202 lines
6.5 KiB
Python
202 lines
6.5 KiB
Python
import pybullet as p
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import pybullet_data
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import time
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import motion_capture_data
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import quadrupedPoseInterpolator
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p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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plane = p.loadURDF("plane.urdf")
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p.setGravity(0,0,-9.8)
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timeStep=1./500
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p.setTimeStep(timeStep)
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#p.setDefaultContactERP(0)
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#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
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urdfFlags = p.URDF_USE_SELF_COLLISION
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startPos=[0.007058990464444105, 0.03149299192130908, 0.4918981912395484]
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startOrn=[0.005934649695708604, 0.7065453990917289, 0.7076373820553712, -0.0027774940359030264]
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quadruped = p.loadURDF("laikago/laikago.urdf",startPos,startOrn, flags = urdfFlags,useFixedBase=False)
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p.resetBasePositionAndOrientation(quadruped,startPos,startOrn)
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#This cube is added as a soft constraint to keep the laikago from falling
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#since we didn't train it yet, it doesn't balance
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cube = p.loadURDF("cube_no_rotation.urdf",[0,0,-0.5],[0,0.5,0.5,0])
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p.setCollisionFilterGroupMask(cube,-1,0,0)
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for j in range(p.getNumJoints(cube)):
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p.setJointMotorControl2(cube,j,p.POSITION_CONTROL,force=0)
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p.setCollisionFilterGroupMask(cube,j,0,0)
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p.changeVisualShape(cube,j,rgbaColor=[1,0,0,0])
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cid = p.createConstraint(cube,p.getNumJoints(cube)-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,1,0],[0,0,0])
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p.changeConstraint(cid, maxForce=10)
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jointIds=[]
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paramIds=[]
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jointOffsets=[]
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jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
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jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
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for i in range (4):
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jointOffsets.append(0)
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jointOffsets.append(-0.7)
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jointOffsets.append(0.7)
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maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
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for j in range (p.getNumJoints(quadruped)):
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p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
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info = p.getJointInfo(quadruped,j)
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#print(info)
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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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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]
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for j in range(p.getNumJoints(quadruped)):
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p.resetJointState(quadruped,jointIds[j],jointDirections[j]*startQ[j]+jointOffsets[j])
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qpi = quadrupedPoseInterpolator.QuadrupedPoseInterpolator()
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#enable collision between lower legs
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for j in range (p.getNumJoints(quadruped)):
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print(p.getJointInfo(quadruped,j))
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#2,5,8 and 11 are the lower legs
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lower_legs = [2,5,8,11]
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for l0 in lower_legs:
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for l1 in lower_legs:
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if (l1>l0):
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enableCollision = 1
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print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
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p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
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jointIds=[]
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paramIds=[]
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jointOffsets=[]
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jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
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jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
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for i in range (4):
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jointOffsets.append(0)
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jointOffsets.append(-0.7)
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jointOffsets.append(0.7)
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maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
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for j in range (p.getNumJoints(quadruped)):
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p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
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info = p.getJointInfo(quadruped,j)
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#print(info)
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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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p.getCameraImage(480,320)
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p.setRealTimeSimulation(0)
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joints=[]
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mocapData = motion_capture_data.MotionCaptureData()
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motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.json"
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mocapData.Load(motionPath)
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print("mocapData.NumFrames=",mocapData.NumFrames())
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print("mocapData.KeyFrameDuraction=",mocapData.KeyFrameDuraction())
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print("mocapData.getCycleTime=",mocapData.getCycleTime())
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print("mocapData.computeCycleOffset=",mocapData.computeCycleOffset())
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cycleTime = mocapData.getCycleTime()
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t=0
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while t<10.*cycleTime:
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#get interpolated joint
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keyFrameDuration = mocapData.KeyFrameDuraction()
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cycleTime = mocapData.getCycleTime()
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cycleCount = mocapData.calcCycleCount(t, cycleTime)
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#print("cycleTime=",cycleTime)
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#print("cycleCount=",cycleCount)
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#print("cycles=",cycles)
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frameTime = t - cycleCount*cycleTime
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#print("frameTime=",frameTime)
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if (frameTime<0):
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frameTime += cycleTime
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frame = int(frameTime/keyFrameDuration)
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frameNext = frame+1
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if (frameNext >= mocapData.NumFrames()):
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frameNext = frame
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frameFraction = (frameTime - frame*keyFrameDuration)/(keyFrameDuration)
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#print("frame=",frame)
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#print("frameFraction=",frameFraction)
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frameData = mocapData._motion_data['Frames'][frame]
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frameDataNext = mocapData._motion_data['Frames'][frameNext]
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joints,qdot=qpi.Slerp(frameFraction, frameData, frameDataNext, p)
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maxForce = p.readUserDebugParameter(maxForceId)
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for j in range (12):
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targetPos = float(joints[j])
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p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
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p.stepSimulation()
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t+=timeStep
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time.sleep(timeStep)
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useOrgData=False
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if useOrgData:
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with open("data1.txt","r") as filestream:
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for line in filestream:
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maxForce = p.readUserDebugParameter(maxForceId)
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currentline = line.split(",")
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frame = currentline[0]
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t = currentline[1]
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joints=currentline[2:14]
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for j in range (12):
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targetPos = float(joints[j])
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p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
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p.stepSimulation()
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for lower_leg in lower_legs:
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#print("points for ", quadruped, " link: ", lower_leg)
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pts = p.getContactPoints(quadruped,-1, lower_leg)
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#print("num points=",len(pts))
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#for pt in pts:
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# print(pt[9])
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time.sleep(1./500.)
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for j in range (p.getNumJoints(quadruped)):
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p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
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info = p.getJointInfo(quadruped,j)
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js = p.getJointState(quadruped,j)
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#print(info)
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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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paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[j])/jointDirections[j]))
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p.setRealTimeSimulation(1)
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while (1):
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for i in range(len(paramIds)):
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c = paramIds[i]
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targetPos = p.readUserDebugParameter(c)
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maxForce = p.readUserDebugParameter(maxForceId)
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p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
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