mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-16 06:30:05 +00:00
4db6fa9e29
added test urdf files for minitaur with all fixed joints, or fixed knees. added some stiffness/damping to minitaur legs (testing) tiny_obj_loader, don't crash on invalid texture coordinates btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
28 lines
719 B
Python
28 lines
719 B
Python
import sys
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#some python interpreters need '.' added
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sys.path.append(".")
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import pybullet as p
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from minitaur import Minitaur
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from minitaur_evaluate import *
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import time
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import math
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import numpy as np
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def main(unused_args):
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timeStep = 0.01
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c = p.connect(p.SHARED_MEMORY)
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if (c<0):
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c = p.connect(p.GUI)
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params = [0.1903581461951056, 0.0006732219568880068, 0.05018085615283363, 3.219916795483583, 6.2406418167980595, 4.189869754607539]
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evaluate_func = 'evaluate_desired_motorAngle_2Amplitude4Phase'
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energy_weight = 0.01
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finalReturn = evaluate_params(evaluateFunc = evaluate_func, params=params, objectiveParams=[energy_weight], timeStep=timeStep, sleepTime=timeStep)
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print(finalReturn)
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main(0)
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