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https://github.com/bulletphysics/bullet3
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test for knee joint limits under position control
This commit is contained in:
Erwin Coumans
parent
4dcf2b82b6
commit
fd40ba424b
115
data/mjcf/humanoid_fixed.xml
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115
data/mjcf/humanoid_fixed.xml
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<mujoco model="humanoid">
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<compiler angle="degree" inertiafromgeom="true"/>
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<default>
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<joint armature="1" damping="1" limited="true"/>
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<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
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<motor ctrllimited="true" ctrlrange="-.4 .4"/>
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</default>
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<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
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<!-- <flags solverstat="enable" energy="enable"/>-->
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</option>
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<size nkey="5" nuser_geom="1"/>
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<visual>
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<map fogend="5" fogstart="3"/>
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</visual>
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<asset>
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<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
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<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
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<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
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<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
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<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
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<material name="geom" texture="texgeom" texuniform="true"/>
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</asset>
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<worldbody>
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<body name="torso" pos="0 0 1.4">
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<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="fixed"/>
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<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
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<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
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<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
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<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
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<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
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<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
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<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
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<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
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<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
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<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
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<body name="right_thigh" pos="0 -0.1 -0.04">
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<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
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<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
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<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
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<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
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<body name="right_shin" pos="0 0.01 -0.403">
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<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
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<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
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<body name="right_foot" pos="0 0 -0.45">
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<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
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</body>
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</body>
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</body>
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<body name="left_thigh" pos="0 0.1 -0.04">
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<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
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<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
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<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
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<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
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<body name="left_shin" pos="0 -0.01 -0.403">
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<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
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<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
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<body name="left_foot" pos="0 0 -0.45">
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<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
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</body>
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</body>
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</body>
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</body>
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</body>
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<body name="right_upper_arm" pos="0 -0.17 0.06">
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<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
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<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
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<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
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<body name="right_lower_arm" pos=".18 -.18 -.18">
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<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
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<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
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<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
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</body>
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</body>
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<body name="left_upper_arm" pos="0 0.17 0.06">
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<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
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<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
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<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
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<body name="left_lower_arm" pos=".18 .18 -.18">
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<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
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<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
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<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
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</body>
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</body>
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</body>
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</worldbody>
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<tendon>
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<fixed name="left_hipknee">
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<joint coef="-1" joint="left_hip_y"/>
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<joint coef="1" joint="left_knee"/>
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</fixed>
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<fixed name="right_hipknee">
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<joint coef="-1" joint="right_hip_y"/>
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<joint coef="1" joint="right_knee"/>
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</fixed>
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</tendon>
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<actuator><!-- this section is not supported, same constants in code -->
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<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
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<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
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<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
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<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
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<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
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<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
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<motor gear="200" joint="right_knee" name="right_knee"/>
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<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
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<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
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<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
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<motor gear="200" joint="left_knee" name="left_knee"/>
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<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
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<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
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<motor gear="25" joint="right_elbow" name="right_elbow"/>
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<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
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<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
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<motor gear="25" joint="left_elbow" name="left_elbow"/>
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</actuator>
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</mujoco>
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37
examples/pybullet/examples/humanoid_knee_position_control.py
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37
examples/pybullet/examples/humanoid_knee_position_control.py
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@ -0,0 +1,37 @@
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import pybullet as p
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import time
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cid = p.connect(p.SHARED_MEMORY)
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if (cid<0):
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cid = p.connect(p.GUI)
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p.resetSimulation()
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useRealTime = 0
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p.setRealTimeSimulation(useRealTime)
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p.setGravity(0,0,0)
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p.loadURDF("plane.urdf")
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obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
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human = obUids[0]
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for i in range (p.getNumJoints(human)):
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p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=50)
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kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
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maxForceId = p.addUserDebugParameter("maxForce",0,100,10)
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kneeJointIndex=11
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while (1):
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time.sleep(0.01)
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kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
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maxForce = p.readUserDebugParameter(maxForceId)
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p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
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if (useRealTime==0):
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p.stepSimulation()
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