mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-05 23:31:06 +00:00
Merge branch 'master' into cmake-option-per-extra
This commit is contained in:
Alexander Turkin
commit
f04768ecc4
@ -30,6 +30,8 @@ OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
|
||||
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
|
||||
OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
|
||||
|
||||
OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
|
||||
|
||||
OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
|
||||
IF (BULLET2_MULTITHREADING)
|
||||
OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
|
||||
|
||||
@ -7,6 +7,9 @@ INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
|
||||
)
|
||||
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
|
||||
|
||||
|
||||
|
||||
SET(BulletRobotics_INCLUDES
|
||||
../../examples/CommonInterfaces/Common2dCanvasInterface.h
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||||
@ -94,70 +97,103 @@ SET(BulletRobotics_INCLUDES
|
||||
)
|
||||
|
||||
SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
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||||
../../examples/OpenGLWindow/SimpleCamera.cpp
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||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
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||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
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||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
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||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
|
||||
|
||||
../../examples/OpenGLWindow/SimpleCamera.cpp
|
||||
|
||||
../../examples/TinyRenderer/geometry.cpp
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||||
../../examples/TinyRenderer/model.cpp
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||||
../../examples/TinyRenderer/tgaimage.cpp
|
||||
../../examples/TinyRenderer/our_gl.cpp
|
||||
../../examples/TinyRenderer/TinyRenderer.cpp
|
||||
../../examples/TinyRenderer/geometry.cpp
|
||||
../../examples/TinyRenderer/model.cpp
|
||||
../../examples/TinyRenderer/tgaimage.cpp
|
||||
../../examples/TinyRenderer/our_gl.cpp
|
||||
../../examples/TinyRenderer/TinyRenderer.cpp
|
||||
|
||||
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
|
||||
../../examples/SharedMemory/IKTrajectoryHelper.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
|
||||
../../examples/SharedMemory/InProcessMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClient.cpp
|
||||
../../examples/SharedMemory/PhysicsServer.cpp
|
||||
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsDirect.cpp
|
||||
../../examples/SharedMemory/PhysicsDirectC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
|
||||
../../examples/SharedMemory/b3PluginManager.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientC_API.cpp
|
||||
../../examples/SharedMemory/Win32SharedMemory.cpp
|
||||
../../examples/SharedMemory/PosixSharedMemory.cpp
|
||||
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
|
||||
../../examples/SharedMemory/IKTrajectoryHelper.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
|
||||
../../examples/SharedMemory/InProcessMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClient.cpp
|
||||
../../examples/SharedMemory/PhysicsServer.cpp
|
||||
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsDirect.cpp
|
||||
../../examples/SharedMemory/PhysicsDirectC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
|
||||
../../examples/SharedMemory/b3PluginManager.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientC_API.cpp
|
||||
../../examples/SharedMemory/Win32SharedMemory.cpp
|
||||
../../examples/SharedMemory/PosixSharedMemory.cpp
|
||||
|
||||
../../examples/Utils/b3ResourcePath.cpp
|
||||
../../examples/Utils/RobotLoggingUtil.cpp
|
||||
../../examples/Utils/b3Clock.cpp
|
||||
../../examples/Utils/b3ResourcePath.cpp
|
||||
../../examples/Utils/ChromeTraceUtil.cpp
|
||||
../../examples/Utils/b3ResourcePath.cpp
|
||||
../../examples/Utils/RobotLoggingUtil.cpp
|
||||
../../examples/Utils/b3Clock.cpp
|
||||
../../examples/Utils/b3ResourcePath.cpp
|
||||
../../examples/Utils/ChromeTraceUtil.cpp
|
||||
|
||||
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
|
||||
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
|
||||
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Misc.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Node.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Tree.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
|
||||
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
|
||||
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
|
||||
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Misc.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Node.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/Tree.cpp
|
||||
../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
|
||||
|
||||
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
|
||||
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
|
||||
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
|
||||
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
|
||||
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
|
||||
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
|
||||
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
|
||||
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
|
||||
|
||||
../../examples/MultiThreading/b3PosixThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
|
||||
|
||||
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
|
||||
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
|
||||
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
|
||||
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
|
||||
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
|
||||
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
|
||||
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
|
||||
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
|
||||
|
||||
../../examples/MultiThreading/b3PosixThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
|
||||
)
|
||||
|
||||
IF(ENABLE_VHACD)
|
||||
ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
|
||||
SET(BulletRobotics_SRCS ${BulletRobotics_SRCS}
|
||||
../../Extras/VHACD/test/src/main_vhacd.cpp
|
||||
../../Extras/VHACD/src/VHACD.cpp
|
||||
../../Extras/VHACD/src/vhacdICHull.cpp
|
||||
../../Extras/VHACD/src/vhacdManifoldMesh.cpp
|
||||
../../Extras/VHACD/src/vhacdMesh.cpp
|
||||
../../Extras/VHACD/src/vhacdVolume.cpp
|
||||
)
|
||||
INCLUDE_DIRECTORIES(
|
||||
../../Extras/VHACD/inc
|
||||
../../Extras/VHACD/public
|
||||
)
|
||||
ENDIF(ENABLE_VHACD)
|
||||
|
||||
IF(BUILD_CLSOCKET)
|
||||
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
|
||||
ENDIF(BUILD_CLSOCKET)
|
||||
|
||||
@ -94,21 +94,6 @@ SET(BulletRoboticsGUI_INCLUDES
|
||||
)
|
||||
|
||||
SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
|
||||
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
|
||||
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
|
||||
../../examples/SharedMemory/GraphicsServerExample.cpp
|
||||
../../examples/SharedMemory/GraphicsClientExample.cpp
|
||||
|
||||
@ -643,8 +643,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
|
||||
if ((strcmp(oldType, "btShortIntIndexData") == 0))
|
||||
{
|
||||
int allocLen = 2;
|
||||
char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
|
||||
memset(dataAlloc, 0, (dataChunk.nr * allocLen) + 1);
|
||||
char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
|
||||
memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
|
||||
short *dest = (short *)dataAlloc;
|
||||
const short *src = (short *)head;
|
||||
for (int i = 0; i < dataChunk.nr; i++)
|
||||
@ -682,8 +682,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
|
||||
// numBlocks * length
|
||||
|
||||
int allocLen = (curLen);
|
||||
char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
|
||||
memset(dataAlloc, 0, (dataChunk.nr * allocLen));
|
||||
char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
|
||||
memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
|
||||
|
||||
// track allocated
|
||||
addDataBlock(dataAlloc);
|
||||
@ -719,8 +719,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
|
||||
#endif //
|
||||
}
|
||||
|
||||
char *dataAlloc = new char[(dataChunk.len) + 1];
|
||||
memset(dataAlloc, 0, dataChunk.len + 1);
|
||||
char *dataAlloc = new char[(dataChunk.len) + sizeof(void*)];
|
||||
memset(dataAlloc, 0, dataChunk.len + sizeof(void*));
|
||||
|
||||
// track allocated
|
||||
addDataBlock(dataAlloc);
|
||||
|
||||
31
README.md
31
README.md
@ -7,8 +7,11 @@ This is the official C++ source code repository of the Bullet Physics SDK: real-
|
||||
|
||||
|
||||
|
||||
## Issues ##
|
||||
The Issue tracker was flooded with support questions and is closed until it is cleaned up. Use the [PyBullet forums](http://pybullet.org) to discuss with others.
|
||||
|
||||
## PyBullet ##
|
||||
New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
|
||||
It is highly recommended to use PyBullet Python bindings for improved support for robotics, reinforcement learning and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
|
||||
|
||||
Installation is simple:
|
||||
```
|
||||
@ -63,7 +66,7 @@ You can download and install Bullet using the [vcpkg](https://github.com/Microso
|
||||
cd vcpkg
|
||||
./bootstrap-vcpkg.sh
|
||||
./vcpkg integrate install
|
||||
vcpkg install bullet3
|
||||
./vcpkg install bullet3
|
||||
|
||||
The Bullet port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
|
||||
|
||||
@ -91,9 +94,9 @@ p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86
|
||||
Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)
|
||||
|
||||
In a terminal type:
|
||||
|
||||
./build_cmake_pybullet_double.sh
|
||||
|
||||
```
|
||||
./build_cmake_pybullet_double.sh
|
||||
```
|
||||
This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
|
||||
The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
|
||||
|
||||
@ -101,15 +104,15 @@ You can also build Bullet using premake. There are premake executables in the bu
|
||||
Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
|
||||
Using premake:
|
||||
```
|
||||
cd build3
|
||||
./premake4_linux --double gmake
|
||||
./premake4_linux64 --double gmake
|
||||
./premake4_osx --double --enable_pybullet gmake
|
||||
cd build3
|
||||
./premake4_linux --double gmake
|
||||
./premake4_linux64 --double gmake
|
||||
./premake4_osx --double --enable_pybullet gmake
|
||||
```
|
||||
Then
|
||||
```
|
||||
cd gmake
|
||||
make
|
||||
cd gmake
|
||||
make
|
||||
```
|
||||
|
||||
Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
|
||||
@ -117,9 +120,9 @@ Note that on Linux, you need to use cmake to build pybullet, since the compiler
|
||||
**Mac OSX Xcode**
|
||||
|
||||
Click on build3/xcode4.command or in a terminal window execute
|
||||
|
||||
./premake_osx xcode4
|
||||
|
||||
```
|
||||
./premake_osx xcode4
|
||||
```
|
||||
## Usage
|
||||
|
||||
The App_ExampleBrowser executables will be located in the bin folder.
|
||||
|
||||
@ -55,7 +55,7 @@ public:
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
|
||||
}
|
||||
|
||||
void addCloth(btVector3 origin);
|
||||
void addCloth(const btVector3& origin);
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
@ -126,7 +126,7 @@ void DeformableSelfCollision::initPhysics()
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
void DeformableSelfCollision::addCloth(btVector3 origin)
|
||||
void DeformableSelfCollision::addCloth(const btVector3& origin)
|
||||
// create a piece of cloth
|
||||
{
|
||||
const btScalar s = 0.6;
|
||||
|
||||
@ -1,7 +1,11 @@
|
||||
#include "GwenParameterInterface.h"
|
||||
#include "gwenInternalData.h"
|
||||
#include <cstring>
|
||||
|
||||
#ifdef _WIN32
|
||||
#define safe_printf _snprintf
|
||||
#else
|
||||
#define safe_printf snprintf
|
||||
#endif
|
||||
struct MyButtonEventHandler : public Gwen::Event::Handler
|
||||
{
|
||||
Gwen::Controls::Button* m_buttonControl;
|
||||
@ -85,7 +89,7 @@ struct MySliderEventHandler : public Gwen::Event::Handler
|
||||
if (m_showValue)
|
||||
{
|
||||
char txt[1024];
|
||||
snprintf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
|
||||
safe_printf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
|
||||
m_label->SetText(txt);
|
||||
}
|
||||
}
|
||||
@ -231,7 +235,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
|
||||
}
|
||||
pSlider->SetValue(*params.m_paramValuePointer); //dimensions[i] );
|
||||
char labelName[1024];
|
||||
snprintf(labelName, sizeof(labelName), "%s", params.m_name); //axisNames[0]);
|
||||
safe_printf(labelName, sizeof(labelName), "%s", params.m_name); //axisNames[0]);
|
||||
MySliderEventHandler<btScalar>* handler = new MySliderEventHandler<btScalar>(labelName, label, pSlider, params.m_paramValuePointer, params.m_callback, params.m_userPointer);
|
||||
handler->m_showValue = params.m_showValues;
|
||||
m_paramInternalData->m_sliderEventHandlers.push_back(handler);
|
||||
|
||||
@ -199,7 +199,15 @@ btScalar tmpUrdfScaling = 2;
|
||||
btTransform ConvertURDF2BulletInternal(
|
||||
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
|
||||
URDF2BulletCachedData& cache, int urdfLinkIndex,
|
||||
const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
|
||||
const btTransform& parentTransformInWorldSpace,
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btDiscreteDynamicsWorld* world1,
|
||||
#else
|
||||
btMultiBodyDynamicsWorld* world1,
|
||||
#endif
|
||||
|
||||
|
||||
bool createMultiBody, const char* pathPrefix,
|
||||
int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut, bool recursive)
|
||||
{
|
||||
@ -505,6 +513,7 @@ btTransform ConvertURDF2BulletInternal(
|
||||
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
|
||||
if (createMultiBody)
|
||||
{
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
|
||||
parentRotToThis, quatRotate(offsetInB.getRotation(),
|
||||
jointAxisInJointSpace),
|
||||
@ -519,8 +528,10 @@ btTransform ConvertURDF2BulletInternal(
|
||||
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
|
||||
world1->addMultiBodyConstraint(con);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
else
|
||||
|
||||
{
|
||||
btGeneric6DofSpring2Constraint* dof6 = 0;
|
||||
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
|
||||
@ -560,6 +571,7 @@ btTransform ConvertURDF2BulletInternal(
|
||||
|
||||
if (createMultiBody)
|
||||
{
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
|
||||
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(), //parent2joint.getOrigin(),
|
||||
-offsetInB.getOrigin(),
|
||||
@ -574,6 +586,7 @@ btTransform ConvertURDF2BulletInternal(
|
||||
world1->addMultiBodyConstraint(con);
|
||||
}
|
||||
//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -775,10 +788,18 @@ bool MyIntCompareFunc(childParentIndex a, childParentIndex b)
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void ConvertURDF2Bullet(
|
||||
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
|
||||
const btTransform& rootTransformInWorldSpace,
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btDiscreteDynamicsWorld* world1,
|
||||
#else
|
||||
btMultiBodyDynamicsWorld* world1,
|
||||
#endif
|
||||
bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
|
||||
{
|
||||
URDF2BulletCachedData cache;
|
||||
@ -829,7 +850,7 @@ void ConvertURDF2Bullet(
|
||||
{
|
||||
*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
|
||||
}
|
||||
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
if (world1 && cache.m_bulletMultiBody)
|
||||
{
|
||||
B3_PROFILE("Post process");
|
||||
@ -855,4 +876,5 @@ void ConvertURDF2Bullet(
|
||||
|
||||
world1->addMultiBody(mb);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -8,6 +8,7 @@
|
||||
class btVector3;
|
||||
class btTransform;
|
||||
class btMultiBodyDynamicsWorld;
|
||||
class btDiscreteDynamicsWorld;
|
||||
class btTransform;
|
||||
|
||||
class URDFImporterInterface;
|
||||
@ -20,7 +21,18 @@ struct UrdfVisualShapeCache
|
||||
btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
|
||||
btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
|
||||
};
|
||||
//#define USE_DISCRETE_DYNAMICS_WORLD
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
|
||||
MultiBodyCreationInterface& creationCallback,
|
||||
const btTransform& rootTransformInWorldSpace,
|
||||
btDiscreteDynamicsWorld* world,
|
||||
bool createMultiBody,
|
||||
const char* pathPrefix,
|
||||
int flags = 0,
|
||||
UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
|
||||
|
||||
#else
|
||||
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
|
||||
MultiBodyCreationInterface& creationCallback,
|
||||
const btTransform& rootTransformInWorldSpace,
|
||||
@ -29,5 +41,5 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
|
||||
const char* pathPrefix,
|
||||
int flags = 0,
|
||||
UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
|
||||
|
||||
#endif
|
||||
#endif //_URDF2BULLET_H
|
||||
|
||||
@ -94,7 +94,8 @@ static void ParseUserData(const XMLElement* element, btHashMap<btHashString,
|
||||
if (!key_attr) {
|
||||
logger->reportError("User data tag must have a key attribute.");
|
||||
}
|
||||
user_data.insert(key_attr, user_data_xml->GetText());
|
||||
const char* text = user_data_xml->GetText();
|
||||
user_data.insert(key_attr, text ? text : "");
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1132,6 +1133,7 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
|
||||
if (!i)
|
||||
{
|
||||
logger->reportError("expected an inertial element");
|
||||
return false;
|
||||
}
|
||||
UrdfInertia inertia;
|
||||
if (!parseInertia(inertia, i, logger))
|
||||
|
||||
@ -397,6 +397,15 @@ void GLInstancingRenderer::removeAllInstances()
|
||||
m_graphicsInstances.clear();
|
||||
m_data->m_publicGraphicsInstances.exitHandles();
|
||||
m_data->m_publicGraphicsInstances.initHandles();
|
||||
|
||||
for (int i=0;i<m_data->m_textureHandles.size();i++)
|
||||
{
|
||||
InternalTextureHandle& h = m_data->m_textureHandles[i];
|
||||
glDeleteTextures(1, &h.m_glTexture);
|
||||
}
|
||||
|
||||
m_data->m_textureHandles.clear();
|
||||
|
||||
}
|
||||
|
||||
GLInstancingRenderer::~GLInstancingRenderer()
|
||||
|
||||
@ -977,6 +977,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedM
|
||||
return (b3SharedMemoryCommandHandle)command;
|
||||
}
|
||||
|
||||
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle physClient)
|
||||
{
|
||||
PhysicsClient* cl = (PhysicsClient*)physClient;
|
||||
b3Assert(cl);
|
||||
b3Assert(cl->canSubmitCommand());
|
||||
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
|
||||
b3Assert(command);
|
||||
command->m_type = CMD_PERFORM_COLLISION_DETECTION;
|
||||
command->m_updateFlags = 0;
|
||||
return (b3SharedMemoryCommandHandle)command;
|
||||
}
|
||||
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
|
||||
{
|
||||
PhysicsClient* cl = (PhysicsClient*)physClient;
|
||||
@ -1043,6 +1056,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3S
|
||||
command->m_sendDesiredStateCommandArgument.m_Kp[i] = 0;
|
||||
command->m_sendDesiredStateCommandArgument.m_Kd[i] = 0;
|
||||
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 0;
|
||||
command->m_sendDesiredStateCommandArgument.m_damping[i] = 0;
|
||||
}
|
||||
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[3] = 1;
|
||||
return (b3SharedMemoryCommandHandle)command;
|
||||
@ -1090,6 +1104,22 @@ B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle,
|
||||
return 0;
|
||||
}
|
||||
|
||||
B3_SHARED_API int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kps, int dofCount)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
b3Assert(command);
|
||||
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
|
||||
{
|
||||
for (int dof = 0; dof < dofCount; dof++)
|
||||
{
|
||||
command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex + dof] = kps[dof];
|
||||
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP;
|
||||
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_KP;
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
@ -1103,6 +1133,22 @@ B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle,
|
||||
return 0;
|
||||
}
|
||||
|
||||
B3_SHARED_API int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kds, int dofCount)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
b3Assert(command);
|
||||
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
|
||||
{
|
||||
for (int dof = 0; dof < dofCount; dof++)
|
||||
{
|
||||
command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex + dof] = kds[dof];
|
||||
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
|
||||
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_KD;
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
@ -1161,6 +1207,35 @@ B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryComm
|
||||
return 0;
|
||||
}
|
||||
|
||||
B3_SHARED_API int b3JointControlSetDamping(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
b3Assert(command);
|
||||
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
|
||||
{
|
||||
command->m_sendDesiredStateCommandArgument.m_damping[dofIndex] = value;
|
||||
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_DAMPING;
|
||||
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_DAMPING;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
B3_SHARED_API int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* damping, int dofCount)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
b3Assert(command);
|
||||
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
|
||||
{
|
||||
for (int dof = 0; dof < dofCount; dof++)
|
||||
{
|
||||
command->m_sendDesiredStateCommandArgument.m_damping[dofIndex+dof] = damping[dof];
|
||||
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_DAMPING;
|
||||
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_DAMPING;
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
@ -2052,7 +2127,8 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
|
||||
const double linkInertialFrameOrientation[4],
|
||||
int linkParentIndex,
|
||||
int linkJointType,
|
||||
const double linkJointAxis[3])
|
||||
const double linkJointAxis[3],
|
||||
const char* const linkName)
|
||||
{
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
b3Assert(command);
|
||||
@ -2097,6 +2173,7 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
|
||||
command->m_createMultiBodyArgs.m_linkJointAxis[3 * linkIndex + 2] = linkJointAxis[2];
|
||||
|
||||
command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
|
||||
command->m_createMultiBodyArgs.m_linkNames[linkIndex] = linkName;
|
||||
command->m_createMultiBodyArgs.m_numLinks++;
|
||||
return numLinks;
|
||||
}
|
||||
|
||||
@ -382,6 +382,8 @@ extern "C"
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
|
||||
|
||||
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle physClient);
|
||||
|
||||
B3_SHARED_API int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle statusHandle, struct b3ForwardDynamicsAnalyticsArgs* analyticsData);
|
||||
|
||||
|
||||
@ -482,7 +484,9 @@ extern "C"
|
||||
B3_SHARED_API int b3JointControlSetDesiredPositionMultiDof(b3SharedMemoryCommandHandle commandHandle, int qIndex, const double* position, int dofCount);
|
||||
|
||||
B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
||||
B3_SHARED_API int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kps, int dofCount);
|
||||
B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
||||
B3_SHARED_API int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kds, int dofCount);
|
||||
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity);
|
||||
|
||||
///Only use when controlMode is CONTROL_MODE_VELOCITY
|
||||
@ -492,6 +496,8 @@ extern "C"
|
||||
|
||||
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
||||
B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* forces, int dofCount);
|
||||
B3_SHARED_API int b3JointControlSetDamping(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
||||
B3_SHARED_API int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* damping, int dofCount);
|
||||
|
||||
///Only use if when controlMode is CONTROL_MODE_TORQUE,
|
||||
B3_SHARED_API int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
|
||||
@ -552,7 +558,8 @@ extern "C"
|
||||
const double linkInertialFrameOrientation[/*4*/],
|
||||
int linkParentIndex,
|
||||
int linkJointType,
|
||||
const double linkJointAxis[/*3*/]);
|
||||
const double linkJointAxis[/*3*/],
|
||||
const char* const linkName);
|
||||
|
||||
//batch creation is an performance feature to create a large number of multi bodies in one command
|
||||
B3_SHARED_API int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, double* batchPositions, int numBatchObjects);
|
||||
|
||||
@ -13,6 +13,12 @@
|
||||
#include "PhysicsDirectC_API.h"
|
||||
#include "PhysicsClientC_API.h"
|
||||
#include "PhysicsServerSharedMemory.h"
|
||||
#include <stdio.h>
|
||||
#ifdef _WIN32
|
||||
#define safe_printf _snprintf
|
||||
#else
|
||||
#define safe_printf snprintf
|
||||
#endif
|
||||
struct MyMotorInfo2
|
||||
{
|
||||
btScalar m_velTarget;
|
||||
@ -655,7 +661,7 @@ void PhysicsClientExample::createButtons()
|
||||
if (m_numMotors < MAX_NUM_MOTORS)
|
||||
{
|
||||
char motorName[1026];
|
||||
snprintf(motorName, sizeof(motorName), "%s q", info.m_jointName);
|
||||
safe_printf(motorName, sizeof(motorName), "%s q", info.m_jointName);
|
||||
// MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
|
||||
MyMotorInfo2* motorInfo = &m_motorTargetPositions[m_numMotors];
|
||||
motorInfo->m_velTarget = 0.f;
|
||||
|
||||
@ -702,6 +702,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
|
||||
}
|
||||
break;
|
||||
}
|
||||
case CMD_PERFORM_COLLISION_DETECTION_COMPLETED:
|
||||
{
|
||||
B3_PROFILE("CMD_PERFORM_COLLISION_DETECTION_COMPLETED");
|
||||
|
||||
if (m_data->m_verboseOutput)
|
||||
{
|
||||
b3Printf("Server completed performing collision detection");
|
||||
}
|
||||
break;
|
||||
}
|
||||
case CMD_URDF_LOADING_FAILED:
|
||||
{
|
||||
B3_PROFILE("CMD_URDF_LOADING_FAILED");
|
||||
|
||||
@ -1166,6 +1166,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
|
||||
{
|
||||
break;
|
||||
}
|
||||
case CMD_PERFORM_COLLISION_DETECTION_COMPLETED:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED:
|
||||
{
|
||||
break;
|
||||
|
||||
@ -12,10 +12,15 @@
|
||||
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
|
||||
|
||||
//#define USE_DISCRETE_DYNAMICS_WORLD
|
||||
//#define SKIP_DEFORMABLE_BODY
|
||||
//#define SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
|
||||
#include "../Utils/b3BulletDefaultFileIO.h"
|
||||
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
|
||||
@ -1626,7 +1631,11 @@ struct PhysicsServerCommandProcessorInternalData
|
||||
|
||||
b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btAlignedObjectArray<btWorldImporter*> m_worldImporters;
|
||||
#else
|
||||
btAlignedObjectArray<btMultiBodyWorldImporter*> m_worldImporters;
|
||||
#endif
|
||||
|
||||
btAlignedObjectArray<std::string*> m_strings;
|
||||
|
||||
@ -1641,8 +1650,12 @@ struct PhysicsServerCommandProcessorInternalData
|
||||
btHashedOverlappingPairCache* m_pairCache;
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btSequentialImpulseConstraintSolver* m_solver;
|
||||
#else
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
#endif
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
@ -1654,7 +1667,12 @@ struct PhysicsServerCommandProcessorInternalData
|
||||
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
|
||||
#endif
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btDiscreteDynamicsWorld* m_dynamicsWorld;
|
||||
#else
|
||||
btMultiBodyDynamicsWorld* m_dynamicsWorld;
|
||||
#endif
|
||||
|
||||
|
||||
int m_constraintSolverType;
|
||||
SharedMemoryDebugDrawer* m_remoteDebugDrawer;
|
||||
@ -2232,6 +2250,11 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
|
||||
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
|
||||
virtual std::string getLinkName(int linkIndex) const
|
||||
{
|
||||
// Allow user overrides on default-created link names.
|
||||
if(m_createBodyArgs.m_linkNames[linkIndex] != 0
|
||||
&& strlen(m_createBodyArgs.m_linkNames[linkIndex]) > 0){
|
||||
return std::string(m_createBodyArgs.m_linkNames[linkIndex]);
|
||||
}
|
||||
std::string linkName = "link";
|
||||
char numstr[21]; // enough to hold all numbers up to 64-bits
|
||||
sprintf(numstr, "%d", linkIndex);
|
||||
@ -2309,6 +2332,11 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
|
||||
|
||||
virtual std::string getJointName(int linkIndex) const
|
||||
{
|
||||
// Allow user overrides on default-created joint names.
|
||||
if(m_createBodyArgs.m_linkNames[linkIndex] != 0
|
||||
&& strlen(m_createBodyArgs.m_linkNames[linkIndex]) > 0){
|
||||
return std::string(m_createBodyArgs.m_linkNames[linkIndex]);
|
||||
}
|
||||
std::string jointName = "joint";
|
||||
char numstr[21]; // enough to hold all numbers up to 64-bits
|
||||
sprintf(numstr, "%d", linkIndex);
|
||||
@ -2712,20 +2740,35 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
||||
if ((0 == m_data->m_dynamicsWorld) && (0 == (flags & RESET_USE_DISCRETE_DYNAMICS_WORLD)))
|
||||
{
|
||||
m_data->m_solver = new btMultiBodyConstraintSolver;
|
||||
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
m_data->m_solver = new btMultiBodyConstraintSolver;
|
||||
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
|
||||
#else
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
m_data->m_solver = new btSequentialImpulseConstraintSolver;
|
||||
m_data->m_dynamicsWorld = new btDiscreteDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
|
||||
#else
|
||||
m_data->m_solver = new btMultiBodyConstraintSolver;
|
||||
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
if (0 == m_data->m_dynamicsWorld)
|
||||
{
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
m_data->m_solver = new btSequentialImpulseConstraintSolver;
|
||||
m_data->m_dynamicsWorld = new btDiscreteDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
|
||||
#else
|
||||
|
||||
m_data->m_solver = new btMultiBodyConstraintSolver;
|
||||
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
|
||||
#endif
|
||||
}
|
||||
|
||||
//Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
|
||||
@ -2860,13 +2903,14 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
|
||||
constraints.push_back(constraint);
|
||||
m_data->m_dynamicsWorld->removeConstraint(constraint);
|
||||
}
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
for (i = m_data->m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
|
||||
{
|
||||
btMultiBodyConstraint* mbconstraint = m_data->m_dynamicsWorld->getMultiBodyConstraint(i);
|
||||
mbconstraints.push_back(mbconstraint);
|
||||
m_data->m_dynamicsWorld->removeMultiBodyConstraint(mbconstraint);
|
||||
}
|
||||
|
||||
#endif
|
||||
for (i = m_data->m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
@ -2878,12 +2922,14 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
|
||||
m_data->m_dynamicsWorld->removeCollisionObject(obj);
|
||||
delete obj;
|
||||
}
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
for (i = m_data->m_dynamicsWorld->getNumMultibodies() - 1; i >= 0; i--)
|
||||
{
|
||||
btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(i);
|
||||
m_data->m_dynamicsWorld->removeMultiBody(mb);
|
||||
delete mb;
|
||||
}
|
||||
#endif
|
||||
#ifndef SKIP_DEFORMABLE_BODY
|
||||
for (int j = 0; j < m_data->m_lf.size(); j++)
|
||||
{
|
||||
@ -3052,14 +3098,18 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
|
||||
//motor->setRhsClamp(gRhsClamp);
|
||||
//motor->setMaxAppliedImpulse(0);
|
||||
mb->getLink(mbLinkIndex).m_userPtr = motor;
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
m_data->m_dynamicsWorld->addMultiBodyConstraint(motor);
|
||||
#endif
|
||||
motor->finalizeMultiDof();
|
||||
}
|
||||
if (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eSpherical)
|
||||
{
|
||||
btMultiBodySphericalJointMotor* motor = new btMultiBodySphericalJointMotor(mb, mbLinkIndex, 1000 * maxMotorImpulse);
|
||||
mb->getLink(mbLinkIndex).m_userPtr = motor;
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
m_data->m_dynamicsWorld->addMultiBodyConstraint(motor);
|
||||
#endif
|
||||
motor->finalizeMultiDof();
|
||||
}
|
||||
}
|
||||
@ -3166,11 +3216,15 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
|
||||
}
|
||||
}
|
||||
UrdfVisualShapeCache* cachedVisualShapesPtr = m_data->m_cachedVUrdfisualShapes[fileName];
|
||||
|
||||
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, cachedVisualShapesPtr);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags);
|
||||
|
||||
}
|
||||
|
||||
mb = creation.getBulletMultiBody();
|
||||
@ -3788,9 +3842,10 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_GENERIC_ROBOT)
|
||||
{
|
||||
|
||||
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
|
||||
|
||||
int loggerUid = m_data->m_stateLoggersUniqueId++;
|
||||
@ -3848,6 +3903,7 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
|
||||
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
|
||||
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
|
||||
}
|
||||
#endif
|
||||
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VR_CONTROLLERS)
|
||||
{
|
||||
std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
|
||||
@ -4733,7 +4789,11 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
|
||||
bool hasStatus = true;
|
||||
serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btWorldImporter* worldImporter = new btWorldImporter(m_data->m_dynamicsWorld);
|
||||
#else
|
||||
btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
|
||||
#endif
|
||||
|
||||
btCollisionShape* shape = 0;
|
||||
b3AlignedObjectArray<UrdfCollision> urdfCollisionObjects;
|
||||
@ -7093,8 +7153,8 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
|
||||
motor->setRhsClamp(clientCmd.m_sendDesiredStateCommandArgument.m_rhsClamp[velIndex]);
|
||||
}
|
||||
bool hasDesiredPosOrVel = false;
|
||||
btScalar kp = 0.f;
|
||||
btScalar kd = 0.f;
|
||||
btVector3 kp(0, 0, 0);
|
||||
btVector3 kd(0, 0, 0);
|
||||
btVector3 desiredVelocity(0, 0, 0);
|
||||
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_QDOT) != 0)
|
||||
{
|
||||
@ -7103,7 +7163,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 1],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 2]);
|
||||
kd = 0.1;
|
||||
kd.setValue(0.1, 0.1, 0.1);
|
||||
}
|
||||
btQuaternion desiredPosition(0, 0, 0, 1);
|
||||
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[posIndex] & SIM_DESIRED_STATE_HAS_Q) != 0)
|
||||
@ -7114,38 +7174,122 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex + 1],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex + 2],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex + 3]);
|
||||
kp = 0.1;
|
||||
kp.setValue(0.1, 0.1, 0.1);
|
||||
}
|
||||
|
||||
if (hasDesiredPosOrVel)
|
||||
{
|
||||
bool useMultiDof = true;
|
||||
|
||||
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KP) != 0)
|
||||
{
|
||||
kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex];
|
||||
kp.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0]);
|
||||
}
|
||||
if (((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_KP) != 0) &&
|
||||
((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_KP) != 0) &&
|
||||
((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_KP) != 0)
|
||||
)
|
||||
{
|
||||
kp.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 1],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 2]);
|
||||
} else
|
||||
{
|
||||
useMultiDof = false;
|
||||
}
|
||||
|
||||
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KD) != 0)
|
||||
{
|
||||
kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex];
|
||||
kd.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0]);
|
||||
}
|
||||
|
||||
motor->setVelocityTarget(desiredVelocity, kd);
|
||||
//todo: instead of clamping, combine the motor and limit
|
||||
//and combine handling of limit force and motor force.
|
||||
if (((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_KD) != 0) &&
|
||||
((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_KD) != 0) &&
|
||||
((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_KD) != 0))
|
||||
{
|
||||
kd.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 1],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 2]);
|
||||
} else
|
||||
{
|
||||
useMultiDof = false;
|
||||
}
|
||||
|
||||
//clamp position
|
||||
//if (mb->getLink(link).m_jointLowerLimit <= mb->getLink(link).m_jointUpperLimit)
|
||||
//{
|
||||
// btClamp(desiredPosition, mb->getLink(link).m_jointLowerLimit, mb->getLink(link).m_jointUpperLimit);
|
||||
//}
|
||||
motor->setPositionTarget(desiredPosition, kp);
|
||||
btVector3 maxImp(
|
||||
1000000.f * m_data->m_physicsDeltaTime,
|
||||
1000000.f * m_data->m_physicsDeltaTime,
|
||||
1000000.f * m_data->m_physicsDeltaTime);
|
||||
|
||||
btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
|
||||
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
|
||||
{
|
||||
maxImp.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime,
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime,
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime);
|
||||
}
|
||||
|
||||
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
|
||||
maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
|
||||
if (((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) &&
|
||||
((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) &&
|
||||
((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0))
|
||||
{
|
||||
maxImp.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime,
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 1] * m_data->m_physicsDeltaTime,
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 2] * m_data->m_physicsDeltaTime);
|
||||
} else
|
||||
{
|
||||
useMultiDof = false;
|
||||
}
|
||||
|
||||
if (useMultiDof)
|
||||
{
|
||||
motor->setVelocityTargetMultiDof(desiredVelocity, kd);
|
||||
motor->setPositionTargetMultiDof(desiredPosition, kp);
|
||||
motor->setMaxAppliedImpulseMultiDof(maxImp);
|
||||
} else
|
||||
{
|
||||
motor->setVelocityTarget(desiredVelocity, kd[0]);
|
||||
//todo: instead of clamping, combine the motor and limit
|
||||
//and combine handling of limit force and motor force.
|
||||
|
||||
motor->setMaxAppliedImpulse(maxImp);
|
||||
//clamp position
|
||||
//if (mb->getLink(link).m_jointLowerLimit <= mb->getLink(link).m_jointUpperLimit)
|
||||
//{
|
||||
// btClamp(desiredPosition, mb->getLink(link).m_jointLowerLimit, mb->getLink(link).m_jointUpperLimit);
|
||||
//}
|
||||
motor->setPositionTarget(desiredPosition, kp[0]);
|
||||
motor->setMaxAppliedImpulse(maxImp[0]);
|
||||
}
|
||||
|
||||
btVector3 damping(1.f, 1.f, 1.f);
|
||||
if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_DAMPING) != 0) {
|
||||
if (
|
||||
(clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_DAMPING)&&
|
||||
(clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_DAMPING)&&
|
||||
(clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_DAMPING)
|
||||
)
|
||||
{
|
||||
damping.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 1],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 2]);
|
||||
} else
|
||||
{
|
||||
damping.setValue(
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0],
|
||||
clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0]);
|
||||
}
|
||||
}
|
||||
motor->setDamping(damping);
|
||||
}
|
||||
numMotors++;
|
||||
}
|
||||
@ -9433,6 +9577,24 @@ bool PhysicsServerCommandProcessor::processRequestCollisionInfoCommand(const str
|
||||
return hasStatus;
|
||||
}
|
||||
|
||||
bool PhysicsServerCommandProcessor::performCollisionDetectionCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
{
|
||||
bool hasStatus = true;
|
||||
|
||||
BT_PROFILE("CMD_PERFORM_COLLISION_DETECTION");
|
||||
|
||||
if (m_data->m_verboseOutput)
|
||||
{
|
||||
b3Printf("Perform Collision Detection command");
|
||||
b3Printf("CMD_PERFORM_COLLISION_DETECTION clientCmd = %d\n", clientCmd.m_sequenceNumber);
|
||||
}
|
||||
|
||||
m_data->m_dynamicsWorld->performDiscreteCollisionDetection();
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_PERFORM_COLLISION_DETECTION_COMPLETED;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
{
|
||||
bool hasStatus = true;
|
||||
@ -9444,6 +9606,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
|
||||
b3Printf("Step simulation request");
|
||||
b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
|
||||
}
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
///todo(erwincoumans) move this damping inside Bullet
|
||||
for (int i = 0; i < m_data->m_dynamicsWorld->getNumMultibodies(); i++)
|
||||
{
|
||||
@ -9458,7 +9621,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
btScalar deltaTimeScaled = m_data->m_physicsDeltaTime * simTimeScalingFactor;
|
||||
|
||||
int numSteps = 0;
|
||||
@ -9483,8 +9646,9 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
|
||||
serverCmd.m_forwardDynamicsAnalyticsArgs.m_numSteps = numSteps;
|
||||
|
||||
btAlignedObjectArray<btSolverAnalyticsData> islandAnalyticsData;
|
||||
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
m_data->m_dynamicsWorld->getAnalyticsData(islandAnalyticsData);
|
||||
#endif
|
||||
serverCmd.m_forwardDynamicsAnalyticsArgs.m_numIslands = islandAnalyticsData.size();
|
||||
int numIslands = btMin(islandAnalyticsData.size(), MAX_ISLANDS_ANALYTICS);
|
||||
|
||||
@ -9555,7 +9719,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
|
||||
if (bodyUniqueId >= 0)
|
||||
{
|
||||
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
if (body && body->m_multiBody)
|
||||
{
|
||||
btMultiBody* mb = body->m_multiBody;
|
||||
@ -9741,6 +9905,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS)
|
||||
{
|
||||
@ -9875,6 +10040,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
{
|
||||
btRigidBody* rb = 0;
|
||||
if (body && body->m_rigidBody)
|
||||
@ -10401,7 +10567,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
|
||||
btConstraintSolver* oldSolver = m_data->m_dynamicsWorld->getConstraintSolver();
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btSequentialImpulseConstraintSolver* newSolver = 0;
|
||||
#else
|
||||
btMultiBodyConstraintSolver* newSolver = 0;
|
||||
#endif
|
||||
|
||||
switch (clientCmd.m_physSimParamArgs.m_constraintSolverType)
|
||||
{
|
||||
@ -10414,7 +10584,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
case eConstraintSolverLCP_PGS:
|
||||
{
|
||||
btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel();
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
newSolver = new btMLCPSolver(mlcp);
|
||||
#else
|
||||
newSolver = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
#endif
|
||||
|
||||
b3Printf("PyBullet: Constraint Solver: MLCP + PGS\n");
|
||||
break;
|
||||
}
|
||||
@ -10438,7 +10613,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
{
|
||||
delete oldSolver;
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
m_data->m_dynamicsWorld->setConstraintSolver(newSolver);
|
||||
#else
|
||||
m_data->m_dynamicsWorld->setMultiBodyConstraintSolver(newSolver);
|
||||
#endif
|
||||
m_data->m_solver = newSolver;
|
||||
printf("switched solver\n");
|
||||
}
|
||||
@ -10718,6 +10897,12 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
|
||||
scratch_m.resize(nLinks + 1);
|
||||
|
||||
mb->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
|
||||
|
||||
m_data->m_dynamicsWorld->updateSingleAabb(mb->getBaseCollider());
|
||||
for (int i=0;i<mb->getNumLinks();i++)
|
||||
{
|
||||
m_data->m_dynamicsWorld->updateSingleAabb(mb->getLinkCollider(i));
|
||||
}
|
||||
}
|
||||
|
||||
if (body && body->m_rigidBody)
|
||||
@ -10742,6 +10927,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
|
||||
body->m_rigidBody->getWorldTransform().setRotation(baseOrn);
|
||||
body->m_rigidBody->setAngularVelocity(baseAngVel);
|
||||
}
|
||||
m_data->m_dynamicsWorld->updateSingleAabb(body->m_rigidBody);
|
||||
}
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
if (body && body->m_softBody)
|
||||
@ -10768,6 +10954,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
|
||||
}
|
||||
body->m_softBody->transformTo(tr);
|
||||
}
|
||||
m_data->m_dynamicsWorld->updateSingleAabb(body->m_softBody);
|
||||
}
|
||||
#endif
|
||||
syncPhysicsToGraphics2();
|
||||
@ -10840,7 +11027,11 @@ bool PhysicsServerCommandProcessor::processCreateRigidBodyCommand(const struct S
|
||||
shapeType = clientCmd.m_createBoxShapeArguments.m_collisionShapeType;
|
||||
}
|
||||
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btWorldImporter* worldImporter = new btWorldImporter(m_data->m_dynamicsWorld);
|
||||
#else
|
||||
btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
|
||||
#endif
|
||||
m_data->m_worldImporters.push_back(worldImporter);
|
||||
|
||||
btCollisionShape* shape = 0;
|
||||
@ -11585,6 +11776,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
|
||||
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
if (bodyHandle)
|
||||
{
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
if (bodyHandle->m_multiBody)
|
||||
{
|
||||
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
|
||||
@ -11654,6 +11846,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
|
||||
bodyHandle->m_multiBody = 0;
|
||||
serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
|
||||
}
|
||||
#endif
|
||||
if (bodyHandle->m_rigidBody)
|
||||
{
|
||||
if (m_data->m_pluginManager.getRenderInterface())
|
||||
@ -11731,7 +11924,11 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
|
||||
|
||||
for (int i = 0; i < m_data->m_worldImporters.size(); i++)
|
||||
{
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btWorldImporter* importer = m_data->m_worldImporters[i];
|
||||
#else
|
||||
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[i];
|
||||
#endif
|
||||
for (int c = 0; c < importer->getNumCollisionShapes(); c++)
|
||||
{
|
||||
if (importer->getCollisionShapeByIndex(c) == handle->m_collisionShape)
|
||||
@ -11747,7 +11944,11 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
|
||||
}
|
||||
if (foundIndex >= 0)
|
||||
{
|
||||
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btWorldImporter* importer = m_data->m_worldImporters[foundIndex];
|
||||
#else
|
||||
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[foundIndex];
|
||||
#endif
|
||||
m_data->m_worldImporters.removeAtIndex(foundIndex);
|
||||
importer->deleteAllData();
|
||||
delete importer;
|
||||
@ -11901,6 +12102,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
|
||||
{
|
||||
btScalar defaultMaxForce = 500.0;
|
||||
InternalBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
if (parentBody && parentBody->m_multiBody)
|
||||
{
|
||||
if ((clientCmd.m_userConstraintArguments.m_parentJointIndex >= -1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks())
|
||||
@ -12054,6 +12256,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
{
|
||||
InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex >= 0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex) : 0;
|
||||
|
||||
@ -12301,12 +12504,14 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
|
||||
InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidRemove);
|
||||
if (userConstraintPtr)
|
||||
{
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
if (userConstraintPtr->m_mbConstraint)
|
||||
{
|
||||
m_data->m_dynamicsWorld->removeMultiBodyConstraint(userConstraintPtr->m_mbConstraint);
|
||||
delete userConstraintPtr->m_mbConstraint;
|
||||
m_data->m_userConstraints.remove(userConstraintUidRemove);
|
||||
}
|
||||
#endif//USE_DISCRETE_DYNAMICS_WORLD
|
||||
if (userConstraintPtr->m_rbConstraint)
|
||||
{
|
||||
m_data->m_dynamicsWorld->removeConstraint(userConstraintPtr->m_rbConstraint);
|
||||
@ -13654,12 +13859,14 @@ bool PhysicsServerCommandProcessor::processRemoveStateCommand(const struct Share
|
||||
|
||||
bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
{
|
||||
|
||||
BT_PROFILE("CMD_RESTORE_STATE");
|
||||
bool hasStatus = true;
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_RESTORE_STATE_FAILED;
|
||||
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
btMultiBodyWorldImporter* importer = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
|
||||
|
||||
importer->setImporterFlags(eRESTORE_EXISTING_OBJECTS);
|
||||
|
||||
bool ok = false;
|
||||
@ -13727,7 +13934,7 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar
|
||||
{
|
||||
serverCmd.m_type = CMD_RESTORE_STATE_COMPLETED;
|
||||
}
|
||||
|
||||
#endif
|
||||
return hasStatus;
|
||||
}
|
||||
|
||||
@ -13739,6 +13946,7 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_BULLET_LOADING_FAILED;
|
||||
|
||||
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
||||
//btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
|
||||
btMultiBodyWorldImporter* importer = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
|
||||
|
||||
@ -13817,6 +14025,7 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
|
||||
m_data->m_guiHelper->autogenerateGraphicsObjects(m_data->m_dynamicsWorld);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
return hasStatus;
|
||||
}
|
||||
|
||||
@ -14034,6 +14243,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
hasStatus = processForwardDynamicsCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
|
||||
break;
|
||||
}
|
||||
case CMD_PERFORM_COLLISION_DETECTION:
|
||||
{
|
||||
hasStatus = performCollisionDetectionCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
|
||||
break;
|
||||
}
|
||||
|
||||
case CMD_REQUEST_INTERNAL_DATA:
|
||||
{
|
||||
|
||||
@ -55,6 +55,7 @@ protected:
|
||||
bool processProfileTimingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
bool processRequestCollisionInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
bool performCollisionDetectionCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
bool processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
bool processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
|
||||
|
||||
@ -465,6 +465,8 @@ struct SendDesiredStateArgs
|
||||
//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
|
||||
//indexed by degree of freedom, 6 dof base, and then dofs for each link
|
||||
double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
|
||||
|
||||
double m_damping[MAX_DEGREE_OF_FREEDOM];
|
||||
};
|
||||
|
||||
enum EnumSimDesiredStateUpdateFlags
|
||||
@ -475,6 +477,7 @@ enum EnumSimDesiredStateUpdateFlags
|
||||
SIM_DESIRED_STATE_HAS_KP = 8,
|
||||
SIM_DESIRED_STATE_HAS_MAX_FORCE = 16,
|
||||
SIM_DESIRED_STATE_HAS_RHS_CLAMP = 32,
|
||||
SIM_DESIRED_STATE_HAS_DAMPING = 64,
|
||||
};
|
||||
|
||||
enum EnumSimParamUpdateFlags
|
||||
@ -1057,6 +1060,7 @@ struct b3CreateMultiBodyArgs
|
||||
int m_flags;
|
||||
int m_numBatchObjects;
|
||||
|
||||
const char* m_linkNames[MAX_CREATE_MULTI_BODY_LINKS];
|
||||
};
|
||||
|
||||
struct b3CreateMultiBodyResultArgs
|
||||
|
||||
@ -115,7 +115,8 @@ enum EnumSharedMemoryClientCommand
|
||||
CMD_REMOVE_USER_DATA,
|
||||
CMD_COLLISION_FILTER,
|
||||
CMD_REQUEST_MESH_DATA,
|
||||
|
||||
|
||||
CMD_PERFORM_COLLISION_DETECTION,
|
||||
//don't go beyond this command!
|
||||
CMD_MAX_CLIENT_COMMANDS,
|
||||
};
|
||||
@ -239,6 +240,7 @@ enum EnumSharedMemoryServerStatus
|
||||
CMD_REQUEST_MESH_DATA_COMPLETED,
|
||||
CMD_REQUEST_MESH_DATA_FAILED,
|
||||
|
||||
CMD_PERFORM_COLLISION_DETECTION_COMPLETED,
|
||||
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
|
||||
CMD_MAX_SERVER_COMMANDS
|
||||
};
|
||||
|
||||
@ -2431,7 +2431,8 @@ int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorC
|
||||
doubleLinkInertialFrameOrientation,
|
||||
linkParentIndex,
|
||||
linkJointType,
|
||||
doubleLinkJointAxis);
|
||||
doubleLinkJointAxis,
|
||||
0);
|
||||
}
|
||||
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
||||
|
||||
@ -136,7 +136,7 @@ std::string base64_decode(std::string const& encoded_string, bool remove_linebre
|
||||
std::string copy(encoded_string);
|
||||
|
||||
size_t pos=0;
|
||||
while ((pos = copy.find("\n", pos)) != std::string::npos) {
|
||||
while ((pos = copy.find('\n', pos)) != std::string::npos) {
|
||||
copy.erase(pos, 1);
|
||||
}
|
||||
|
||||
|
||||
@ -149,7 +149,7 @@ Vec3f Model::vert(int iface, int nthvert)
|
||||
void Model::load_texture(std::string filename, const char *suffix, TGAImage &img)
|
||||
{
|
||||
std::string texfile(filename);
|
||||
size_t dot = texfile.find_last_of(".");
|
||||
size_t dot = texfile.find_last_of('.');
|
||||
if (dot != std::string::npos)
|
||||
{
|
||||
texfile = texfile.substr(0, dot) + std::string(suffix);
|
||||
|
||||
@ -13,15 +13,19 @@ IF(BUILD_PYBULLET_NUMPY)
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
|
||||
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN )
|
||||
|
||||
SET(pybullet3_SRCS
|
||||
pybullet.c
|
||||
)
|
||||
IF(ENABLE_VHACD)
|
||||
ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
../../Extras/VHACD/inc
|
||||
../../Extras/VHACD/public
|
||||
)
|
||||
ENDIF(ENABLE_VHACD)
|
||||
|
||||
SET(pybullet_SRCS
|
||||
pybullet.c
|
||||
|
||||
)
|
||||
|
||||
IF(BUILD_CLSOCKET)
|
||||
|
||||
1
examples/pybullet/examples/__init__.py
Normal file
1
examples/pybullet/examples/__init__.py
Normal file
@ -0,0 +1 @@
|
||||
|
||||
@ -7,7 +7,6 @@ dt = 1e-3
|
||||
iters = 2000
|
||||
import pybullet_data
|
||||
|
||||
p.setAdditionalSearchPath(pybullet_data.getDataPath())
|
||||
physicsClient = p.connect(p.GUI)
|
||||
p.setAdditionalSearchPath(pybullet_data.getDataPath())
|
||||
p.resetSimulation()
|
||||
|
||||
@ -70,43 +70,34 @@ class PDControllerStableMultiDof(object):
|
||||
Kp = np.diagflat(kps)
|
||||
Kd = np.diagflat(kds)
|
||||
|
||||
p = Kp.dot(qError)
|
||||
# Compute -Kp(q + qdot - qdes)
|
||||
p_term = Kp.dot(qError - qdot*timeStep)
|
||||
# Compute -Kd(qdot - qdotdes)
|
||||
d_term = Kd.dot(qdoterr)
|
||||
|
||||
#np.savetxt("pb_qError.csv", qError, delimiter=",")
|
||||
#np.savetxt("pb_p.csv", p, delimiter=",")
|
||||
|
||||
d = Kd.dot(qdoterr)
|
||||
|
||||
#np.savetxt("pb_d.csv", d, delimiter=",")
|
||||
#np.savetxt("pbqdoterr.csv", qdoterr, delimiter=",")
|
||||
|
||||
M1 = self._pb.calculateMassMatrix(bodyUniqueId, q1, flags=1)
|
||||
|
||||
M2 = np.array(M1)
|
||||
#np.savetxt("M2.csv", M2, delimiter=",")
|
||||
|
||||
M = (M2 + Kd * timeStep)
|
||||
|
||||
#np.savetxt("pbM_tKd.csv",M, delimiter=",")
|
||||
|
||||
c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
|
||||
|
||||
c = np.array(c1)
|
||||
#np.savetxt("pbC.csv",c, delimiter=",")
|
||||
A = M
|
||||
#p = [0]*43
|
||||
b = p + d - c
|
||||
#np.savetxt("pb_acc.csv",b, delimiter=",")
|
||||
qddot = np.linalg.solve(A, b)
|
||||
tau = p + d - Kd.dot(qddot) * timeStep
|
||||
#print("len(tau)=",len(tau))
|
||||
# Compute Inertia matrix M(q)
|
||||
M = self._pb.calculateMassMatrix(bodyUniqueId, q1, flags=1)
|
||||
M = np.array(M)
|
||||
# Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
|
||||
# Compute Coriolis and External (Gravitational) terms G = C - T_ext
|
||||
G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
|
||||
G = np.array(G)
|
||||
# Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
|
||||
qddot = np.linalg.solve(a=(M + Kd * timeStep),
|
||||
b=p_term + d_term - G)
|
||||
# Compute control generalized forces (T_int)
|
||||
tau = p_term + d_term - Kd.dot(qddot) * timeStep
|
||||
# Clip generalized forces to actuator limits
|
||||
maxF = np.array(maxForces)
|
||||
forces = np.clip(tau, -maxF, maxF)
|
||||
return forces
|
||||
generalized_forces = np.clip(tau, -maxF, maxF)
|
||||
return generalized_forces
|
||||
|
||||
|
||||
class PDControllerStable(object):
|
||||
|
||||
"""
|
||||
Implementation based on: Tan, J., Liu, K., & Turk, G. (2011). "Stable proportional-derivative controllers"
|
||||
DOI: 10.1109/MCG.2011.30
|
||||
"""
|
||||
def __init__(self, pb):
|
||||
self._pb = pb
|
||||
|
||||
@ -121,28 +112,36 @@ class PDControllerStable(object):
|
||||
q1.append(jointStates[i][0])
|
||||
qdot1.append(jointStates[i][1])
|
||||
zeroAccelerations.append(0)
|
||||
|
||||
q = np.array(q1)
|
||||
qdot = np.array(qdot1)
|
||||
qdes = np.array(desiredPositions)
|
||||
qdotdes = np.array(desiredVelocities)
|
||||
|
||||
qError = qdes - q
|
||||
qdotError = qdotdes - qdot
|
||||
|
||||
Kp = np.diagflat(kps)
|
||||
Kd = np.diagflat(kds)
|
||||
p = Kp.dot(qError)
|
||||
d = Kd.dot(qdotError)
|
||||
forces = p + d
|
||||
|
||||
M1 = self._pb.calculateMassMatrix(bodyUniqueId, q1)
|
||||
M2 = np.array(M1)
|
||||
M = (M2 + Kd * timeStep)
|
||||
c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
|
||||
c = np.array(c1)
|
||||
A = M
|
||||
b = -c + p + d
|
||||
qddot = np.linalg.solve(A, b)
|
||||
tau = p + d - Kd.dot(qddot) * timeStep
|
||||
# Compute -Kp(q + qdot - qdes)
|
||||
p_term = Kp.dot(qError - qdot*timeStep)
|
||||
# Compute -Kd(qdot - qdotdes)
|
||||
d_term = Kd.dot(qdotError)
|
||||
|
||||
# Compute Inertia matrix M(q)
|
||||
M = self._pb.calculateMassMatrix(bodyUniqueId, q1)
|
||||
M = np.array(M)
|
||||
# Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
|
||||
# Compute Coriolis and External (Gravitational) terms G = C - T_ext
|
||||
G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
|
||||
G = np.array(G)
|
||||
# Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
|
||||
qddot = np.linalg.solve(a=(M + Kd * timeStep),
|
||||
b=(-G + p_term + d_term))
|
||||
# Compute control generalized forces (T_int)
|
||||
tau = p_term + d_term - (Kd.dot(qddot) * timeStep)
|
||||
# Clip generalized forces to actuator limits
|
||||
maxF = np.array(maxForces)
|
||||
forces = np.clip(tau, -maxF, maxF)
|
||||
#print("c=",c)
|
||||
return tau
|
||||
generalized_forces = np.clip(tau, -maxF, maxF)
|
||||
return generalized_forces
|
||||
|
||||
@ -0,0 +1,182 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from TwoJointRobot.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_01_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_12_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_21_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_23_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="link_01" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="link_01_cyl"/>
|
||||
<child link="link_1"/>
|
||||
</joint>
|
||||
<joint name="link_12" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="1.0 0 0"/>
|
||||
<parent link="link_1"/>
|
||||
<child link="link_12_cyl"/>
|
||||
</joint>
|
||||
<joint name="link_21" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="link_21_cyl"/>
|
||||
<child link="link_2"/>
|
||||
</joint>
|
||||
<joint name="link_23" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="1.0 0 0"/>
|
||||
<parent link="link_2"/>
|
||||
<child link="link_23_cyl"/>
|
||||
</joint>
|
||||
<joint name="joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.075"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="link_01_cyl"/>
|
||||
</joint>
|
||||
<joint name="joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
|
||||
<parent link="link_12_cyl"/>
|
||||
<child link="link_21_cyl"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
@ -0,0 +1,110 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_23_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.075"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="link_1"/>
|
||||
</joint>
|
||||
<joint name="joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="1.0 0. 0.05"/>
|
||||
<parent link="link_1"/>
|
||||
<child link="link_2"/>
|
||||
</joint>
|
||||
<joint name="link_23" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="1.0 0 0"/>
|
||||
<parent link="link_2"/>
|
||||
<child link="link_23_cyl"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
5681
examples/pybullet/gym/pybullet_data/ball.vtk
Normal file
5681
examples/pybullet/gym/pybullet_data/ball.vtk
Normal file
File diff suppressed because it is too large
Load Diff
BIN
examples/pybullet/gym/pybullet_data/checker_grid.jpg
Normal file
BIN
examples/pybullet/gym/pybullet_data/checker_grid.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 32 KiB |
13
examples/pybullet/gym/pybullet_data/cloth_z_up.mtl
Normal file
13
examples/pybullet/gym/pybullet_data/cloth_z_up.mtl
Normal file
@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 94.117647
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd cube.png
|
||||
89
examples/pybullet/gym/pybullet_data/cloth_z_up.obj
Normal file
89
examples/pybullet/gym/pybullet_data/cloth_z_up.obj
Normal file
@ -0,0 +1,89 @@
|
||||
# Blender v2.79 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib cloth_z_up.mtl
|
||||
o Plane_Plane.001
|
||||
v 1.000000 -0.500000 -0.000000
|
||||
v 0.500000 -1.000000 -0.000000
|
||||
v 0.500000 -0.500000 -0.000000
|
||||
v 0.000000 -0.500000 -0.000000
|
||||
v -0.500000 -1.000000 -0.000000
|
||||
v -0.500000 -0.500000 -0.000000
|
||||
v -0.000000 0.500000 0.000000
|
||||
v -0.500000 0.000000 -0.000000
|
||||
v -0.500000 0.500000 0.000000
|
||||
v 1.000000 0.500000 0.000000
|
||||
v 0.500000 0.000000 0.000000
|
||||
v 0.500000 0.500000 0.000000
|
||||
v 0.000000 0.000000 0.000000
|
||||
v 0.500000 1.000000 0.000000
|
||||
v -0.000000 1.000000 0.000000
|
||||
v 1.000000 1.000000 0.000000
|
||||
v -1.000000 0.000000 -0.000000
|
||||
v -1.000000 0.500000 0.000000
|
||||
v -0.500000 1.000000 0.000000
|
||||
v -1.000000 1.000000 0.000000
|
||||
v -1.000000 -1.000000 -0.000000
|
||||
v -1.000000 -0.500000 -0.000000
|
||||
v 0.000000 -1.000000 -0.000000
|
||||
v 1.000000 0.000000 0.000000
|
||||
v 1.000000 -1.000000 -0.000000
|
||||
vt 0.976031 1.084981
|
||||
vt 0.738016 1.669965
|
||||
vt 0.738016 1.084981
|
||||
vt 0.499998 1.084981
|
||||
vt 0.261984 1.669965
|
||||
vt 0.261984 1.084981
|
||||
vt 0.499998 -0.084982
|
||||
vt 0.261984 0.500000
|
||||
vt 0.261984 -0.084982
|
||||
vt 0.976031 -0.084982
|
||||
vt 0.738016 0.500000
|
||||
vt 0.738016 -0.084982
|
||||
vt 0.499998 0.500000
|
||||
vt 0.738016 -0.669965
|
||||
vt 0.499998 -0.669965
|
||||
vt 0.976031 -0.669965
|
||||
vt 0.023969 0.500000
|
||||
vt 0.023969 -0.084982
|
||||
vt 0.261984 -0.669965
|
||||
vt 0.023969 -0.669965
|
||||
vt 0.023969 1.669965
|
||||
vt 0.023969 1.084981
|
||||
vt 0.499998 1.669965
|
||||
vt 0.976031 0.500000
|
||||
vt 0.976031 1.669965
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
usemtl None
|
||||
s 1
|
||||
f 1/1/1 2/2/1 3/3/1
|
||||
f 4/4/1 5/5/1 6/6/1
|
||||
f 7/7/1 8/8/1 9/9/1
|
||||
f 10/10/1 11/11/1 12/12/1
|
||||
f 12/12/1 13/13/1 7/7/1
|
||||
f 14/14/1 7/7/1 15/15/1
|
||||
f 16/16/1 12/12/1 14/14/1
|
||||
f 9/9/1 17/17/1 18/18/1
|
||||
f 19/19/1 18/18/1 20/20/1
|
||||
f 15/15/1 9/9/1 19/19/1
|
||||
f 6/6/1 21/21/1 22/22/1
|
||||
f 8/8/1 22/22/1 17/17/1
|
||||
f 13/13/1 6/6/1 8/8/1
|
||||
f 3/3/1 23/23/1 4/4/1
|
||||
f 11/11/1 4/4/1 13/13/1
|
||||
f 24/24/1 3/3/1 11/11/1
|
||||
f 1/1/1 25/25/1 2/2/1
|
||||
f 4/4/1 23/23/1 5/5/1
|
||||
f 7/7/1 13/13/1 8/8/1
|
||||
f 10/10/1 24/24/1 11/11/1
|
||||
f 12/12/1 11/11/1 13/13/1
|
||||
f 14/14/1 12/12/1 7/7/1
|
||||
f 16/16/1 10/10/1 12/12/1
|
||||
f 9/9/1 8/8/1 17/17/1
|
||||
f 19/19/1 9/9/1 18/18/1
|
||||
f 15/15/1 7/7/1 9/9/1
|
||||
f 6/6/1 5/5/1 21/21/1
|
||||
f 8/8/1 6/6/1 22/22/1
|
||||
f 13/13/1 4/4/1 6/6/1
|
||||
f 3/3/1 2/2/1 23/23/1
|
||||
f 11/11/1 3/3/1 4/4/1
|
||||
f 24/24/1 1/1/1 3/3/1
|
||||
32
examples/pybullet/gym/pybullet_data/cloth_z_up.urdf
Normal file
32
examples/pybullet/gym/pybullet_data/cloth_z_up.urdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cloth_z_up.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
@ -0,0 +1,80 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
|
||||
|
||||
UPPER_BOUND = 6.28318548203
|
||||
LOWER_BOUND = -6.28318548203
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 2
|
||||
NUM_MOTORS = 12
|
||||
NOISY_READING = True
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
|
||||
robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
|
||||
robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
|
||||
robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
|
||||
robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
|
||||
robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
|
||||
|
||||
sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
|
||||
|
||||
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
|
||||
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
|
||||
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
|
||||
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
|
||||
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
|
||||
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
|
||||
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
|
||||
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
|
||||
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
|
||||
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
|
||||
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
|
||||
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
|
||||
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
|
||||
|
||||
locomotion_gym_config.LocomotionGymConfig.actions = [
|
||||
@Act0/locomotion_gym_config.ScalarField(),
|
||||
@Act1/locomotion_gym_config.ScalarField(),
|
||||
@Act2/locomotion_gym_config.ScalarField(),
|
||||
@Act3/locomotion_gym_config.ScalarField(),
|
||||
@Act4/locomotion_gym_config.ScalarField(),
|
||||
@Act5/locomotion_gym_config.ScalarField(),
|
||||
@Act6/locomotion_gym_config.ScalarField(),
|
||||
@Act7/locomotion_gym_config.ScalarField(),
|
||||
@Act8/locomotion_gym_config.ScalarField(),
|
||||
@Act9/locomotion_gym_config.ScalarField(),
|
||||
@Act10/locomotion_gym_config.ScalarField(),
|
||||
@Act11/locomotion_gym_config.ScalarField()]
|
||||
116
examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin
Normal file
116
examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin
Normal file
@ -0,0 +1,116 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.robots.laikago
|
||||
|
||||
URDF_ROOT = "urdf/"
|
||||
ABDUCTION_P_GAIN = 220.0
|
||||
ABDUCTION_D_GAIN = 0.3
|
||||
HIP_P_GAIN = 220.0
|
||||
HIP_D_GAIN = 2.0
|
||||
KNEE_P_GAIN = 220.0
|
||||
KNEE_D_GAIN = 2.0
|
||||
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
|
||||
|
||||
UPPER_BOUND = 6.28318548203
|
||||
LOWER_BOUND = -6.28318548203
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 2
|
||||
NUM_MOTORS = 12
|
||||
NOISY_READING = True
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
|
||||
robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
|
||||
robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
|
||||
robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
|
||||
robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
|
||||
robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
|
||||
|
||||
sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
|
||||
|
||||
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
|
||||
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
|
||||
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
|
||||
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
|
||||
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
|
||||
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
|
||||
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
|
||||
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
|
||||
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
|
||||
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
|
||||
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
|
||||
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
|
||||
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
|
||||
|
||||
locomotion_gym_config.LocomotionGymConfig.actions = [
|
||||
@Act0/locomotion_gym_config.ScalarField(),
|
||||
@Act1/locomotion_gym_config.ScalarField(),
|
||||
@Act2/locomotion_gym_config.ScalarField(),
|
||||
@Act3/locomotion_gym_config.ScalarField(),
|
||||
@Act4/locomotion_gym_config.ScalarField(),
|
||||
@Act5/locomotion_gym_config.ScalarField(),
|
||||
@Act6/locomotion_gym_config.ScalarField(),
|
||||
@Act7/locomotion_gym_config.ScalarField(),
|
||||
@Act8/locomotion_gym_config.ScalarField(),
|
||||
@Act9/locomotion_gym_config.ScalarField(),
|
||||
@Act10/locomotion_gym_config.ScalarField(),
|
||||
@Act11/locomotion_gym_config.ScalarField()]
|
||||
|
||||
|
||||
|
||||
laikago.Laikago.urdf_root = %URDF_ROOT
|
||||
laikago.Laikago.time_step = %SIM_TIME_STEP
|
||||
laikago.Laikago.action_repeat = %NUM_ACTION_REPEAT
|
||||
laikago.Laikago.self_collision_enabled = False
|
||||
laikago.Laikago.control_latency = 0.002
|
||||
laikago.Laikago.pd_latency = 0.0
|
||||
laikago.Laikago.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
|
||||
laikago.Laikago.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
|
||||
laikago.Laikago.sensors = %sensors
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago.Laikago
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
@ -0,0 +1,149 @@
|
||||
#-*-Python-*-
|
||||
|
||||
# NOTE: Should be run with >=10CPU for decent performance.
|
||||
|
||||
import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.camera_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
|
||||
import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
|
||||
import pybullet_envs.minitaur.robots.hybrid_motor_model
|
||||
import pybullet_envs.minitaur.robots.laikago_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
|
||||
|
||||
# Configure the dynamic robot
|
||||
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
|
||||
|
||||
|
||||
########################################
|
||||
# Configure the sensors
|
||||
########################################
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE
|
||||
]
|
||||
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
|
||||
|
||||
# Add noise to the IMU sensor and toe position sensor
|
||||
IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
|
||||
TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
|
||||
imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
|
||||
toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
|
||||
|
||||
frontCamera/camera_sensor.CameraSensor.camera_translation_from_base = (0.197, 0.0, -0.115)
|
||||
frontCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
|
||||
frontCamera/camera_sensor.CameraSensor.parent_link_id = -1
|
||||
frontCamera/camera_sensor.CameraSensor.resolution = (32, 24)
|
||||
frontCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
|
||||
frontCamera/camera_sensor.CameraSensor.name = "frontCam"
|
||||
frontCamera/camera_sensor.CameraSensor.fov_degree = 75
|
||||
frontCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
|
||||
frontCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
|
||||
|
||||
rearCamera/camera_sensor.CameraSensor.camera_translation_from_base = (-0.092, 0.0, -0.105)
|
||||
rearCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
|
||||
rearCamera/camera_sensor.CameraSensor.parent_link_id = -1
|
||||
rearCamera/camera_sensor.CameraSensor.resolution = (32, 24)
|
||||
rearCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
|
||||
rearCamera/camera_sensor.CameraSensor.name = "rearCam"
|
||||
rearCamera/camera_sensor.CameraSensor.fov_degree = 75
|
||||
rearCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
|
||||
rearCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
|
||||
|
||||
sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor(), @frontCamera/camera_sensor.CameraSensor(), @rearCamera/camera_sensor.CameraSensor()]
|
||||
laikago_v2.Laikago.sensors = %sensors
|
||||
|
||||
|
||||
########################################
|
||||
# Specify the motor model and its parameters
|
||||
########################################
|
||||
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
|
||||
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
|
||||
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
|
||||
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
|
||||
laikago/robot_config.MotorLimits.torque_lower_limits = -30
|
||||
laikago/robot_config.MotorLimits.torque_upper_limits = 30
|
||||
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
|
||||
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
|
||||
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
hybrid_motor_model.HybridMotorModel.kp = 250
|
||||
hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
|
||||
|
||||
|
||||
########################################
|
||||
# Setup the terrain randomization and simulation parameters
|
||||
########################################
|
||||
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
|
||||
|
||||
########################################
|
||||
# Setup the task and terminal condition parameters
|
||||
########################################
|
||||
terminal_conditions.maxstep_terminal_condition.max_step = 2000
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
|
||||
|
||||
# Setup the terminal condition
|
||||
terminal_conditions.logical_any_terminal_condition.conditions = [
|
||||
@terminal_conditions.default_terminal_condition_for_laikago_v2,
|
||||
@terminal_conditions.maxstep_terminal_condition,
|
||||
]
|
||||
|
||||
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
|
||||
|
||||
env_loader.load.wrapper_classes = [
|
||||
@mpc_locomotion_wrapper.MPCLocomotionWrapper,
|
||||
]
|
||||
|
||||
########################################
|
||||
# Configure the MPC-related parameters
|
||||
########################################
|
||||
torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
|
||||
torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
|
||||
torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
|
||||
|
||||
########################################
|
||||
# Configure the foothold wrapper parameters and action space
|
||||
########################################
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
|
||||
mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
|
||||
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
|
||||
|
||||
imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False
|
||||
|
||||
|
||||
@ -0,0 +1,142 @@
|
||||
#-*-Python-*-
|
||||
|
||||
# NOTE: Should be run with >=10CPU for decent performance.
|
||||
|
||||
import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
|
||||
import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
|
||||
import pybullet_envs.minitaur.robots.hybrid_motor_model
|
||||
import pybullet_envs.minitaur.robots.laikago_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
|
||||
|
||||
# Configure the dynamic robot
|
||||
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
|
||||
|
||||
|
||||
########################################
|
||||
# Configure the sensors
|
||||
########################################
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE
|
||||
]
|
||||
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
|
||||
|
||||
# Add noise to the IMU sensor and toe position sensor
|
||||
# IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
|
||||
# TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
|
||||
# imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
|
||||
# toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
|
||||
|
||||
|
||||
sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor()]
|
||||
laikago_v2.Laikago.sensors = %sensors
|
||||
|
||||
|
||||
########################################
|
||||
# Specify the motor model and its parameters
|
||||
########################################
|
||||
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
|
||||
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
|
||||
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
|
||||
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
|
||||
laikago/robot_config.MotorLimits.torque_lower_limits = -30
|
||||
laikago/robot_config.MotorLimits.torque_upper_limits = 30
|
||||
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
|
||||
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
|
||||
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
hybrid_motor_model.HybridMotorModel.kp = 250
|
||||
hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
|
||||
|
||||
|
||||
########################################
|
||||
# Setup the terrain randomization and simulation parameters
|
||||
########################################
|
||||
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @random_stepstone_scene.RandomStepstoneScene()
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
|
||||
random_stepstone_scene.RandomStepstoneScene.random_seed = 13
|
||||
random_stepstone_scene.RandomStepstoneScene.gap_length_lower_bound = 0.07
|
||||
random_stepstone_scene.RandomStepstoneScene.gap_length_upper_bound = 0.15
|
||||
random_stepstone_scene.RandomStepstoneScene.stone_width = 0.6
|
||||
|
||||
########################################
|
||||
# Setup the task and terminal condition parameters
|
||||
########################################
|
||||
terminal_conditions.maxstep_terminal_condition.max_step = 2000
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
|
||||
terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
|
||||
|
||||
# Setup the terminal condition
|
||||
terminal_conditions.logical_any_terminal_condition.conditions = [
|
||||
@terminal_conditions.default_terminal_condition_for_laikago_v2,
|
||||
@terminal_conditions.maxstep_terminal_condition,
|
||||
]
|
||||
|
||||
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
|
||||
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.0015
|
||||
|
||||
time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
|
||||
time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
|
||||
time_ordered_buffer.TimeOrderedBuffer.error_on_timestamp_reversal = False
|
||||
|
||||
|
||||
observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper.observation_excluded = ('frontCam', 'rearCam')
|
||||
|
||||
env_loader.load.wrapper_classes = [
|
||||
@mpc_locomotion_wrapper.MPCLocomotionWrapper,
|
||||
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
|
||||
]
|
||||
|
||||
########################################
|
||||
# Configure the MPC-related parameters
|
||||
########################################
|
||||
torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
|
||||
torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
|
||||
torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
|
||||
|
||||
########################################
|
||||
# Configure the foothold wrapper parameters and action space
|
||||
########################################
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
|
||||
mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
|
||||
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
|
||||
mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
|
||||
|
||||
imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False
|
||||
|
||||
133
examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin
Normal file
133
examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin
Normal file
@ -0,0 +1,133 @@
|
||||
#-*-Python-*-
|
||||
|
||||
# NOTE: Should be run with >=10CPU for decent performance.
|
||||
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
|
||||
|
||||
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.robots.laikago
|
||||
|
||||
URDF_ROOT = "urdf/"
|
||||
ABDUCTION_P_GAIN = 220.0
|
||||
ABDUCTION_D_GAIN = 0.3
|
||||
HIP_P_GAIN = 220.0
|
||||
HIP_D_GAIN = 2.0
|
||||
KNEE_P_GAIN = 220.0
|
||||
KNEE_D_GAIN = 2.0
|
||||
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
|
||||
|
||||
UPPER_BOUND = 6.28318548203
|
||||
LOWER_BOUND = -6.28318548203
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 2
|
||||
NUM_MOTORS = 12
|
||||
NOISY_READING = True
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
|
||||
robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
|
||||
robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
|
||||
robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
|
||||
robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
|
||||
robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
|
||||
|
||||
sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
|
||||
|
||||
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
|
||||
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
|
||||
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
|
||||
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
|
||||
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
|
||||
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
|
||||
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
|
||||
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
|
||||
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
|
||||
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
|
||||
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
|
||||
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
|
||||
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
|
||||
|
||||
locomotion_gym_config.LocomotionGymConfig.actions = [
|
||||
@Act0/locomotion_gym_config.ScalarField(),
|
||||
@Act1/locomotion_gym_config.ScalarField(),
|
||||
@Act2/locomotion_gym_config.ScalarField(),
|
||||
@Act3/locomotion_gym_config.ScalarField(),
|
||||
@Act4/locomotion_gym_config.ScalarField(),
|
||||
@Act5/locomotion_gym_config.ScalarField(),
|
||||
@Act6/locomotion_gym_config.ScalarField(),
|
||||
@Act7/locomotion_gym_config.ScalarField(),
|
||||
@Act8/locomotion_gym_config.ScalarField(),
|
||||
@Act9/locomotion_gym_config.ScalarField(),
|
||||
@Act10/locomotion_gym_config.ScalarField(),
|
||||
@Act11/locomotion_gym_config.ScalarField()]
|
||||
|
||||
|
||||
|
||||
laikago.Laikago.urdf_root = %URDF_ROOT
|
||||
laikago.Laikago.time_step = %SIM_TIME_STEP
|
||||
laikago.Laikago.action_repeat = %NUM_ACTION_REPEAT
|
||||
laikago.Laikago.self_collision_enabled = False
|
||||
laikago.Laikago.control_latency = 0.002
|
||||
laikago.Laikago.pd_latency = 0.0
|
||||
laikago.Laikago.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
|
||||
laikago.Laikago.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
|
||||
laikago.Laikago.sensors = %sensors
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago.Laikago
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
|
||||
|
||||
|
||||
trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv.trajectory_generator = @simple_openloop.LaikagoPoseOffsetGenerator()
|
||||
env_loader.load.wrapper_classes = [
|
||||
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
|
||||
@trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv]
|
||||
@ -0,0 +1,65 @@
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.robots.hybrid_motor_model
|
||||
import pybullet_envs.minitaur.robots.laikago_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
|
||||
|
||||
# Specify the gym env parameters
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 4
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
|
||||
# Specify the world.
|
||||
URDF_ROOT = ""
|
||||
scene_base.SceneBase.data_root = %URDF_ROOT
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
|
||||
# Specify the task.
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
|
||||
# Specify the sensors. Sensors determine the observation space.
|
||||
# Sensors can either be mounted on robots (see below), or passed to envs
|
||||
# i.e. like ambient sensors, or provided by tasks (task specific measures).
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE,
|
||||
]
|
||||
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
|
||||
SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
|
||||
|
||||
# Specify the motor limits, and motor control mode.
|
||||
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
|
||||
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
|
||||
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
|
||||
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
|
||||
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
|
||||
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
|
||||
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
|
||||
# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
|
||||
hybrid_motor_model.HybridMotorModel.kp = 2400
|
||||
hybrid_motor_model.HybridMotorModel.kd = 5
|
||||
|
||||
# Finally, mount sensors specified above to the Laikago.
|
||||
laikago_v2.Laikago.sensors = %SENSORS
|
||||
@ -0,0 +1,48 @@
|
||||
#-*-Python-*-
|
||||
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
|
||||
import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
|
||||
import pybullet_envs.minitaur.robots.minitaur_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
|
||||
|
||||
UPPER_BOUND = 1.0
|
||||
LOWER_BOUND = -1.0
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 20
|
||||
NUM_MOTORS = 8
|
||||
NOISY_READING = True
|
||||
SENSOR_LATENCY = 0.02
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
|
||||
robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
|
||||
|
||||
minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
|
||||
minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
|
||||
minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
|
||||
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE
|
||||
]
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
motor_angle_sensor.MotorAngleSensor.sensor_latency = %SENSOR_LATENCY
|
||||
motor_angle_sensor.MotorAngleSensor.lower_bound = -6.28318548203
|
||||
motor_angle_sensor.MotorAngleSensor.upper_bound = 6.28318548203
|
||||
minitaur_v2.Minitaur.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
|
||||
@ -0,0 +1,63 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.robots.minitaur_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
import pybullet_envs.minitaur.robots.robot_urdf_loader
|
||||
|
||||
URDF_ROOT = "urdf/"
|
||||
#-*-Python-*-
|
||||
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
|
||||
import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
|
||||
import pybullet_envs.minitaur.robots.minitaur_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
|
||||
|
||||
UPPER_BOUND = 1.0
|
||||
LOWER_BOUND = -1.0
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 20
|
||||
NUM_MOTORS = 8
|
||||
NOISY_READING = True
|
||||
SENSOR_LATENCY = 0.02
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
|
||||
robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
|
||||
|
||||
minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
|
||||
minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
|
||||
minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
|
||||
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE
|
||||
]
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
motor_angle_sensor.MotorAngleSensor.sensor_latency = %SENSOR_LATENCY
|
||||
motor_angle_sensor.MotorAngleSensor.lower_bound = -6.28318548203
|
||||
motor_angle_sensor.MotorAngleSensor.upper_bound = 6.28318548203
|
||||
minitaur_v2.Minitaur.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
|
||||
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @minitaur_v2.Minitaur
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
|
||||
@ -0,0 +1,80 @@
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.accelerometer_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
|
||||
import pybullet_envs.minitaur.robots.hybrid_motor_model
|
||||
import pybullet_envs.minitaur.robots.laikago_v2
|
||||
import pybullet_envs.minitaur.robots.time_ordered_buffer
|
||||
|
||||
|
||||
# Specify the gym env parameters
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 2
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
|
||||
|
||||
# Specify the robot
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
|
||||
LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
|
||||
laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
|
||||
laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
|
||||
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
|
||||
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
|
||||
|
||||
# Specify the motor model parameters. Notice that we don't need to specify the control mode
|
||||
# and motor limits here, as they will be passed from the robot interface.
|
||||
hybrid_motor_model.HybridMotorModel.kp = 220
|
||||
hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
|
||||
|
||||
# This will make sure the hybrid motor model does not throw error during reset, when the timestamp is alwasy zero.
|
||||
time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
|
||||
time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
|
||||
|
||||
# Add the sensors
|
||||
laikago_v2.Laikago.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor(), @accelerometer_sensor.AccelerometerSensor()]
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE,
|
||||
]
|
||||
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
# Specify the scene
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
simple_scene.SimpleScene.data_root = "third_party/bullet/data"
|
||||
|
||||
# Specify the task.
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.default_terminal_condition_for_laikago
|
||||
|
||||
accelerometer_sensor.AccelerometerSensor.lower_bound = [-50.0, -50.0, -50.0]
|
||||
accelerometer_sensor.AccelerometerSensor.upper_bound = [50.0, 50.0, 50.0]
|
||||
accelerometer_sensor.AccelerometerSensor.sensor_latency = 0.01
|
||||
imu_sensor.IMUSensor.sensor_latency = 0.1
|
||||
|
||||
|
||||
# Define the wrappers needed
|
||||
env_loader.load.wrapper_classes = [
|
||||
@trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv,
|
||||
]
|
||||
trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv.trajectory_generator = @simple_openloop.LaikagoPoseOffsetGenerator()
|
||||
@ -0,0 +1,66 @@
|
||||
#import pybullet_data
|
||||
#MYPATH = pybullet_data.getDataPath()+'/configs_v2/robots/laikago.gin'
|
||||
#MYPATH = 'D:/dev/bullet3/examples/pybullet\gym/pybullet_data/configs_v2/robots/laikago.gin'
|
||||
#include '$MYPATH/ambiguous.gin'
|
||||
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.scene_base
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
|
||||
import pybullet_envs.minitaur.robots.hybrid_motor_model
|
||||
import pybullet_envs.minitaur.robots.laikago_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
|
||||
URDF_ROOT = ""
|
||||
UPPER_BOUND = 6.28318548203
|
||||
LOWER_BOUND = -6.28318548203
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 2
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE,
|
||||
]
|
||||
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
|
||||
SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
|
||||
# Specify the scene.
|
||||
scene_base.SceneBase.data_root = %URDF_ROOT
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
|
||||
# Specify the motor limits, and motor control mode.
|
||||
laikago/robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
|
||||
laikago/robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
|
||||
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
|
||||
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
|
||||
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
|
||||
# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
|
||||
hybrid_motor_model.HybridMotorModel.kp = 220
|
||||
hybrid_motor_model.HybridMotorModel.kd = 2
|
||||
|
||||
laikago_v2.Laikago.sensors = %SENSORS
|
||||
|
||||
|
||||
laikago_v2.Laikago.sensors = [@imu_sensor.IMUSensor()]
|
||||
@ -0,0 +1,9 @@
|
||||
import pybullet_data as pd
|
||||
|
||||
include pd.getDataPath()+'/configs_v2/robots/mini_cheetah.gin'
|
||||
include pd.getDataPath()+'/configs_v2/sensors/imu.gin'
|
||||
|
||||
#include 'robotics/reinforcement_learning/minitaur/envs_v2/configs_v2/robots/mini_cheetah.gin'
|
||||
#include 'robotics/reinforcement_learning/minitaur/envs_v2/configs_v2/sensors/imu.gin'
|
||||
|
||||
mini_cheetah.MiniCheetah.sensors = [@robot_sensors.IMUSensor()]
|
||||
@ -0,0 +1,58 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.scene_base
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
|
||||
import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
|
||||
import pybullet_envs.minitaur.robots.hybrid_motor_model
|
||||
import pybullet_envs.minitaur.robots.laikago_v2
|
||||
import pybullet_envs.minitaur.robots.robot_config
|
||||
|
||||
URDF_ROOT = ""
|
||||
UPPER_BOUND = 6.28318548203
|
||||
LOWER_BOUND = -6.28318548203
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 2
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
imu_sensor.IMUSensor.channels = [
|
||||
%imu_sensor.IMUChannel.ROLL,
|
||||
%imu_sensor.IMUChannel.PITCH,
|
||||
%imu_sensor.IMUChannel.ROLL_RATE,
|
||||
%imu_sensor.IMUChannel.PITCH_RATE,
|
||||
]
|
||||
|
||||
imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
|
||||
-6283.18554688, -6283.18554688]
|
||||
imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
|
||||
6283.18554688, 6283.18554688]
|
||||
|
||||
# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
|
||||
SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
|
||||
# Specify the scene.
|
||||
scene_base.SceneBase.data_root = %URDF_ROOT
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
|
||||
# Specify the motor limits, and motor control mode.
|
||||
laikago/robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
|
||||
laikago/robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
|
||||
laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
|
||||
laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
|
||||
laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
|
||||
|
||||
# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
|
||||
hybrid_motor_model.HybridMotorModel.kp = 220
|
||||
hybrid_motor_model.HybridMotorModel.kd = 2
|
||||
|
||||
laikago_v2.Laikago.sensors = %SENSORS
|
||||
@ -0,0 +1,98 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.robots.mini_cheetah
|
||||
import pybullet_data as pd
|
||||
|
||||
URDF_ROOT = pd.getDataPath()+"/urdf/"
|
||||
|
||||
ABDUCTION_P_GAIN = 100.0
|
||||
ABDUCTION_D_GAIN = 1.0
|
||||
HIP_P_GAIN = 30
|
||||
HIP_D_GAIN = 2.0
|
||||
KNEE_P_GAIN = 50
|
||||
KNEE_D_GAIN = 2.0
|
||||
|
||||
|
||||
UPPER_BOUND = 6.28318548203
|
||||
LOWER_BOUND = -6.28318548203
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 2
|
||||
NUM_MOTORS = 12
|
||||
NOISY_READING = True
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
|
||||
Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
|
||||
Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
|
||||
Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
|
||||
Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
|
||||
Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
|
||||
Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
|
||||
Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
|
||||
Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
|
||||
Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
|
||||
Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
|
||||
Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
|
||||
Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
|
||||
Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
|
||||
Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
|
||||
|
||||
|
||||
locomotion_gym_config.LocomotionGymConfig.actions = [
|
||||
@Act0/locomotion_gym_config.ScalarField(),
|
||||
@Act1/locomotion_gym_config.ScalarField(),
|
||||
@Act2/locomotion_gym_config.ScalarField(),
|
||||
@Act3/locomotion_gym_config.ScalarField(),
|
||||
@Act4/locomotion_gym_config.ScalarField(),
|
||||
@Act5/locomotion_gym_config.ScalarField(),
|
||||
@Act6/locomotion_gym_config.ScalarField(),
|
||||
@Act7/locomotion_gym_config.ScalarField(),
|
||||
@Act8/locomotion_gym_config.ScalarField(),
|
||||
@Act9/locomotion_gym_config.ScalarField(),
|
||||
@Act10/locomotion_gym_config.ScalarField(),
|
||||
@Act11/locomotion_gym_config.ScalarField()]
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
|
||||
mini_cheetah.MiniCheetah.urdf_root = %URDF_ROOT
|
||||
mini_cheetah.MiniCheetah.time_step = %SIM_TIME_STEP
|
||||
mini_cheetah.MiniCheetah.action_repeat = %NUM_ACTION_REPEAT
|
||||
mini_cheetah.MiniCheetah.self_collision_enabled = False
|
||||
mini_cheetah.MiniCheetah.control_latency = 0.002
|
||||
mini_cheetah.MiniCheetah.pd_latency = 0.0
|
||||
mini_cheetah.MiniCheetah.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
|
||||
%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
|
||||
mini_cheetah.MiniCheetah.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
|
||||
%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @mini_cheetah.MiniCheetah
|
||||
|
||||
@ -0,0 +1,31 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
|
||||
import pybullet_envs.minitaur.robots.minitaur_v2
|
||||
|
||||
URDF_ROOT = "robotics/reinforcement_learning/minitaur/robots/data/urdf/"
|
||||
|
||||
UPPER_BOUND = 6.28318548203
|
||||
LOWER_BOUND = -6.28318548203
|
||||
SIM_TIME_STEP = 0.001
|
||||
NUM_ACTION_REPEAT = 6
|
||||
NUM_MOTORS = 8
|
||||
NOISY_READING = True
|
||||
|
||||
locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
|
||||
locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
|
||||
locomotion_gym_config.SimulationParameters.enable_rendering = False
|
||||
locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
|
||||
locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
|
||||
|
||||
minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
|
||||
minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
|
||||
minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
|
||||
minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.robot_class = @minitaur_v2.Minitaur
|
||||
|
||||
robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
|
||||
robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
|
||||
@ -0,0 +1,4 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
|
||||
@ -0,0 +1,3 @@
|
||||
import pybullet_envs.minitaur.envs_v2.scenes.stair_scene
|
||||
# Specify the scene (overwrite the setting from laikago_reactive.gin)
|
||||
locomotion_gym_env.LocomotionGymEnv.scene = @stair_scene.StairScene()
|
||||
@ -0,0 +1,4 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
@ -0,0 +1,8 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
|
||||
simple_locomotion_task.SimpleForwardTask.energy_penalty_coef = 0.002
|
||||
simple_locomotion_task.SimpleForwardTask.min_com_height = 0.3
|
||||
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.002
|
||||
@ -0,0 +1,11 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
|
||||
|
||||
terminal_conditions.maxstep_terminal_condition.max_step = 1500
|
||||
# Setup the terminal condition to not to terminate early when the robot falls.
|
||||
terminal_conditions.logical_any_terminal_condition.conditions = [
|
||||
@terminal_conditions.maxstep_terminal_condition,
|
||||
]
|
||||
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
@ -0,0 +1,12 @@
|
||||
import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
|
||||
import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
|
||||
|
||||
terminal_conditions.maxstep_terminal_condition.max_step = 1500
|
||||
simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.default_terminal_condition_for_laikago_v2
|
||||
|
||||
simple_locomotion_task.SimpleForwardTask.divide_with_dt = True
|
||||
simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.4
|
||||
simple_locomotion_task.SimpleForwardTask.energy_penalty_coef = 0
|
||||
|
||||
locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
|
||||
@ -0,0 +1,18 @@
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
|
||||
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = 1
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.intensity_upper_bound = 1.0
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.max_delta_time = 4.0
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.min_delta_time = 2.0
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.residual_range = 0.35
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.integrator_coupling_mode = "all coupled"
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.walk_height_coupling_mode = "all coupled"
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.variable_swing_stance_ratio = 1
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.init_gait = "walk"
|
||||
|
||||
env_loader.load.wrapper_classes = [
|
||||
@pmtg_wrapper_env.PmtgWrapperEnv,
|
||||
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper]
|
||||
@ -0,0 +1,6 @@
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
|
||||
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True
|
||||
|
||||
env_loader.load.wrapper_classes = [@pmtg_wrapper_env.PmtgWrapperEnv]
|
||||
@ -0,0 +1,10 @@
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
|
||||
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.action_filter_high_cut = 0.5
|
||||
|
||||
env_loader.load.wrapper_classes = [
|
||||
@pmtg_wrapper_env.PmtgWrapperEnv,
|
||||
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper]
|
||||
@ -0,0 +1,18 @@
|
||||
import pybullet_envs.minitaur.envs_v2.env_loader
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
|
||||
import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
|
||||
|
||||
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.init_leg_phase_offsets = [0, 0.5, 0.5, 0]
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.integrator_coupling_mode = 'all coupled'
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.intensity_upper_bound = 0.5
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.max_delta_time = 4
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.min_delta_time = 1
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.residual_range = 0.2
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.variable_swing_stance_ratio = False
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.walk_height_coupling_mode = 'null'
|
||||
pmtg_wrapper_env.PmtgWrapperEnv.action_filter_high_cut = 0.5
|
||||
|
||||
env_loader.load.wrapper_classes = [
|
||||
@pmtg_wrapper_env.PmtgWrapperEnv,
|
||||
@observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper]
|
||||
32
examples/pybullet/gym/pybullet_data/cube.urdf
Normal file
32
examples/pybullet/gym/pybullet_data/cube.urdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
@ -0,0 +1,29 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision group="0" mask="0">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
1352
examples/pybullet/gym/pybullet_data/objects/mug.obj
Normal file
1352
examples/pybullet/gym/pybullet_data/objects/mug.obj
Normal file
File diff suppressed because it is too large
Load Diff
28
examples/pybullet/gym/pybullet_data/objects/mug.urdf
Normal file
28
examples/pybullet/gym/pybullet_data/objects/mug.urdf
Normal file
@ -0,0 +1,28 @@
|
||||
<robot name="mug">
|
||||
<link name="base_link">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="mug.obj"/>
|
||||
</geometry>
|
||||
<material name="mug">
|
||||
<color rgba="1 0.2 0.2 1"/>
|
||||
<specular rgb="1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="mug_col.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
1310
examples/pybullet/gym/pybullet_data/objects/mug_col.obj
Normal file
1310
examples/pybullet/gym/pybullet_data/objects/mug_col.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
examples/pybullet/gym/pybullet_data/pickup2.zip
Normal file
BIN
examples/pybullet/gym/pybullet_data/pickup2.zip
Normal file
Binary file not shown.
22
examples/pybullet/gym/pybullet_data/sphere_1cm.urdf
Normal file
22
examples/pybullet/gym/pybullet_data/sphere_1cm.urdf
Normal file
@ -0,0 +1,22 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="urdf_robot">
|
||||
<link name="base_link">
|
||||
<contact>
|
||||
<rolling_friction value="0.001"/>
|
||||
<spinning_friction value="0.001"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
32
examples/pybullet/gym/pybullet_data/sphere_transparent.urdf
Normal file
32
examples/pybullet/gym/pybullet_data/sphere_transparent.urdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="urdf_robot">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<rolling_friction value="0.03"/>
|
||||
<spinning_friction value="0.03"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="10.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="red_transparent">
|
||||
<color rgba="1 0 0 0.5"/>
|
||||
<specular rgb="11 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
10
examples/pybullet/gym/pybullet_data/stone.mtl
Normal file
10
examples/pybullet/gym/pybullet_data/stone.mtl
Normal file
@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
32
examples/pybullet/gym/pybullet_data/stone.obj
Normal file
32
examples/pybullet/gym/pybullet_data/stone.obj
Normal file
@ -0,0 +1,32 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib stone.mtl
|
||||
o Cube
|
||||
v -0.246350 -0.246483 -0.000624
|
||||
v -0.151407 -0.176325 0.172867
|
||||
v -0.246350 0.249205 -0.000624
|
||||
v -0.151407 0.129477 0.172867
|
||||
v 0.249338 -0.246483 -0.000624
|
||||
v 0.154395 -0.176325 0.172867
|
||||
v 0.249338 0.249205 -0.000624
|
||||
v 0.154395 0.129477 0.172867
|
||||
vn -0.8772 0.0000 0.4801
|
||||
vn 0.0000 0.8230 0.5680
|
||||
vn 0.8772 0.0000 0.4801
|
||||
vn 0.0000 -0.9271 0.3749
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
vn 0.0000 0.0000 1.0000
|
||||
usemtl None
|
||||
s off
|
||||
f 1//1 4//1 3//1
|
||||
f 4//2 7//2 3//2
|
||||
f 8//3 5//3 7//3
|
||||
f 6//4 1//4 5//4
|
||||
f 7//5 1//5 3//5
|
||||
f 4//6 6//6 8//6
|
||||
f 1//1 2//1 4//1
|
||||
f 4//2 8//2 7//2
|
||||
f 8//3 6//3 5//3
|
||||
f 6//4 2//4 1//4
|
||||
f 7//5 5//5 1//5
|
||||
f 4//6 2//6 6//6
|
||||
32
examples/pybullet/gym/pybullet_data/teddy_large.urdf
Normal file
32
examples/pybullet/gym/pybullet_data/teddy_large.urdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="0.5"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.07 0.05 0.03"/>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
2583
examples/pybullet/gym/pybullet_data/terrain.obj
Normal file
2583
examples/pybullet/gym/pybullet_data/terrain.obj
Normal file
File diff suppressed because it is too large
Load Diff
0
examples/pybullet/gym/pybullet_data/testdata/__init__.py
vendored
Normal file
0
examples/pybullet/gym/pybullet_data/testdata/__init__.py
vendored
Normal file
0
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/__init__.py
vendored
Normal file
0
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/__init__.py
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/accelerometer.npy
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/accelerometer.npy
vendored
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/estimated_velocities.npy
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/estimated_velocities.npy
vendored
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/feet_contact_forces.npy
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/feet_contact_forces.npy
vendored
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/gyroscope.npy
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/gyroscope.npy
vendored
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/jacobians.npy
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/jacobians.npy
vendored
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BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/motor_velocities.npy
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/motor_velocities.npy
vendored
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/timestamp.npy
vendored
Normal file
BIN
examples/pybullet/gym/pybullet_data/testdata/test_imu_state_estimator/timestamp.npy
vendored
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/tex256.png
Normal file
BIN
examples/pybullet/gym/pybullet_data/tex256.png
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Binary file not shown.
|
After Width: | Height: | Size: 12 KiB |
9917
examples/pybullet/gym/pybullet_data/torus.vtk
Normal file
9917
examples/pybullet/gym/pybullet_data/torus.vtk
Normal file
File diff suppressed because it is too large
Load Diff
11
examples/pybullet/gym/pybullet_data/torus/torus_textured.mtl
Normal file
11
examples/pybullet/gym/pybullet_data/torus/torus_textured.mtl
Normal file
@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd ../cube.png
|
||||
2270
examples/pybullet/gym/pybullet_data/torus/torus_textured.obj
Normal file
2270
examples/pybullet/gym/pybullet_data/torus/torus_textured.obj
Normal file
File diff suppressed because it is too large
Load Diff
14
examples/pybullet/gym/pybullet_data/torus_deform.urdf
Normal file
14
examples/pybullet/gym/pybullet_data/torus_deform.urdf
Normal file
@ -0,0 +1,14 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="torus">
|
||||
<deformable name="torus">
|
||||
<inertial>
|
||||
<mass value="3" />
|
||||
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
||||
</inertial>
|
||||
<collision_margin value="0.006"/>
|
||||
<repulsion_stiffness value="800.0"/>
|
||||
<friction value= "0.5"/>
|
||||
<neohookean mu= "180" lambda= "600" damping= "0.01" />
|
||||
<visual filename="torus.vtk"/>
|
||||
</deformable>
|
||||
</robot>
|
||||
14
examples/pybullet/gym/pybullet_data/toys/LICENSE.txt
Normal file
14
examples/pybullet/gym/pybullet_data/toys/LICENSE.txt
Normal file
@ -0,0 +1,14 @@
|
||||
URDF created by Erwin Coumans
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
BIN
examples/pybullet/gym/pybullet_data/toys/concave_box.cdf
Normal file
BIN
examples/pybullet/gym/pybullet_data/toys/concave_box.cdf
Normal file
Binary file not shown.
11
examples/pybullet/gym/pybullet_data/toys/concave_box.mtl
Normal file
11
examples/pybullet/gym/pybullet_data/toys/concave_box.mtl
Normal file
@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd ../checker_grid.jpg
|
||||
949
examples/pybullet/gym/pybullet_data/toys/concave_box.obj
Normal file
949
examples/pybullet/gym/pybullet_data/toys/concave_box.obj
Normal file
@ -0,0 +1,949 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib concave_box.mtl
|
||||
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||||
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s off
|
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|
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f 2/4/2 126/3/2 127/5/2
|
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f 3/6/3 127/5/3 128/7/3
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f 21/10/5 4/11/5 129/12/5
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f 2/4/8 5/14/8 1/1/8
|
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f 7/16/9 2/4/9 3/6/9
|
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f 8/17/10 3/6/10 4/8/10
|
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f 9/18/11 142/19/11 5/14/11
|
||||
f 10/20/12 5/14/12 6/21/12
|
||||
f 11/22/13 6/21/13 7/16/13
|
||||
f 12/23/14 7/16/14 8/17/14
|
||||
f 21/10/15 12/24/15 8/13/15
|
||||
f 21/10/16 16/25/16 12/24/16
|
||||
f 9/18/17 140/26/17 141/27/17
|
||||
f 14/28/18 9/18/18 10/20/18
|
||||
f 15/29/19 10/20/19 11/22/19
|
||||
f 16/30/20 11/22/20 12/23/20
|
||||
f 14/31/21 17/32/21 13/33/21
|
||||
f 19/34/22 14/31/22 15/35/22
|
||||
f 20/36/23 15/35/23 16/37/23
|
||||
f 21/10/24 20/38/24 16/25/24
|
||||
f 17/32/25 140/39/25 13/33/25
|
||||
f 17/32/26 161/40/26 167/41/26
|
||||
f 18/42/27 22/43/27 17/32/27
|
||||
f 19/34/28 23/44/28 18/42/28
|
||||
f 20/36/29 24/45/29 19/34/29
|
||||
f 21/10/30 25/46/30 20/38/30
|
||||
f 23/44/31 26/47/31 22/43/31
|
||||
f 28/48/32 23/44/32 24/45/32
|
||||
f 25/49/33 28/48/33 24/45/33
|
||||
f 21/10/34 29/50/34 25/46/34
|
||||
f 26/47/35 161/40/35 22/43/35
|
||||
f 26/47/36 138/51/36 163/52/36
|
||||
f 27/53/37 30/54/37 26/47/37
|
||||
f 28/48/38 31/55/38 27/53/38
|
||||
f 29/56/39 32/57/39 28/48/39
|
||||
f 21/10/40 33/58/40 29/50/40
|
||||
f 36/59/41 31/55/41 32/57/41
|
||||
f 37/60/42 32/57/42 33/61/42
|
||||
f 21/10/43 37/62/43 33/58/43
|
||||
f 34/63/44 138/51/44 30/54/44
|
||||
f 31/55/45 34/63/45 30/54/45
|
||||
f 38/64/46 139/65/46 34/63/46
|
||||
f 35/66/47 38/64/47 34/63/47
|
||||
f 36/59/48 39/67/48 35/66/48
|
||||
f 37/60/49 40/68/49 36/59/49
|
||||
f 21/10/50 41/69/50 37/62/50
|
||||
f 41/70/51 44/71/51 40/68/51
|
||||
f 21/10/52 45/72/52 41/69/52
|
||||
f 42/73/53 152/74/53 38/64/53
|
||||
f 43/75/54 38/64/54 39/67/54
|
||||
f 44/71/55 39/67/55 40/68/55
|
||||
f 46/76/56 150/77/56 42/73/56
|
||||
f 43/75/57 46/76/57 42/73/57
|
||||
f 44/71/58 47/78/58 43/75/58
|
||||
f 49/79/59 44/71/59 45/80/59
|
||||
f 21/10/60 49/81/60 45/72/60
|
||||
f 53/82/61 48/83/61 49/84/61
|
||||
f 21/10/62 53/85/62 49/81/62
|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
f 12/23/14 11/22/14 7/16/14
|
||||
f 9/18/17 13/226/17 140/26/17
|
||||
f 14/28/18 13/226/18 9/18/18
|
||||
f 15/29/19 14/28/19 10/20/19
|
||||
f 16/30/20 15/29/20 11/22/20
|
||||
f 14/31/21 18/42/21 17/32/21
|
||||
f 19/34/22 18/42/22 14/31/22
|
||||
f 20/36/23 19/34/23 15/35/23
|
||||
f 17/32/25 167/41/25 140/39/25
|
||||
f 17/32/26 22/43/26 161/40/26
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 26/47/36 30/54/36 138/51/36
|
||||
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|
||||
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|
||||
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|
||||
f 36/59/41 35/66/41 31/55/41
|
||||
f 37/60/42 36/59/42 32/57/42
|
||||
f 34/63/44 139/65/44 138/51/44
|
||||
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|
||||
f 38/64/46 152/74/46 139/65/46
|
||||
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|
||||
f 36/59/48 40/68/48 39/67/48
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 46/76/56 149/227/56 150/77/56
|
||||
f 43/75/57 47/78/57 46/76/57
|
||||
f 44/71/58 48/228/58 47/78/58
|
||||
f 49/79/59 48/228/59 44/71/59
|
||||
f 53/82/61 52/94/61 48/83/61
|
||||
f 50/86/63 151/92/63 149/87/63
|
||||
f 47/89/64 51/90/64 50/86/64
|
||||
f 48/83/65 52/94/65 51/90/65
|
||||
f 54/91/66 157/98/66 151/92/66
|
||||
f 51/90/67 55/100/67 54/91/67
|
||||
f 56/93/68 55/100/68 51/90/68
|
||||
f 53/82/69 57/103/69 56/93/69
|
||||
f 54/91/72 58/105/72 164/97/72
|
||||
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|
||||
f 60/101/74 59/99/74 55/100/74
|
||||
f 61/102/75 60/101/75 56/93/75
|
||||
f 62/104/76 159/111/76 164/97/76
|
||||
f 63/106/77 62/104/77 58/105/77
|
||||
f 64/107/78 63/106/78 59/99/78
|
||||
f 61/102/79 65/115/79 64/107/79
|
||||
f 66/110/82 158/120/82 159/111/82
|
||||
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|
||||
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|
||||
f 69/114/85 68/113/85 64/107/85
|
||||
f 71/116/86 70/119/86 66/110/86
|
||||
f 72/117/87 71/116/87 67/112/87
|
||||
f 69/114/88 73/124/88 72/117/88
|
||||
f 70/119/90 169/122/90 158/120/90
|
||||
f 74/121/91 153/132/91 169/122/91
|
||||
f 71/116/92 75/127/92 74/121/92
|
||||
f 76/123/168 75/127/168 71/116/168
|
||||
f 73/124/94 77/129/94 76/123/94
|
||||
f 76/123/96 80/229/96 79/126/96
|
||||
f 81/128/97 80/229/97 76/123/97
|
||||
f 78/131/99 144/230/99 153/132/99
|
||||
f 79/126/100 78/131/100 74/121/100
|
||||
f 82/133/101 154/147/101 144/134/101
|
||||
f 83/136/102 82/133/102 78/135/102
|
||||
f 84/138/103 83/136/103 79/137/103
|
||||
f 81/140/104 85/144/104 84/138/104
|
||||
f 84/138/106 88/152/106 87/142/106
|
||||
f 89/143/107 88/152/107 84/138/107
|
||||
f 86/146/109 155/149/109 154/147/109
|
||||
f 87/142/110 86/146/110 82/133/110
|
||||
f 90/148/111 165/158/111 155/149/111
|
||||
f 91/150/112 90/148/112 86/146/112
|
||||
f 92/151/113 91/150/113 87/142/113
|
||||
f 93/153/114 92/151/114 88/152/114
|
||||
f 97/155/116 96/163/116 92/151/116
|
||||
f 94/157/118 166/161/118 165/158/118
|
||||
f 95/159/119 94/157/119 90/148/119
|
||||
f 92/151/120 96/163/120 95/159/120
|
||||
f 98/160/121 162/170/121 166/161/121
|
||||
f 99/162/122 98/160/122 94/157/122
|
||||
f 96/163/123 100/167/123 99/162/123
|
||||
f 101/164/124 100/167/124 96/163/124
|
||||
f 105/166/126 104/172/126 100/167/126
|
||||
f 102/169/128 168/174/128 162/170/128
|
||||
f 103/171/129 102/169/129 98/160/129
|
||||
f 104/172/130 103/171/130 99/162/130
|
||||
f 106/173/131 148/180/131 168/174/131
|
||||
f 103/171/132 107/182/132 106/173/132
|
||||
f 108/175/133 107/182/133 103/171/133
|
||||
f 109/176/134 108/175/134 104/172/134
|
||||
f 110/179/137 143/231/137 148/180/137
|
||||
f 111/181/138 110/179/138 106/173/138
|
||||
f 108/175/139 112/232/139 111/181/139
|
||||
f 113/183/140 112/232/140 108/175/140
|
||||
f 115/184/141 114/192/141 110/185/141
|
||||
f 116/187/142 115/184/142 111/186/142
|
||||
f 117/189/143 116/187/143 112/188/143
|
||||
f 114/192/145 156/195/145 143/193/145
|
||||
f 118/194/146 147/205/146 156/195/146
|
||||
f 119/196/147 118/194/147 114/192/147
|
||||
f 116/187/169 120/201/169 119/196/169
|
||||
f 121/197/149 120/201/149 116/187/149
|
||||
f 123/199/151 122/204/151 118/194/151
|
||||
f 124/200/152 123/199/152 119/196/152
|
||||
f 125/202/153 124/200/153 120/201/153
|
||||
f 122/204/155 146/206/155 147/205/155
|
||||
f 126/3/156 160/2/156 146/206/156
|
||||
f 127/5/157 126/3/157 122/204/157
|
||||
f 128/7/158 127/5/158 123/199/158
|
||||
f 129/9/159 128/7/159 124/200/159
|
||||
f 131/207/161 133/233/161 132/208/161
|
||||
f 133/210/162 137/234/162 136/211/162
|
||||
f 137/213/163 135/235/163 134/214/163
|
||||
f 135/216/164 131/236/164 130/217/164
|
||||
f 136/211/165 134/237/165 130/219/165
|
||||
f 133/220/166 131/238/166 166/239/166
|
||||
f 133/220/166 166/239/166 162/240/166
|
||||
f 138/241/166 135/242/166 137/243/166
|
||||
f 163/244/166 138/241/166 137/243/166
|
||||
f 133/220/166 162/240/166 168/245/166
|
||||
f 133/220/166 168/245/166 148/246/166
|
||||
f 161/247/166 163/244/166 137/243/166
|
||||
f 167/248/166 161/247/166 137/243/166
|
||||
f 133/220/166 148/246/166 143/249/166
|
||||
f 133/220/166 143/249/166 156/250/166
|
||||
f 140/251/166 167/248/166 137/243/166
|
||||
f 141/252/166 140/251/166 137/243/166
|
||||
f 137/243/166 133/220/166 160/222/166
|
||||
f 133/220/166 156/250/166 147/253/166
|
||||
f 142/254/166 141/252/166 137/243/166
|
||||
f 145/255/166 142/254/166 137/243/166
|
||||
f 133/220/166 147/253/166 146/221/166
|
||||
f 160/222/166 145/255/166 137/243/166
|
||||
f 135/256/166 138/257/166 139/258/166
|
||||
f 135/256/166 139/258/166 152/259/166
|
||||
f 165/260/166 166/261/166 131/225/166
|
||||
f 155/262/166 165/260/166 131/225/166
|
||||
f 135/256/166 152/259/166 150/263/166
|
||||
f 135/256/166 150/263/166 149/264/166
|
||||
f 154/265/166 155/262/166 131/225/166
|
||||
f 144/266/166 154/265/166 131/225/166
|
||||
f 135/256/166 149/264/166 151/267/166
|
||||
f 135/256/166 151/267/166 157/268/166
|
||||
f 153/269/166 144/266/166 131/225/166
|
||||
f 169/270/166 153/269/166 131/225/166
|
||||
f 131/225/166 135/256/166 159/223/166
|
||||
f 135/256/166 157/268/166 164/271/166
|
||||
f 158/224/166 169/270/166 131/225/166
|
||||
f 135/256/166 164/271/166 159/223/166
|
||||
30
examples/pybullet/gym/pybullet_data/toys/concave_box.urdf
Normal file
30
examples/pybullet/gym/pybullet_data/toys/concave_box.urdf
Normal file
@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="urdf_robot">
|
||||
<link name="base_link">
|
||||
<contact>
|
||||
<rolling_friction value="0.001"/>
|
||||
<spinning_friction value="0.001"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="concave_box.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cdf filename="concave_box.cdf" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
11
examples/pybullet/gym/pybullet_data/toys/cube.mtl
Normal file
11
examples/pybullet/gym/pybullet_data/toys/cube.mtl
Normal file
@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'shape_sort.blend'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl Material.002
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.017444 0.640000 0.032216
|
||||
Ks 0.034126 0.500000 0.031333
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
64
examples/pybullet/gym/pybullet_data/toys/cube.obj
Normal file
64
examples/pybullet/gym/pybullet_data/toys/cube.obj
Normal file
@ -0,0 +1,64 @@
|
||||
# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
|
||||
# www.blender.org
|
||||
mtllib cube.mtl
|
||||
o Cube.001_Cube.002
|
||||
v -0.231854 0.040516 -0.056463
|
||||
v -0.231854 0.040516 -0.121937
|
||||
v -0.144556 0.040516 -0.121937
|
||||
v -0.144556 0.040516 -0.056463
|
||||
v -0.231854 0.127815 -0.056463
|
||||
v -0.231854 0.127815 -0.121937
|
||||
v -0.144556 0.127815 -0.121937
|
||||
v -0.144556 0.127815 -0.056463
|
||||
v -0.231854 0.040516 -0.056463
|
||||
v -0.231854 0.040516 -0.121937
|
||||
v -0.144556 0.040516 -0.121937
|
||||
v -0.144556 0.040516 -0.056463
|
||||
v -0.231854 0.127815 -0.056463
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
usemtl Material.002
|
||||
s off
|
||||
f 6/1 2/2 1/3
|
||||
f 7/4 3/5 2/6
|
||||
f 8/7 4/8 3/3
|
||||
f 5/9 1/10 4/6
|
||||
f 2/11 3/12 4/13
|
||||
f 7/11 6/14 5/15
|
||||
f 14/1 10/2 9/3
|
||||
f 15/4 11/5 10/6
|
||||
f 16/7 12/8 11/3
|
||||
f 13/9 9/10 12/6
|
||||
f 10/11 11/12 12/13
|
||||
f 15/11 14/14 13/15
|
||||
f 5/16 6/1 1/3
|
||||
f 6/17 7/4 2/6
|
||||
f 7/16 8/7 3/3
|
||||
f 8/17 5/9 4/6
|
||||
f 1/18 2/11 4/13
|
||||
f 8/18 7/11 5/15
|
||||
f 13/16 14/1 9/3
|
||||
f 14/17 15/4 10/6
|
||||
f 15/16 16/7 11/3
|
||||
f 16/17 13/9 12/6
|
||||
f 9/18 10/11 12/13
|
||||
f 16/18 15/11 13/15
|
||||
11
examples/pybullet/gym/pybullet_data/toys/cylinder.mtl
Normal file
11
examples/pybullet/gym/pybullet_data/toys/cylinder.mtl
Normal file
@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'shape_sort.blend'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl Material.001
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.013473 0.018536 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
282
examples/pybullet/gym/pybullet_data/toys/cylinder.obj
Normal file
282
examples/pybullet/gym/pybullet_data/toys/cylinder.obj
Normal file
@ -0,0 +1,282 @@
|
||||
# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
|
||||
# www.blender.org
|
||||
mtllib cylinder.mtl
|
||||
o Cylinder.001
|
||||
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||||
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|
||||
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||||
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|
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
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|
||||
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|
||||
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|
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|
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|
||||
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||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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||||
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|
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||||
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|
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
vt 1.445535 0.499748
|
||||
vt 1.459652 0.499893
|
||||
usemtl Material.001
|
||||
s off
|
||||
f 1/1 2/2 4/3
|
||||
f 3/4 4/3 6/5
|
||||
f 5/6 6/5 8/7
|
||||
f 8/7 10/8 9/9
|
||||
f 10/8 12/10 11/11
|
||||
f 12/12 14/13 13/14
|
||||
f 14/13 16/15 15/16
|
||||
f 15/16 16/15 18/17
|
||||
f 18/17 20/18 19/19
|
||||
f 20/18 22/20 21/21
|
||||
f 22/20 24/22 23/23
|
||||
f 24/22 26/24 25/25
|
||||
f 25/25 26/24 28/26
|
||||
f 28/26 30/27 29/28
|
||||
f 30/27 32/29 31/30
|
||||
f 32/29 34/31 33/32
|
||||
f 33/32 34/31 36/33
|
||||
f 36/33 38/34 37/35
|
||||
f 38/34 40/36 39/37
|
||||
f 40/36 42/38 41/39
|
||||
f 42/38 44/40 43/41
|
||||
f 44/40 46/42 45/43
|
||||
f 45/43 46/42 48/44
|
||||
f 48/44 50/45 49/46
|
||||
f 50/45 52/47 51/48
|
||||
f 52/47 54/49 53/50
|
||||
f 53/50 54/49 56/51
|
||||
f 56/51 58/52 57/53
|
||||
f 58/52 60/54 59/55
|
||||
f 59/55 60/54 62/56
|
||||
f 26/24 10/57 8/58
|
||||
f 64/59 2/2 1/1
|
||||
f 61/60 62/56 64/59
|
||||
f 37/35 39/37 59/61
|
||||
f 3/4 1/1 4/3
|
||||
f 5/6 3/4 6/5
|
||||
f 7/62 5/6 8/7
|
||||
f 7/62 8/7 9/9
|
||||
f 9/9 10/8 11/11
|
||||
f 11/63 12/12 13/14
|
||||
f 13/14 14/13 15/16
|
||||
f 17/64 15/16 18/17
|
||||
f 17/64 18/17 19/19
|
||||
f 19/19 20/18 21/21
|
||||
f 21/21 22/20 23/23
|
||||
f 23/23 24/22 25/25
|
||||
f 27/65 25/25 28/26
|
||||
f 27/65 28/26 29/28
|
||||
f 29/28 30/27 31/30
|
||||
f 31/30 32/29 33/32
|
||||
f 35/66 33/32 36/33
|
||||
f 35/66 36/33 37/35
|
||||
f 37/35 38/34 39/37
|
||||
f 39/37 40/36 41/39
|
||||
f 41/39 42/38 43/41
|
||||
f 43/41 44/40 45/43
|
||||
f 47/67 45/43 48/44
|
||||
f 47/67 48/44 49/46
|
||||
f 49/46 50/45 51/48
|
||||
f 51/48 52/47 53/50
|
||||
f 55/68 53/50 56/51
|
||||
f 55/68 56/51 57/53
|
||||
f 57/53 58/52 59/55
|
||||
f 61/60 59/55 62/56
|
||||
f 2/69 34/31 4/70
|
||||
f 38/34 36/33 62/71
|
||||
f 58/72 40/36 60/73
|
||||
f 54/49 44/40 56/74
|
||||
f 50/45 48/44 52/47
|
||||
f 46/42 54/49 48/44
|
||||
f 14/13 22/20 20/18
|
||||
f 12/12 10/57 24/22
|
||||
f 2/69 64/75 34/31
|
||||
f 30/27 6/76 32/29
|
||||
f 26/24 8/58 28/26
|
||||
f 63/77 61/60 64/59
|
||||
f 64/75 36/33 34/31
|
||||
f 14/13 20/18 16/15
|
||||
f 44/40 42/38 56/74
|
||||
f 40/36 38/34 60/73
|
||||
f 38/34 62/71 60/73
|
||||
f 10/57 26/24 24/22
|
||||
f 48/44 54/49 52/47
|
||||
f 34/31 32/29 4/70
|
||||
f 8/58 6/76 28/26
|
||||
f 54/49 46/42 44/40
|
||||
f 20/18 18/17 16/15
|
||||
f 42/38 58/72 56/74
|
||||
f 63/77 64/59 1/1
|
||||
f 32/29 6/76 4/70
|
||||
f 12/12 24/22 14/13
|
||||
f 58/72 42/38 40/36
|
||||
f 36/33 64/75 62/71
|
||||
f 24/22 22/20 14/13
|
||||
f 6/76 30/27 28/26
|
||||
f 3/78 31/30 1/79
|
||||
f 7/80 29/28 5/81
|
||||
f 11/63 23/23 9/82
|
||||
f 15/16 21/21 13/14
|
||||
f 15/16 17/64 19/19
|
||||
f 61/83 63/84 35/66
|
||||
f 27/65 7/80 25/25
|
||||
f 41/39 55/85 57/86
|
||||
f 35/66 63/84 33/32
|
||||
f 53/87 55/85 43/41
|
||||
f 43/41 55/85 41/39
|
||||
f 47/67 53/87 45/43
|
||||
f 47/67 49/46 51/88
|
||||
f 59/61 39/37 57/86
|
||||
f 29/28 31/30 5/81
|
||||
f 7/80 27/65 29/28
|
||||
f 45/43 53/87 43/41
|
||||
f 47/67 51/88 53/87
|
||||
f 61/83 37/35 59/61
|
||||
f 31/30 3/78 5/81
|
||||
f 15/16 19/19 21/21
|
||||
f 21/21 23/23 13/14
|
||||
f 39/37 41/39 57/86
|
||||
f 7/80 9/82 25/25
|
||||
f 1/79 31/30 33/32
|
||||
f 23/23 11/63 13/14
|
||||
f 9/82 23/23 25/25
|
||||
f 37/35 61/83 35/66
|
||||
f 63/84 1/79 33/32
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user