mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
84 lines
4.6 KiB
Python
84 lines
4.6 KiB
Python
import pybullet as p
|
|
|
|
class Minitaur:
|
|
def __init__(self):
|
|
self.reset()
|
|
|
|
def reset(self):
|
|
self.quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
|
|
self.kp = 1
|
|
self.kd = 0.1
|
|
self.maxForce = 100
|
|
nJoints = p.getNumJoints(self.quadruped)
|
|
self.jointNameToId = {}
|
|
for i in range(nJoints):
|
|
jointInfo = p.getJointInfo(self.quadruped, i)
|
|
self.jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
|
|
self.resetPose()
|
|
for i in range(100):
|
|
p.stepSimulation()
|
|
|
|
def disableAllMotors(self):
|
|
nJoints = p.getNumJoints(self.quadruped)
|
|
for i in range(nJoints):
|
|
p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=i, controlMode=p.VELOCITY_CONTROL, force=0)
|
|
|
|
def setMotorAngleByName(self, motorName, desiredAngle):
|
|
p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=self.jointNameToId[motorName], controlMode=p.POSITION_CONTROL, targetPosition=desiredAngle, positionGain=self.kp, velocityGain=self.kd, force=self.maxForce)
|
|
|
|
def resetPose(self):
|
|
#right front leg
|
|
self.disableAllMotors()
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],-2.2)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],-1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],2.2)
|
|
p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
|
|
self.setMotorAngleByName('motor_front_rightR_joint', 1.57)
|
|
self.setMotorAngleByName('motor_front_rightL_joint',-1.57)
|
|
|
|
#left front leg
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],-2.2)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],-1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],2.2)
|
|
p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
|
|
self.setMotorAngleByName('motor_front_leftR_joint', 1.57)
|
|
self.setMotorAngleByName('motor_front_leftL_joint',-1.57)
|
|
|
|
#right back leg
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],-2.2)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],-1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],2.2)
|
|
p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
|
|
self.setMotorAngleByName('motor_back_rightR_joint', 1.57)
|
|
self.setMotorAngleByName('motor_back_rightL_joint',-1.57)
|
|
|
|
#left back leg
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],-2.2)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],-1.57)
|
|
p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],2.2)
|
|
p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
|
|
self.setMotorAngleByName('motor_back_leftR_joint', 1.57)
|
|
self.setMotorAngleByName('motor_back_leftL_joint',-1.57)
|
|
|
|
def getBasePosition(self):
|
|
position, orientation = p.getBasePositionAndOrientation(self.quadruped)
|
|
return position
|
|
|
|
def getBaseOrientation(self):
|
|
position, orientation = p.getBasePositionAndOrientation(self.quadruped)
|
|
return orientation
|
|
|
|
def applyAction(self, motorCommands):
|
|
self.setMotorAngleByName('motor_front_rightR_joint', motorCommands[0])
|
|
self.setMotorAngleByName('motor_front_rightL_joint', motorCommands[1])
|
|
self.setMotorAngleByName('motor_front_leftR_joint', motorCommands[2])
|
|
self.setMotorAngleByName('motor_front_leftL_joint', motorCommands[3])
|
|
self.setMotorAngleByName('motor_back_rightR_joint', motorCommands[4])
|
|
self.setMotorAngleByName('motor_back_rightL_joint', motorCommands[5])
|
|
self.setMotorAngleByName('motor_back_leftR_joint', motorCommands[6])
|
|
self.setMotorAngleByName('motor_back_leftL_joint', motorCommands[7])
|