnkleRotEnd,frameFraction)
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leftShoulderRotStart = [frameData[40],frameData[41],frameData[42],frameData[39]]
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leftShoulderRotEnd = [frameDataNext[40],frameDataNext[41],frameDataNext[42],frameDataNext[39]]
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leftShoulderRot = p.getQuaternionSlerp(leftShoulderRotStart,leftShoulderRotEnd,frameFraction)
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leftElbowRotStart = [frameData[43]]
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leftElbowRotEnd = [frameDataNext[43]]
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leftElbowRot = [leftElbowRotStart[0]+frameFraction*(leftElbowRotEnd[0]-leftElbowRotStart[0])]
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if (0):#if (once):
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p.resetJointStateMultiDof(humanoid,chest,chestRot)
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p.resetJointStateMultiDof(humanoid,neck,neckRot)
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p.resetJointStateMultiDof(humanoid,rightHip,rightHipRot)
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p.resetJointStateMultiDof(humanoid,rightKnee,rightKneeRot)
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p.resetJointStateMultiDof(humanoid,rightAnkle,rightAnkleRot)
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p.resetJointStateMultiDof(humanoid,rightShoulder,rightShoulderRot)
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p.resetJointStateMultiDof(humanoid,rightElbow, rightElbowRot)
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p.resetJointStateMultiDof(humanoid,leftHip, leftHipRot)
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p.resetJointStateMultiDof(humanoid,leftKnee, leftKneeRot)
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p.resetJointStateMultiDof(humanoid,leftAnkle, leftAnkleRot)
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p.resetJointStateMultiDof(humanoid,leftShoulder, leftShoulderRot)
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p.resetJointStateMultiDof(humanoid,leftElbow, leftElbowRot)
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once=False
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#print("chestRot=",chestRot)
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p.setGravity(0,0,-10)
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kp=kpMotor
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if (useExplicitPD):
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jointDofCounts=[4,4,4,1,4,4,1,4,1,4,4,1]
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#[x,y,z] base position and [x,y,z,w] base orientation!
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totalDofs =7
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for dof in jointDofCounts:
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totalDofs += dof
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jointIndicesAll = [
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chest,
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neck,
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rightHip,
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rightKnee,
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rightAnkle,
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rightShoulder,
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rightElbow,
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leftHip,
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leftKnee,
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leftAnkle,
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leftShoulder,
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leftElbow
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]
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basePos,baseOrn = p.getBasePositionAndOrientation(humanoid)
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pose = [ basePos[0],basePos[1],basePos[2],
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baseOrn[0],baseOrn[1],baseOrn[2],baseOrn[3],
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chestRot[0],chestRot[1],chestRot[2],chestRot[3],
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neckRot[0],neckRot[1],neckRot[2],neckRot[3],
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rightHipRot[0],rightHipRot[1],rightHipRot[2],rightHipRot[3],
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rightKneeRot[0],
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rightAnkleRot[0],rightAnkleRot[1],rightAnkleRot[2],rightAnkleRot[3],
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rightShoulderRot[0],rightShoulderRot[1],rightShoulderRot[2],rightShoulderRot[3],
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rightElbowRot[0],
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leftHipRot[0],leftHipRot[1],leftHipRot[2],leftHipRot[3],
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leftKneeRot[0],
|
||||
leftAnkleRot[0],leftAnkleRot[1],leftAnkleRot[2],leftAnkleRot[3],
|
||||
leftShoulderRot[0],leftShoulderRot[1],leftShoulderRot[2],leftShoulderRot[3],
|
||||
leftElbowRot[0] ]
|
||||
|
||||
|
||||
#print("pose=")
|
||||
#for po in pose:
|
||||
# print(po)
|
||||
|
||||
|
||||
taus = stablePD.computePD(bodyUniqueId=humanoid,
|
||||
jointIndices = jointIndicesAll,
|
||||
desiredPositions = pose,
|
||||
desiredVelocities = [0]*totalDofs,
|
||||
kps = kpOrg,
|
||||
kds = kdOrg,
|
||||
maxForces = [maxForce]*totalDofs,
|
||||
timeStep=timeStep)
|
||||
|
||||
taus3 = explicitPD.computePD(bodyUniqueId=humanoid3,
|
||||
jointIndices = jointIndicesAll,
|
||||
desiredPositions = pose,
|
||||
desiredVelocities = [0]*totalDofs,
|
||||
kps = kpOrg,
|
||||
kds = kdOrg,
|
||||
maxForces = [maxForce*0.05]*totalDofs,
|
||||
timeStep=timeStep)
|
||||
kp=kpMotor
|
||||
|
||||
frame = int(frameReal)
|
||||
frameNext = frame+1
|
||||
if (frameNext >= numFrames):
|
||||
frameNext = frame
|
||||
|
||||
frameFraction = frameReal - frame
|
||||
|
||||
frameData = motion_dict['Frames'][frame]
|
||||
frameDataNext = motion_dict['Frames'][frameNext]
|
||||
|
||||
#print("duration=",frameData[0])
|
||||
#print(pos=[frameData])
|
||||
|
||||
basePos1Start = [frameData[1],frameData[2],frameData[3]]
|
||||
basePos1End = [frameDataNext[1],frameDataNext[2],frameDataNext[3]]
|
||||
basePos1 = [basePos1Start[0]+frameFraction*(basePos1End[0]-basePos1Start[0]),
|
||||
basePos1Start[1]+frameFraction*(basePos1End[1]-basePos1Start[1]),
|
||||
basePos1Start[2]+frameFraction*(basePos1End[2]-basePos1Start[2])]
|
||||
baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]]
|
||||
baseOrn1Next = [frameDataNext[5],frameDataNext[6], frameDataNext[7],frameDataNext[4]]
|
||||
baseOrn1 = p.getQuaternionSlerp(baseOrn1Start,baseOrn1Next,frameFraction)
|
||||
#pre-rotate to make z-up
|
||||
|
||||
|
||||
if (useZUp):
|
||||
y2zPos=[0,0,0.0]
|
||||
y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
|
||||
basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
|
||||
p.resetBasePositionAndOrientation(humanoid, basePos,baseOrn)
|
||||
|
||||
|
||||
once=False
|
||||
#print("chestRot=",chestRot)
|
||||
p.setGravity(0,0,0)
|
||||
|
||||
kp=kpMotor
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
basePos1Start = [frameData[1],frameData[2],frameData[3]]
|
||||
basePos1End = [frameDataNext[1],frameDataNext[2],frameDataNext[3]]
|
||||
basePos1 = [basePos1Start[0]+frameFraction*(basePos1End[0]-basePos1Start[0]),
|
||||
basePos1Start[1]+frameFraction*(basePos1End[1]-basePos1Start[1]),
|
||||
basePos1Start[2]+frameFraction*(basePos1End[2]-basePos1Start[2])]
|
||||
baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]]
|
||||
baseOrn1Next = [frameDataNext[5],frameDataNext[6], frameDataNext[7],frameDataNext[4]]
|
||||
baseOrn1 = p.getQuaternionSlerp(baseOrn1Start,baseOrn1Next,frameFraction)
|
||||
#pre-rotate to make z-up
|
||||
if (useZUp):
|
||||
y2zPos=[0,0,0.0]
|
||||
y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
|
||||
basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
|
||||
p.resetBasePositionAndOrientation(humanoid, basePos,baseOrn)
|
||||
|
||||
chestRotStart = [frameData[9],frameData[10],frameData[11],frameData[8]]
|
||||
chestRotEnd = [frameDataNext[9],frameDataNext[10],frameDataNext[11],frameDataNext[8]]
|
||||
chestRot = p.getQuaternionSlerp(chestRotStart,chestRotEnd,frameFraction)
|
||||
|
||||
neckRotStart = [frameData[13],frameData[14],frameData[15],frameData[12]]
|
||||
neckRotEnd= [frameDataNext[13],frameDataNext[14],frameDataNext[15],frameDataNext[12]]
|
||||
neckRot = p.getQuaternionSlerp(neckRotStart,neckRotEnd,frameFraction)
|
||||
|
||||
rightHipRotStart = [frameData[17],frameData[18],frameData[19],frameData[16]]
|
||||
rightHipRotEnd = [frameDataNext[17],frameDataNext[18],frameDataNext[19],frameDataNext[16]]
|
||||
rightHipRot = p.getQuaternionSlerp(rightHipRotStart,rightHipRotEnd,frameFraction)
|
||||
|
||||
rightKneeRotStart = [frameData[20]]
|
||||
rightKneeRotEnd = [frameDataNext[20]]
|
||||
rightKneeRot = [rightKneeRotStart[0]+frameFraction*(rightKneeRotEnd[0]-rightKneeRotStart[0])]
|
||||
|
||||
rightAnkleRotStart = [frameData[22],frameData[23],frameData[24],frameData[21]]
|
||||
rightAnkleRotEnd = [frameDataNext[22],frameDataNext[23],frameDataNext[24],frameDataNext[21]]
|
||||
rightAnkleRot = p.getQuaternionSlerp(rightAnkleRotStart,rightAnkleRotEnd,frameFraction)
|
||||
|
||||
rightShoulderRotStart = [frameData[26],frameData[27],frameData[28],frameData[25]]
|
||||
rightShoulderRotEnd = [frameDataNext[26],frameDataNext[27],frameDataNext[28],frameDataNext[25]]
|
||||
rightShoulderRot = p.getQuaternionSlerp(rightShoulderRotStart,rightShoulderRotEnd,frameFraction)
|
||||
|
||||
rightElbowRotStart = [frameData[29]]
|
||||
rightElbowRotEnd = [frameDataNext[29]]
|
||||
rightElbowRot = [rightElbowRotStart[0]+frameFraction*(rightElbowRotEnd[0]-rightElbowRotStart[0])]
|
||||
|
||||
leftHipRotStart = [frameData[31],frameData[32],frameData[33],frameData[30]]
|
||||
leftHipRotEnd = [frameDataNext[31],frameDataNext[32],frameDataNext[33],frameDataNext[30]]
|
||||
leftHipRot = p.getQuaternionSlerp(leftHipRotStart,leftHipRotEnd,frameFraction)
|
||||
|
||||
leftKneeRotStart = [frameData[34]]
|
||||
leftKneeRotEnd = [frameDataNext[34]]
|
||||
leftKneeRot = [leftKneeRotStart[0] +frameFraction*(leftKneeRotEnd[0]-leftKneeRotStart[0]) ]
|
||||
|
||||
leftAnkleRotStart = [frameData[36],frameData[37],frameData[38],frameData[35]]
|
||||
leftAnkleRotEnd = [frameDataNext[36],frameDataNext[37],frameDataNext[38],frameDataNext[35]]
|
||||
leftAnkleRot = p.getQuaternionSlerp(leftAnkleRotStart,leftAnkleRotEnd,frameFraction)
|
||||
|
||||
leftShoulderRotStart = [frameData[40],frameData[41],frameData[42],frameData[39]]
|
||||
leftShoulderRotEnd = [frameDataNext[40],frameDataNext[41],frameDataNext[42],frameDataNext[39]]
|
||||
leftShoulderRot = p.getQuaternionSlerp(leftShoulderRotStart,leftShoulderRotEnd,frameFraction)
|
||||
leftElbowRotStart = [frameData[43]]
|
||||
leftElbowRotEnd = [frameDataNext[43]]
|
||||
leftElbowRot = [leftElbowRotStart[0]+frameFraction*(leftElbowRotEnd[0]-leftElbowRotStart[0])]
|
||||
|
||||
once=False
|
||||
|
||||
|
||||
|
||||
kp=kpMotor
|
||||
|
||||
basePos,baseOrn = p.getBasePositionAndOrientation(humanoid)
|
||||
pose = [ basePos[0],basePos[1],basePos[2],
|
||||
baseOrn[0],baseOrn[1],baseOrn[2],baseOrn[3],
|
||||
chestRot[0],chestRot[1],chestRot[2],chestRot[3],
|
||||
neckRot[0],neckRot[1],neckRot[2],neckRot[3],
|
||||
rightHipRot[0],rightHipRot[1],rightHipRot[2],rightHipRot[3],
|
||||
rightKneeRot[0],
|
||||
rightAnkleRot[0],rightAnkleRot[1],rightAnkleRot[2],rightAnkleRot[3],
|
||||
rightShoulderRot[0],rightShoulderRot[1],rightShoulderRot[2],rightShoulderRot[3],
|
||||
rightElbowRot[0],
|
||||
leftHipRot[0],leftHipRot[1],leftHipRot[2],leftHipRot[3],
|
||||
leftKneeRot[0],
|
||||
leftAnkleRot[0],leftAnkleRot[1],leftAnkleRot[2],leftAnkleRot[3],
|
||||
leftShoulderRot[0],leftShoulderRot[1],leftShoulderRot[2],leftShoulderRot[3],
|
||||
leftElbowRot[0] ]
|
||||
|
||||
jointIndicesAll = [
|
||||
chest,
|
||||
neck,
|
||||
rightHip,
|
||||
rightKnee,
|
||||
rightAnkle,
|
||||
rightShoulder,
|
||||
rightElbow,
|
||||
leftHip,
|
||||
leftKnee,
|
||||
leftAnkle,
|
||||
leftShoulder,
|
||||
leftElbow
|
||||
]
|
||||
dofIndex=7
|
||||
jointDofCounts=[4,4,4,1,4,4,1,4,1,4,4,1]
|
||||
totalDofs = sum(jointDofCounts)+7
|
||||
print("total=",totalDofs)
|
||||
|
||||
useStablePD=False
|
||||
if (useStablePD):
|
||||
taus = stablePD.computePD(bodyUniqueId=humanoid,
|
||||
jointIndices = jointIndicesAll,
|
||||
desiredPositions = pose,
|
||||
desiredVelocities = [0]*totalDofs,
|
||||
kps = kpOrg,
|
||||
kds = kdOrg,
|
||||
maxForces = [maxForce]*totalDofs,
|
||||
timeStep=timeStep)
|
||||
|
||||
|
||||
#taus=[0]*43
|
||||
|
||||
#taus=[0]*43
|
||||
dofIndex=7
|
||||
for index in range (len(jointIndicesAll)):
|
||||
jointIndex = jointIndicesAll[index]
|
||||
if jointDofCounts[index]==4:
|
||||
|
||||
p.setJointMotorControlMultiDof(humanoid,jointIndex,p.TORQUE_CONTROL,force=[taus[dofIndex+0],taus[dofIndex+1],taus[dofIndex+2]])
|
||||
p.setJointMotorControlMultiDof(humanoid3,jointIndex,p.TORQUE_CONTROL,force=[taus3[dofIndex+0],taus3[dofIndex+1],taus3[dofIndex+2]])
|
||||
|
||||
if jointDofCounts[index]==1:
|
||||
|
||||
p.setJointMotorControlMultiDof(humanoid, jointIndex, controlMode=p.TORQUE_CONTROL, force=[taus[dofIndex]])
|
||||
p.setJointMotorControlMultiDof(humanoid3, jointIndex, controlMode=p.TORQUE_CONTROL, force=[taus3[dofIndex]])
|
||||
|
||||
dofIndex+=jointDofCounts[index]
|
||||
|
||||
#print("len(taus)=",len(taus))
|
||||
#print("taus=",taus)
|
||||
|
||||
|
||||
p.setJointMotorControlMultiDof(humanoid2,chest,p.POSITION_CONTROL, targetPosition=chestRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,neck,p.POSITION_CONTROL,targetPosition=neckRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,rightHip,p.POSITION_CONTROL,targetPosition=rightHipRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,rightKnee,p.POSITION_CONTROL,targetPosition=rightKneeRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,rightAnkle,p.POSITION_CONTROL,targetPosition=rightAnkleRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,rightShoulder,p.POSITION_CONTROL,targetPosition=rightShoulderRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,rightElbow, p.POSITION_CONTROL,targetPosition=rightElbowRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,leftHip, p.POSITION_CONTROL,targetPosition=leftHipRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,leftKnee, p.POSITION_CONTROL,targetPosition=leftKneeRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,leftAnkle, p.POSITION_CONTROL,targetPosition=leftAnkleRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,leftShoulder, p.POSITION_CONTROL,targetPosition=leftShoulderRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid2,leftElbow, p.POSITION_CONTROL,targetPosition=leftElbowRot,positionGain=kp, force=[maxForce])
|
||||
|
||||
kinematicHumanoid4 = True
|
||||
if (kinematicHumanoid4):
|
||||
p.resetJointStateMultiDof(humanoid4,chest,chestRot)
|
||||
p.resetJointStateMultiDof(humanoid4,neck,neckRot)
|
||||
p.resetJointStateMultiDof(humanoid4,rightHip,rightHipRot)
|
||||
p.resetJointStateMultiDof(humanoid4,rightKnee,rightKneeRot)
|
||||
p.resetJointStateMultiDof(humanoid4,rightAnkle,rightAnkleRot)
|
||||
p.resetJointStateMultiDof(humanoid4,rightShoulder,rightShoulderRot)
|
||||
p.resetJointStateMultiDof(humanoid4,rightElbow, rightElbowRot)
|
||||
p.resetJointStateMultiDof(humanoid4,leftHip, leftHipRot)
|
||||
p.resetJointStateMultiDof(humanoid4,leftKnee, leftKneeRot)
|
||||
p.resetJointStateMultiDof(humanoid4,leftAnkle, leftAnkleRot)
|
||||
p.resetJointStateMultiDof(humanoid4,leftShoulder, leftShoulderRot)
|
||||
p.resetJointStateMultiDof(humanoid4,leftElbow, leftElbowRot)
|
||||
p.stepSimulation()
|
||||
time.sleep(timeStep)
|
||||
for index in range (len(jointIndicesAll)):
|
||||
jointIndex = jointIndicesAll[index]
|
||||
if jointDofCounts[index]==4:
|
||||
p.setJointMotorControlMultiDof(humanoid,jointIndex,p.TORQUE_CONTROL,force=[taus[dofIndex+0],taus[dofIndex+1],taus[dofIndex+2]])
|
||||
if jointDofCounts[index]==1:
|
||||
p.setJointMotorControlMultiDof(humanoid, jointIndex, controlMode=p.TORQUE_CONTROL, force=[taus[dofIndex]])
|
||||
dofIndex+=jointDofCounts[index]
|
||||
else:
|
||||
p.setJointMotorControlMultiDof(humanoid,chest,p.POSITION_CONTROL, targetPosition=chestRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,neck,p.POSITION_CONTROL,targetPosition=neckRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,rightHip,p.POSITION_CONTROL,targetPosition=rightHipRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,rightKnee,p.POSITION_CONTROL,targetPosition=rightKneeRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,rightAnkle,p.POSITION_CONTROL,targetPosition=rightAnkleRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,rightShoulder,p.POSITION_CONTROL,targetPosition=rightShoulderRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,rightElbow, p.POSITION_CONTROL,targetPosition=rightElbowRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,leftHip, p.POSITION_CONTROL,targetPosition=leftHipRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,leftKnee, p.POSITION_CONTROL,targetPosition=leftKneeRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,leftAnkle, p.POSITION_CONTROL,targetPosition=leftAnkleRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,leftShoulder, p.POSITION_CONTROL,targetPosition=leftShoulderRot,positionGain=kp, force=[maxForce])
|
||||
p.setJointMotorControlMultiDof(humanoid,leftElbow, p.POSITION_CONTROL,targetPosition=leftElbowRot,positionGain=kp, force=[maxForce])
|
||||
p.stepSimulation()
|
||||
for j in range(p.getNumJoints(humanoid)):
|
||||
jointState = p.getJointStateMultiDof(humanoid,j)
|
||||
print("jointStateMultiDof[",j,"].pos=",jointState[0])
|
||||
print("jointStateMultiDof[",j,"].vel=",jointState[1])
|
||||
print("jointStateMultiDof[",j,"].jointForces=",jointState[3])
|
||||
|
||||
#j=4
|
||||
#jointState = p.getJointStateMultiDof(humanoid,j)
|
||||
#print("jointStateMultiDof[",j,"].pos=",jointState[0])
|
||||
#print("jointStateMultiDof[",j,"].vel=",jointState[1])
|
||||
#print("jointStateMultiDof[",j,"].jointForces=",jointState[3])
|
||||
time.sleep(timeStep)
|
||||
|
||||
@@ -4235,6 +4235,7 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
|
||||
PyObject* pyListJointState;
|
||||
PyObject* pyListPosition;
|
||||
PyObject* pyListVelocity;
|
||||
PyObject* pyListJointMotorTorque;
|
||||
|
||||
|
||||
struct b3JointSensorState2 sensorState;
|
||||
@@ -4296,7 +4297,7 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
|
||||
int i = 0;
|
||||
pyListPosition = PyTuple_New(sensorState.m_qDofSize);
|
||||
pyListVelocity = PyTuple_New(sensorState.m_uDofSize);
|
||||
|
||||
pyListJointMotorTorque = PyTuple_New(sensorState.m_uDofSize);
|
||||
PyTuple_SetItem(pyListJointState, 0, pyListPosition);
|
||||
PyTuple_SetItem(pyListJointState, 1, pyListVelocity);
|
||||
|
||||
@@ -4310,6 +4311,9 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
|
||||
{
|
||||
PyTuple_SetItem(pyListVelocity, i,
|
||||
PyFloat_FromDouble(sensorState.m_jointVelocity[i]));
|
||||
|
||||
PyTuple_SetItem(pyListJointMotorTorque, i,
|
||||
PyFloat_FromDouble(sensorState.m_jointMotorTorqueMultiDof[i]));
|
||||
}
|
||||
|
||||
for (j = 0; j < forceTorqueSize; j++)
|
||||
@@ -4320,8 +4324,8 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
|
||||
|
||||
PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque);
|
||||
|
||||
PyTuple_SetItem(pyListJointState, 3,
|
||||
PyFloat_FromDouble(sensorState.m_jointMotorTorque));
|
||||
PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque);
|
||||
|
||||
|
||||
return pyListJointState;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user