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