0511a36a67
If you use the Laikago URDF, please add a citation to PyBullet:
@MISC{coumans2018,
author = {Erwin Coumans and Yunfei Bai},
title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
101 lines
3.3 KiB
Python
101 lines
3.3 KiB
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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plane = p.loadURDF("plane.urdf")
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p.setGravity(0,0,-9.8)
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p.setTimeStep(1./500)
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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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quadruped = p.loadURDF("laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
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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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with open("data1.txt","r") as filestream:
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for line in filestream:
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print("line=",line)
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maxForce = p.readUserDebugParameter(maxForceId)
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currentline = line.split(",")
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#print (currentline)
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#print("-----")
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frame = currentline[0]
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t = currentline[1]
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#print("frame[",frame,"]")
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joints=currentline[2:14]
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#print("joints=",joints)
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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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