212 lines
12 KiB
Python
212 lines
12 KiB
Python
import pybullet as p
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import time
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import math
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useRealTime = 1
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fixedTimeStep = 0.001
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speed = 10
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amplitude = 1.3
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jump_amp = 0.5
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maxForce = 3.5
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kp = .6
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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.loadURDF("plane.urdf")
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p.setGravity(0,0,-10)
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p.setTimeStep(fixedTimeStep)
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p.setRealTimeSimulation(1)
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quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,0.3)
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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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#p.getNumJoints(1)
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#right front leg
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p.resetJointState(quadruped,0,1.57)
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p.resetJointState(quadruped,2,-2.2)
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p.resetJointState(quadruped,3,-1.57)
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p.resetJointState(quadruped,5,2.2)
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p.createConstraint(quadruped,2,quadruped,5,p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,1.57,1)
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p.setJointMotorControl(quadruped,1,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,2,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,1)
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p.setJointMotorControl(quadruped,4,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,5,p.VELOCITY_CONTROL,0,0)
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#left front leg
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p.resetJointState(quadruped,6,1.57)
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p.resetJointState(quadruped,8,-2.2)
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p.resetJointState(quadruped,9,-1.57)
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p.resetJointState(quadruped,11,2.2)
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p.createConstraint(quadruped,8,quadruped,11,p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,1.57,1)
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p.setJointMotorControl(quadruped,7,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,8,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-1.57,1)
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p.setJointMotorControl(quadruped,10,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,11,p.VELOCITY_CONTROL,0,0)
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#right back leg
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p.resetJointState(quadruped,12,1.57)
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p.resetJointState(quadruped,14,-2.2)
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p.resetJointState(quadruped,15,-1.57)
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p.resetJointState(quadruped,17,2.2)
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p.createConstraint(quadruped,14,quadruped,17,p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,1.57,1)
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p.setJointMotorControl(quadruped,13,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,14,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,1)
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p.setJointMotorControl(quadruped,16,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,17,p.VELOCITY_CONTROL,0,0)
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#left back leg
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p.resetJointState(quadruped,18,1.57)
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p.resetJointState(quadruped,20,-2.2)
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p.resetJointState(quadruped,21,-1.57)
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p.resetJointState(quadruped,23,2.2)
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p.createConstraint(quadruped,20,quadruped,23,p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,1.57,1)
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p.setJointMotorControl(quadruped,19,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,20,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
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p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-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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t=0.0
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ref_time = time.time()
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t_end = t + 4
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while t < t_end:
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if (useRealTime==0):
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t = t+fixedTimeStep
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p.stepSimulation()
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else:
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t = time.time()-ref_time
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p.setGravity(0,0,-10)
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p.setGravity(0,0,-10)
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#jump
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t = 0.0
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t_end = t + 10
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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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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*jump_amp+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-math.sin(t*speed)*jump_amp-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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if (useRealTime==0):
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p.stepSimulation()
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#hop forward
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t_end = 20
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i=0
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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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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed+3.14)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*speed+3.14)*amplitude+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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if (useRealTime==0):
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p.stepSimulation()
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#walk
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t_end = 100
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i=0
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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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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3+0.5*3.14)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_front_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3+3.14)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_rightL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftR_joint, controlMode=p.POSITION_CONTROL, targetPosition=math.sin(t*3+1.5*3.14)*.3+1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.setJointMotorControl2(bodyIndex=quadruped, jointIndex=motor_back_leftL_joint, controlMode=p.POSITION_CONTROL, targetPosition=-1.57, positionGain=kp, velocityGain=kd, force=maxForce)
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p.stepSimulation()
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p.setRealTimeSimulation(1)
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