Add preliminary PhysX 4.0 backend for PyBullet
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
This commit is contained in:
erwincoumans
@@ -1,22 +1,45 @@
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import pybullet as p
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import json
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import time
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p.connect(p.GUI)
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#p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP , 1)
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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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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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import pybullet_data
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useMotionCapture=True
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useMotionCaptureReset=not useMotionCapture
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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=200)
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#path = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
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path = pybullet_data.getDataPath()+"/motions/humanoid3d_cartwheel.txt"
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p.setPhysicsEngineParameter(numSolverIterations=30)
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#p.setPhysicsEngineParameter(solverResidualThreshold=1e-30)
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p.loadURDF("plane.urdf",[0,0,-0.03])
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#explicit PD control requires small timestep
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timeStep = 1./600.
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#timeStep = 1./240.
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p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
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path = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
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#path = pybullet_data.getDataPath()+"/motions/humanoid3d_cartwheel.txt"
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#path = pybullet_data.getDataPath()+"/motions/humanoid3d_walk.txt"
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#p.loadURDF("plane.urdf",[0,0,-1.03])
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print("path = ", path)
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with open(path, 'r') as f:
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motion_dict = json.load(f)
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@@ -26,29 +49,105 @@ print(motion_dict['Loop'])
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numFrames = len(motion_dict['Frames'])
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print("#frames = ", numFrames)
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frameId= p.addUserDebugParameter("frame",0,numFrames-1,0)
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erpId = p.addUserDebugParameter("erp",0,1,0.2)
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kpMotorId = p.addUserDebugParameter("kpMotor",0,1,.2)
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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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humanoid = p.loadURDF("humanoid/humanoid.urdf", globalScaling=0.25)
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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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p.addUserDebugText("Spherical Drive", [startLocations[1][0],startLocations[1][1]+1,startLocations[1][2]], [0,0,0])
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p.addUserDebugText("Explicit PD", [startLocations[2][0],startLocations[2][1]+1,startLocations[2][2]], [0,0,0])
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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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1,0,0,0,0.9649395871,0.02436898957,-0.05755497537,0.2549218909,-0.249116,0.9993661511,0.009952001505,0.03265400494,0.01009800153,
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0.9854981188,-0.06440700776,0.09324301124,-0.1262970152,0.170571,0.9927545808,-0.02090099117,0.08882396249,-0.07817796699,-0.391532,0.9828788495,
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0.1013909845,-0.05515999155,0.143618978,0.9659421276,0.1884590249,-0.1422460188,0.105854014,0.581348]
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startVel = [1.235314324,-0.008525509087,0.1515293946,-1.161516553,0.1866449799,-0.1050802848,0,0.935706195,0.08277326387,0.3002461862,0,0,0,0,0,1.114409628,0.3618553952,
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-0.4505575061,0,-1.725374735,-0.5052852598,-0.8555179722,-0.2221173515,0,-0.1837617357,0.00171895706,0.03912837591,0,0.147945294,1.837653345,0.1534535548,1.491385941,0,
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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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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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if (ji[2] == p.JOINT_SPHERICAL):
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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, force=0)
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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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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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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.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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@@ -57,32 +156,56 @@ for j in range (p.getNumJoints(humanoid)):
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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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#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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rightShoulder=3
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rightElbow=4
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leftShoulder=6
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leftElbow = 7
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rightHip = 9
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rightKnee=10
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rightAnkle=11
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leftHip = 12
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leftKnee=13
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leftAnkle=14
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rightHip=3
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rightKnee=4
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rightAnkle=5
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rightShoulder=6
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rightElbow=7
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leftHip=9
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leftKnee=10
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leftAnkle=11
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leftShoulder=12
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leftElbow=13
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#rightShoulder=3
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#rightElbow=4
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#leftShoulder=6
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#leftElbow = 7
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#rightHip = 9
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#rightKnee=10
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#rightAnkle=11
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#leftHip = 12
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#leftKnee=13
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#leftAnkle=14
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import time
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kpOrg = [0,0,0,0,0,0,0,1000,1000,1000,1000,100,100,100,100,500,500,500,500,500,400,400,400,400,400,400,400,400,300,500,500,500,500,500,400,400,400,400,400,400,400,400,300]
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kdOrg = [0,0,0,0,0,0,0,100,100,100,100,10,10,10,10,50,50,50,50,50,40,40,40,40,40,40,40,40,30,50,50,50,50,50,40,40,40,40,40,40,40,40,30]
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once=True
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p.getCameraImage(320,200)
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maxForce=1000
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while (p.isConnected()):
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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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kp=kpMotor
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frameReal = p.readUserDebugParameter(frameId)
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frame = int(frameReal)
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frameNext = frame+1
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@@ -111,12 +234,18 @@ while (p.isConnected()):
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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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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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# once=False
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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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@@ -164,26 +293,7 @@ while (p.isConnected()):
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leftElbowRotEnd = [frameDataNext[43]]
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leftElbowRot = [leftElbowRotStart[0]+frameFraction*(leftElbowRotEnd[0]-leftElbowRotStart[0])]
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#print("chestRot=",chestRot)
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p.setGravity(0,0,0)
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kp=1
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if (useMotionCapture):
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p.setJointMotorControlMultiDof(humanoid,chest,p.POSITION_CONTROL, targetPosition=chestRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,neck,p.POSITION_CONTROL,targetPosition=neckRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,rightHip,p.POSITION_CONTROL,targetPosition=rightHipRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,rightKnee,p.POSITION_CONTROL,targetPosition=rightKneeRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,rightAnkle,p.POSITION_CONTROL,targetPosition=rightAnkleRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,rightShoulder,p.POSITION_CONTROL,targetPosition=rightShoulderRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,rightElbow, p.POSITION_CONTROL,targetPosition=rightElbowRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,leftHip, p.POSITION_CONTROL,targetPosition=leftHipRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,leftKnee, p.POSITION_CONTROL,targetPosition=leftKneeRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,leftAnkle, p.POSITION_CONTROL,targetPosition=leftAnkleRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,leftShoulder, p.POSITION_CONTROL,targetPosition=leftShoulderRot,positionGain=kp, force=maxForce)
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p.setJointMotorControlMultiDof(humanoid,leftElbow, p.POSITION_CONTROL,targetPosition=leftElbowRot,positionGain=kp, force=maxForce)
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if (useMotionCaptureReset):
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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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@@ -196,5 +306,118 @@ while (p.isConnected()):
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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],
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leftAnkleRot[0],leftAnkleRot[1],leftAnkleRot[2],leftAnkleRot[3],
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leftShoulderRot[0],leftShoulderRot[1],leftShoulderRot[2],leftShoulderRot[3],
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leftElbowRot[0] ]
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|
||||
|
||||
#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)
|
||||
|
||||
#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(1./240.)
|
||||
time.sleep(timeStep)
|
||||
|
||||
Reference in New Issue
Block a user