143 lines
6.5 KiB
Python
143 lines
6.5 KiB
Python
import pybullet as p
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import numpy as np
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class Minitaur:
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def __init__(self, urdfRootPath=''):
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self.urdfRootPath = urdfRootPath
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self.reset()
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def applyAction(self, motorCommands):
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motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
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for i in range(self.nMotors):
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self.setMotorAngleById(self.motorIdList[i], motorCommandsWithDir[i])
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def getObservation(self):
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observation = []
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observation.extend(self.getMotorAngles().tolist())
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observation.extend(self.getMotorVelocities().tolist())
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observation.extend(self.getMotorTorques().tolist())
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observation.extend(list(self.getBaseOrientation()))
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observation.extend(list(self.getBasePosition()))
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return observation
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def getActionDimension(self):
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return self.nMotors
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def getObservationDimension(self):
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return len(self.getObservation())
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def buildJointNameToIdDict(self):
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nJoints = p.getNumJoints(self.quadruped)
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self.jointNameToId = {}
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for i in range(nJoints):
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jointInfo = p.getJointInfo(self.quadruped, i)
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self.jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
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self.resetPose()
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for i in range(100):
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p.stepSimulation()
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def buildMotorIdList(self):
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self.motorIdList.append(self.jointNameToId['motor_front_leftR_joint'])
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self.motorIdList.append(self.jointNameToId['motor_front_leftL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_leftR_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_leftL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_front_rightL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_front_rightR_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_rightL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
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def reset(self):
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self.quadruped = p.loadURDF("%s/quadruped/quadruped.urdf" % self.urdfRootPath,0,0,.3)
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self.kp = 1
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self.kd = 0.1
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self.maxForce = 3.5
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self.nMotors = 8
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self.motorIdList = []
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self.motorDir = [1, -1, 1, -1, -1, 1, -1, 1]
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self.buildJointNameToIdDict()
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self.buildMotorIdList()
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def disableAllMotors(self):
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nJoints = p.getNumJoints(self.quadruped)
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for i in range(nJoints):
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p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=i, controlMode=p.VELOCITY_CONTROL, force=0)
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def setMotorAngleById(self, motorId, desiredAngle):
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p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motorId, controlMode=p.POSITION_CONTROL, targetPosition=desiredAngle, positionGain=self.kp, velocityGain=self.kd, force=self.maxForce)
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def setMotorAngleByName(self, motorName, desiredAngle):
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self.setMotorAngleById(self.jointNameToId[motorName], desiredAngle)
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def resetPose(self):
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#right front leg
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self.disableAllMotors()
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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self.setMotorAngleByName('motor_front_rightR_joint', 1.57)
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self.setMotorAngleByName('motor_front_rightL_joint',-1.57)
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#left front leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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self.setMotorAngleByName('motor_front_leftR_joint', 1.57)
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self.setMotorAngleByName('motor_front_leftL_joint',-1.57)
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#right back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
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self.setMotorAngleByName('motor_back_rightR_joint', 1.57)
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self.setMotorAngleByName('motor_back_rightL_joint',-1.57)
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#left back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],-2.2)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],-1.57)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],2.2)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
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self.setMotorAngleByName('motor_back_leftR_joint', 1.57)
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self.setMotorAngleByName('motor_back_leftL_joint',-1.57)
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def getBasePosition(self):
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position, orientation = p.getBasePositionAndOrientation(self.quadruped)
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return position
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def getBaseOrientation(self):
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position, orientation = p.getBasePositionAndOrientation(self.quadruped)
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return orientation
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def getMotorAngles(self):
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motorAngles = []
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for i in range(self.nMotors):
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jointState = p.getJointState(self.quadruped, self.motorIdList[i])
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motorAngles.append(jointState[0])
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motorAngles = np.multiply(motorAngles, self.motorDir)
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return motorAngles
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def getMotorVelocities(self):
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motorVelocities = []
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for i in range(self.nMotors):
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jointState = p.getJointState(self.quadruped, self.motorIdList[i])
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motorVelocities.append(jointState[1])
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motorVelocities = np.multiply(motorVelocities, self.motorDir)
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return motorVelocities
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def getMotorTorques(self):
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motorTorques = []
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for i in range(self.nMotors):
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jointState = p.getJointState(self.quadruped, self.motorIdList[i])
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motorTorques.append(jointState[3])
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motorTorques = np.multiply(motorTorques, self.motorDir)
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return motorTorques
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