b6f5cb4c34
add pdControl.py example, make pdControlPlugin functional reduce memory usage fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
62 lines
2.0 KiB
Python
62 lines
2.0 KiB
Python
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import pybullet as p
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import time
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useMaximalCoordinates=False
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p.connect(p.GUI)
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pole = p.loadURDF("cartpole.urdf", useMaximalCoordinates=useMaximalCoordinates)
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for i in range (p.getNumJoints(pole)):
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#disable default constraint-based motors
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p.setJointMotorControl2(pole,i,p.POSITION_CONTROL,targetPosition=0,force=0)
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print("joint",i,"=",p.getJointInfo(pole,i))
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desiredPosCartId = p.addUserDebugParameter("desiredPosCart",-10,10,2)
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desiredVelCartId = p.addUserDebugParameter("desiredVelCart",-10,10,0)
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kpCartId = p.addUserDebugParameter("kpCart",0,500,300)
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kdCartId = p.addUserDebugParameter("kpCart",0,300,150)
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maxForceCartId = p.addUserDebugParameter("maxForceCart",0,5000,1000)
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desiredPosPoleId = p.addUserDebugParameter("desiredPosPole",-10,10,0)
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desiredVelPoleId = p.addUserDebugParameter("desiredVelPole",-10,10,0)
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kpPoleId = p.addUserDebugParameter("kpPole",0,500,200)
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kdPoleId = p.addUserDebugParameter("kpPole",0,300,100)
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maxForcePoleId = p.addUserDebugParameter("maxForcePole",0,5000,1000)
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pd = p.loadPlugin("pdControlPlugin")
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p.setGravity(0,0,0)
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useRealTimeSim = True
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p.setRealTimeSimulation(useRealTimeSim)
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p.setTimeStep(0.001)
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while p.isConnected():
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if (pd>=0):
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desiredPosCart = p.readUserDebugParameter(desiredPosCartId)
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desiredVelCart = p.readUserDebugParameter(desiredVelCartId)
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kpCart = p.readUserDebugParameter(kpCartId)
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kdCart = p.readUserDebugParameter(kdCartId)
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maxForceCart = p.readUserDebugParameter(maxForceCartId)
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link = 0
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p.executePluginCommand(pd,"test",[1, pole, link], [desiredPosCart, desiredVelCart, kdCart, kpCart, maxForceCart])
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desiredPosPole = p.readUserDebugParameter(desiredPosPoleId)
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desiredVelPole = p.readUserDebugParameter(desiredVelPoleId)
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kpPole = p.readUserDebugParameter(kpPoleId)
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kdPole = p.readUserDebugParameter(kdPoleId)
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maxForcePole = p.readUserDebugParameter(maxForcePoleId)
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link = 1
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p.executePluginCommand(pd,"test",[1, pole, link], [desiredPosPole, desiredVelPole, kdPole, kpPole, maxForcePole])
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if (not useRealTimeSim):
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p.stepSimulation()
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time.sleep(1./240.)
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