import pybullet as p1 from pybullet_utils import bullet_client import pybullet_data from pybullet_utils import pd_controller_stable import time import motion_capture_data import quadrupedPoseInterpolator useConstraints = False p = bullet_client.BulletClient(connection_mode=p1.GUI) p.setAdditionalSearchPath(pybullet_data.getDataPath()) plane = p.loadURDF("plane.urdf") p.setGravity(0,0,-10) timeStep=1./500 p.setTimeStep(timeStep) #p.setDefaultContactERP(0) #urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS urdfFlags = p.URDF_USE_SELF_COLLISION startPos=[0.007058990464444105, 0.03149299192130908, 0.4918981912395484] startOrn=[0.005934649695708604, 0.7065453990917289, 0.7076373820553712, -0.0027774940359030264] quadruped = p.loadURDF("laikago/laikago.urdf",startPos,startOrn, flags = urdfFlags,useFixedBase=False) p.resetBasePositionAndOrientation(quadruped,startPos,startOrn) if not useConstraints: for j in range(p.getNumJoints(quadruped)): p.setJointMotorControl2(quadruped,j,p.POSITION_CONTROL,force=0) #This cube is added as a soft constraint to keep the laikago from falling #since we didn't train it yet, it doesn't balance cube = p.loadURDF("cube_no_rotation.urdf",[0,0,-0.5],[0,0.5,0.5,0]) p.setCollisionFilterGroupMask(cube,-1,0,0) for j in range(p.getNumJoints(cube)): p.setJointMotorControl2(cube,j,p.POSITION_CONTROL,force=0) p.setCollisionFilterGroupMask(cube,j,0,0) p.changeVisualShape(cube,j,rgbaColor=[1,0,0,0]) cid = p.createConstraint(cube,p.getNumJoints(cube)-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,1,0],[0,0,0]) p.changeConstraint(cid, maxForce=10) jointIds=[] paramIds=[] jointOffsets=[] jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1] jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0] for i in range (4): jointOffsets.append(0) jointOffsets.append(-0.7) jointOffsets.append(0.7) maxForceId = p.addUserDebugParameter("maxForce",0,100,20) for j in range (p.getNumJoints(quadruped)): p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0) info = p.getJointInfo(quadruped,j) #print(info) jointName = info[1] jointType = info[2] if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE): jointIds.append(j) startQ=[0.08389, 0.8482, -1.547832, -0.068933, 0.625726, -1.272086, 0.074398, 0.61135, -1.255892, -0.068262, 0.836745, -1.534517] for j in range(p.getNumJoints(quadruped)): p.resetJointState(quadruped,jointIds[j],jointDirections[j]*startQ[j]+jointOffsets[j]) qpi = quadrupedPoseInterpolator.QuadrupedPoseInterpolator() #enable collision between lower legs for j in range (p.getNumJoints(quadruped)): print(p.getJointInfo(quadruped,j)) #2,5,8 and 11 are the lower legs lower_legs = [2,5,8,11] for l0 in lower_legs: for l1 in lower_legs: if (l1>l0): enableCollision = 1 print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision) p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision) jointIds=[] paramIds=[] jointOffsets=[] jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1] jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0] for i in range (4): jointOffsets.append(0) jointOffsets.append(-0.7) jointOffsets.append(0.7) maxForceId = p.addUserDebugParameter("maxForce",0,100,20) for j in range (p.getNumJoints(quadruped)): p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0) info = p.getJointInfo(quadruped,j) #print(info) jointName = info[1] jointType = info[2] if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE): jointIds.append(j) p.getCameraImage(480,320) p.setRealTimeSimulation(0) joints=[] mocapData = motion_capture_data.MotionCaptureData() motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.txt" mocapData.Load(motionPath) print("mocapData.NumFrames=",mocapData.NumFrames()) print("mocapData.KeyFrameDuraction=",mocapData.KeyFrameDuraction()) print("mocapData.getCycleTime=",mocapData.getCycleTime()) print("mocapData.computeCycleOffset=",mocapData.computeCycleOffset()) stablePD = pd_controller_stable.PDControllerStable(p) cycleTime = mocapData.getCycleTime() t=0 while t<10.*cycleTime: #get interpolated joint keyFrameDuration = mocapData.KeyFrameDuraction() cycleTime = mocapData.getCycleTime() cycleCount = mocapData.calcCycleCount(t, cycleTime) #print("cycleTime=",cycleTime) #print("cycleCount=",cycleCount) #print("cycles=",cycles) frameTime = t - cycleCount*cycleTime #print("frameTime=",frameTime) if (frameTime<0): frameTime += cycleTime frame = int(frameTime/keyFrameDuration) frameNext = frame+1 if (frameNext >= mocapData.NumFrames()): frameNext = frame frameFraction = (frameTime - frame*keyFrameDuration)/(keyFrameDuration) #print("frame=",frame) #print("frameFraction=",frameFraction) frameData = mocapData._motion_data['Frames'][frame] frameDataNext = mocapData._motion_data['Frames'][frameNext] jointsStr,qdot=qpi.Slerp(frameFraction, frameData, frameDataNext, p) maxForce = p.readUserDebugParameter(maxForceId) print("jointIds=",jointIds) if useConstraints: for j in range (12): #skip the base positional dofs targetPos = float(jointsStr[j+7]) p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce) else: desiredPositions=[] for j in range (7): targetPosUnmodified = float(jointsStr[j]) desiredPositions.append(targetPosUnmodified) for j in range (12): targetPosUnmodified = float(jointsStr[j+7]) targetPos=jointDirections[j]*targetPosUnmodified+jointOffsets[j] desiredPositions.append(targetPos) numBaseDofs=6 totalDofs=12+numBaseDofs desiredVelocities=None if desiredVelocities==None: desiredVelocities = [0]*totalDofs taus = stablePD.computePD(bodyUniqueId=quadruped, jointIndices = jointIds, desiredPositions = desiredPositions, desiredVelocities = desiredVelocities, kps = [4000]*totalDofs, kds = [40]*totalDofs, maxForces = [500]*totalDofs, timeStep=timeStep) dofIndex=6 scaling = 1 for index in range (len(jointIds)): jointIndex = jointIds[index] force=[scaling*taus[dofIndex]] print("force[", jointIndex,"]=",force) p.setJointMotorControlMultiDof(quadruped, jointIndex, controlMode=p.TORQUE_CONTROL, force=force) dofIndex+=1 p.stepSimulation() t+=timeStep time.sleep(timeStep) useOrgData=False if useOrgData: with open("data1.txt","r") as filestream: for line in filestream: maxForce = p.readUserDebugParameter(maxForceId) currentline = line.split(",") frame = currentline[0] t = currentline[1] joints=currentline[2:14] for j in range (12): targetPos = float(joints[j]) p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce) p.stepSimulation() for lower_leg in lower_legs: #print("points for ", quadruped, " link: ", lower_leg) pts = p.getContactPoints(quadruped,-1, lower_leg) #print("num points=",len(pts)) #for pt in pts: # print(pt[9]) time.sleep(1./500.) for j in range (p.getNumJoints(quadruped)): p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0) info = p.getJointInfo(quadruped,j) js = p.getJointState(quadruped,j) #print(info) jointName = info[1] jointType = info[2] if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE): paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[j])/jointDirections[j])) p.setRealTimeSimulation(1) while (1): for i in range(len(paramIds)): c = paramIds[i] targetPos = p.readUserDebugParameter(c) maxForce = p.readUserDebugParameter(maxForceId) p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)