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Merge branch 'master' of github.com:erwincoumans/bullet3

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Erwin Coumans 2020-09-04 14:22:21 -07:00
commit caf671890a
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examples/pybullet/gym/pybullet_data/quadruped/spirit40.py Normal file
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from __future__ import print_function
import time
import numpy as np
import argparse
import pybullet as p
import time
import pybullet_data as pd
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
dt = 1./240.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane.urdf")
robot = p.loadURDF("quadruped/spirit40.urdf",[0,0,.5], useFixedBase=False)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.setGravity(0,0,-9.8)
#j= (0, b'8', 0, 7, 6, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip0', (1.0, 0.0, 0.0), (0.2263, 0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
#j= (1, b'0', 0, 8, 7, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper0', (0.0, -1.0, 0.0), (0.0, 0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 0)
#j= (2, b'1', 0, 9, 8, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower0', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 1)
#j= (3, b'jtoe0', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe0', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 2)
#j= (4, b'9', 0, 10, 9, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip1', (1.0, 0.0, 0.0), (-0.2263, 0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
#j= (5, b'2', 0, 11, 10, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper1', (0.0, -1.0, 0.0), (0.0, 0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 4)
#j= (6, b'3', 0, 12, 11, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower1', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 5)
#j= (7, b'jtoe1', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe1', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 6)
#j= (8, b'10', 0, 13, 12, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip2', (1.0, 0.0, 0.0), (0.2263, -0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
#j= (9, b'4', 0, 14, 13, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper2', (0.0, -1.0, 0.0), (0.0, -0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 8)
#j= (10, b'5', 0, 15, 14, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower2', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 9)
#j= (11, b'jtoe2', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe2', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 10)
#j= (12, b'11', 0, 16, 15, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip3', (1.0, 0.0, 0.0), (-0.2263, -0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
#j= (13, b'6', 0, 17, 16, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper3', (0.0, -1.0, 0.0), (0.0, -0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 12)
#j= (14, b'7', 0, 18, 17, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower3', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 13)
#j= (15, b'jtoe3', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe3', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 14)
toes=[3,7,11,15]
revolute_joints=[1,2, 5,6, 9,10, 13,14, 0, 4, 8, 12]
joint_positions = [0.11321902, 0.1833849, 0.11935401, 0.1723926, 0.13162422, 0.2013433,
0.09736967, 0.16855788, -0.08001328, -0.140342, 0.0006392, 0.11989117]
joint_positions = [0.74833727, 1.4664032, 0.76712584, 1.4589894, 0.74642015, 1.4782903,
0.7488482, 1.4464638 , -0.01239824 ,-0.02952504, 0.02939725, 0.05764484]
for j in range (p.getNumJoints(robot)):
print("j=", p.getJointInfo(robot,j))
for j in range (12):
joint_index = revolute_joints[j]
print("revolute_joint index=", joint_index)
p.resetJointState(robot, joint_index, joint_positions[j])
p.setJointMotorControl(robot,joint_index,p.POSITION_CONTROL, joint_positions[j])
count = 0
while p.isConnected():
count+=1
p.stepSimulation()
time.sleep(dt)
print("sitting!")