move pybullet examples to Bullet/examples/pybullet/examples
This commit is contained in:
Erwin Coumans
179
examples/pybullet/examples/quadruped.py
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179
examples/pybullet/examples/quadruped.py
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import pybullet as p
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import time
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import math
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useRealTime = 0
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fixedTimeStep = 0.01
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speed = 10
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amplitude = 0.8
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jump_amp = 0.5
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maxForce = 3.5
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kneeFrictionForce = 0.00
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kp = 1
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kd = .1
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physId = p.connect(p.SHARED_MEMORY)
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if (physId<0):
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p.connect(p.GUI)
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#p.resetSimulation()
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p.loadURDF("plane.urdf",0,0,0)
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p.setPhysicsEngineParameter(numSolverIterations=50)
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p.setTimeOut(4)
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p.setGravity(0,0,0)
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p.setTimeStep(fixedTimeStep)
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orn = p.getQuaternionFromEuler([0,0,0.4])
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p.setRealTimeSimulation(0)
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quadruped = p.loadURDF("quadruped/minitaur.urdf",[1,0,0.2],orn,useFixedBase=False)
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nJoints = p.getNumJoints(quadruped)
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jointNameToId = {}
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for i in range(nJoints):
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jointInfo = p.getJointInfo(quadruped, i)
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jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
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motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
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hip_front_rightR_link = jointNameToId['hip_front_rightR_link']
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knee_front_rightR_link = jointNameToId['knee_front_rightR_link']
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motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
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motor_front_rightL_link = jointNameToId['motor_front_rightL_link']
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knee_front_rightL_link = jointNameToId['knee_front_rightL_link']
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motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint']
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hip_front_leftR_link = jointNameToId['hip_front_leftR_link']
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knee_front_leftR_link = jointNameToId['knee_front_leftR_link']
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motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
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motor_front_leftL_link = jointNameToId['motor_front_leftL_link']
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knee_front_leftL_link = jointNameToId['knee_front_leftL_link']
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motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint']
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hip_rightR_link = jointNameToId['hip_rightR_link']
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knee_back_rightR_link = jointNameToId['knee_back_rightR_link']
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motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
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motor_back_rightL_link = jointNameToId['motor_back_rightL_link']
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knee_back_rightL_link = jointNameToId['knee_back_rightL_link']
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motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint']
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hip_leftR_link = jointNameToId['hip_leftR_link']
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knee_back_leftR_link = jointNameToId['knee_back_leftR_link']
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motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
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motor_back_leftL_link = jointNameToId['motor_back_leftL_link']
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knee_back_leftL_link = jointNameToId['knee_back_leftL_link']
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motordir=[-1,-1,-1,-1,1,1,1,1]
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halfpi = 1.57079632679
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kneeangle = -2.1834
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p.resetJointState(quadruped,motor_front_leftL_joint,motordir[0]*halfpi)
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p.resetJointState(quadruped,knee_front_leftL_link,motordir[0]*kneeangle)
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p.resetJointState(quadruped,motor_front_leftR_joint,motordir[1]*halfpi)
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p.resetJointState(quadruped,knee_front_leftR_link,motordir[1]*kneeangle)
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cid = p.createConstraint(quadruped,knee_front_leftR_link,quadruped,knee_front_leftL_link,p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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p.changeConstraint(cid,maxForce=10000)
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p.setJointMotorControl(quadruped,knee_front_leftL_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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p.setJointMotorControl(quadruped,knee_front_leftR_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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p.resetJointState(quadruped,motor_back_leftL_joint,motordir[2]*halfpi)
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p.resetJointState(quadruped,knee_back_leftL_link,motordir[2]*kneeangle)
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p.resetJointState(quadruped,motor_back_leftR_joint,motordir[3]*halfpi)
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p.resetJointState(quadruped,knee_back_leftR_link,motordir[3]*kneeangle)
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cid = p.createConstraint(quadruped,knee_back_leftR_link,quadruped,knee_back_leftL_link,p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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p.changeConstraint(cid,maxForce=10000)
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p.setJointMotorControl(quadruped,knee_back_leftL_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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p.setJointMotorControl(quadruped,knee_back_leftR_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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#p.getNumJoints(1)
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p.resetJointState(quadruped,motor_front_rightL_joint,motordir[4]*halfpi)
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p.resetJointState(quadruped,knee_front_rightL_link,motordir[4]*kneeangle)
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p.resetJointState(quadruped,motor_front_rightR_joint,motordir[5]*halfpi)
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p.resetJointState(quadruped,knee_front_rightR_link,motordir[5]*kneeangle)
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cid = p.createConstraint(quadruped,knee_front_rightR_link,quadruped,knee_front_rightL_link,p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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p.changeConstraint(cid,maxForce=10000)
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p.setJointMotorControl(quadruped,knee_front_rightL_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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p.setJointMotorControl(quadruped,knee_front_rightR_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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p.resetJointState(quadruped,motor_back_rightL_joint,motordir[6]*halfpi)
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p.resetJointState(quadruped,knee_back_rightL_link,motordir[6]*kneeangle)
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p.resetJointState(quadruped,motor_back_rightR_joint,motordir[7]*halfpi)
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p.resetJointState(quadruped,knee_back_rightR_link,motordir[7]*kneeangle)
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cid = p.createConstraint(quadruped,knee_back_rightR_link,quadruped,knee_back_rightL_link,p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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p.changeConstraint(cid,maxForce=10000)
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p.setJointMotorControl(quadruped,knee_back_rightL_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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p.setJointMotorControl(quadruped,knee_back_rightR_link,p.VELOCITY_CONTROL,0,kneeFrictionForce)
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p.setGravity(0,0,-10)
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legnumbering=[
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motor_front_leftL_joint,
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motor_front_leftR_joint,
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motor_back_leftL_joint,
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motor_back_leftR_joint,
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motor_front_rightL_joint,
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motor_front_rightR_joint,
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motor_back_rightL_joint,
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motor_back_rightR_joint]
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for i in range (8):
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print (legnumbering[i])
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#use the Minitaur leg numbering
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[0],controlMode=p.POSITION_CONTROL,targetPosition=motordir[0]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[1],controlMode=p.POSITION_CONTROL,targetPosition=motordir[1]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[2],controlMode=p.POSITION_CONTROL,targetPosition=motordir[2]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[3],controlMode=p.POSITION_CONTROL,targetPosition=motordir[3]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[4],controlMode=p.POSITION_CONTROL,targetPosition=motordir[4]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[5],controlMode=p.POSITION_CONTROL,targetPosition=motordir[5]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[6],controlMode=p.POSITION_CONTROL,targetPosition=motordir[6]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[7],controlMode=p.POSITION_CONTROL,targetPosition=motordir[7]*1.57,positionGain=kp, velocityGain=kd, force=maxForce)
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#stand still
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p.setRealTimeSimulation(useRealTime)
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#while (True):
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# time.sleep(0.01)
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#p.stepSimulation()
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print("quadruped Id = ")
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print(quadruped)
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p.saveWorld("quadru.py")
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logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR,"quadrupedLog.txt",[quadruped])
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#jump
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t = 0.0
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t_end = t + 100
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i=0
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ref_time = time.time()
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while t < t_end:
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if (useRealTime):
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t = time.time()-ref_time
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else:
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t = t+fixedTimeStep
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if (True):
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target = math.sin(t*speed)*jump_amp+1.57;
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[0],controlMode=p.POSITION_CONTROL,targetPosition=motordir[0]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[1],controlMode=p.POSITION_CONTROL,targetPosition=motordir[1]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[2],controlMode=p.POSITION_CONTROL,targetPosition=motordir[2]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[3],controlMode=p.POSITION_CONTROL,targetPosition=motordir[3]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[4],controlMode=p.POSITION_CONTROL,targetPosition=motordir[4]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[5],controlMode=p.POSITION_CONTROL,targetPosition=motordir[5]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[6],controlMode=p.POSITION_CONTROL,targetPosition=motordir[6]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped,jointIndex=legnumbering[7],controlMode=p.POSITION_CONTROL,targetPosition=motordir[7]*target,positionGain=kp, velocityGain=kd, force=maxForce)
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if (useRealTime==0):
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p.stepSimulation()
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time.sleep(fixedTimeStep)
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