mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
615 lines
26 KiB
Python
615 lines
26 KiB
Python
import pybullet as p
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import json
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import time
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import pybullet_data
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useGUI = True
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if useGUI:
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p.connect(p.GUI)
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else:
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p.connect(p.DIRECT)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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useZUp = False
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useYUp = not useZUp
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showJointMotorTorques = False
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if useYUp:
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p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP, 1)
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from pybullet_examples.pdControllerExplicit import PDControllerExplicitMultiDof
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from pybullet_examples.pdControllerStable import PDControllerStableMultiDof
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explicitPD = PDControllerExplicitMultiDof(p)
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stablePD = PDControllerStableMultiDof(p)
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p.resetDebugVisualizerCamera(cameraDistance=7.4,
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cameraYaw=-94,
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cameraPitch=-14,
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cameraTargetPosition=[0.24, -0.02, -0.09])
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import pybullet_data
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p.setTimeOut(10000)
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useMotionCapture = False
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useMotionCaptureReset = False #not useMotionCapture
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useExplicitPD = True
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.setPhysicsEngineParameter(numSolverIterations=30)
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#p.setPhysicsEngineParameter(solverResidualThreshold=1e-30)
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#explicit PD control requires small timestep
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timeStep = 1. / 600.
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#timeStep = 1./240.
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p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
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path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
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#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt"
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#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
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#p.loadURDF("plane.urdf",[0,0,-1.03])
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print("path = ", path)
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with open(path, 'r') as f:
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motion_dict = json.load(f)
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#print("motion_dict = ", motion_dict)
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print("len motion=", len(motion_dict))
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print(motion_dict['Loop'])
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numFrames = len(motion_dict['Frames'])
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print("#frames = ", numFrames)
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frameId = p.addUserDebugParameter("frame", 0, numFrames - 1, 0)
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erpId = p.addUserDebugParameter("erp", 0, 1, 0.2)
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kpMotorId = p.addUserDebugParameter("kpMotor", 0, 1, .2)
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forceMotorId = p.addUserDebugParameter("forceMotor", 0, 2000, 1000)
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jointTypes = [
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"JOINT_REVOLUTE", "JOINT_PRISMATIC", "JOINT_SPHERICAL", "JOINT_PLANAR", "JOINT_FIXED"
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]
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startLocations = [[0, 0, 2], [0, 0, 0], [0, 0, -2], [0, 0, -4], [0, 0, 4]]
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p.addUserDebugText("Stable PD",
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[startLocations[0][0], startLocations[0][1] + 1, startLocations[0][2]],
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[0, 0, 0])
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p.addUserDebugText("Spherical Drive",
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[startLocations[1][0], startLocations[1][1] + 1, startLocations[1][2]],
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[0, 0, 0])
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p.addUserDebugText("Explicit PD",
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[startLocations[2][0], startLocations[2][1] + 1, startLocations[2][2]],
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[0, 0, 0])
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p.addUserDebugText("Kinematic",
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[startLocations[3][0], startLocations[3][1] + 1, startLocations[3][2]],
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[0, 0, 0])
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p.addUserDebugText("Stable PD (Py)",
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[startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]],
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[0, 0, 0])
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flags=p.URDF_MAINTAIN_LINK_ORDER+p.URDF_USE_SELF_COLLISION
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humanoid = p.loadURDF("humanoid/humanoid.urdf",
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startLocations[0],
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globalScaling=0.25,
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useFixedBase=False,
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flags=flags)
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humanoid2 = p.loadURDF("humanoid/humanoid.urdf",
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startLocations[1],
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globalScaling=0.25,
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useFixedBase=False,
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flags=flags)
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humanoid3 = p.loadURDF("humanoid/humanoid.urdf",
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startLocations[2],
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globalScaling=0.25,
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useFixedBase=False,
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flags=flags)
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humanoid4 = p.loadURDF("humanoid/humanoid.urdf",
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startLocations[3],
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globalScaling=0.25,
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useFixedBase=False,
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flags=flags)
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humanoid5 = p.loadURDF("humanoid/humanoid.urdf",
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startLocations[4],
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globalScaling=0.25,
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useFixedBase=False,
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flags=flags)
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humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
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startLocations[0], [0, 0, 0, 1])
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humanoid2_fix = p.createConstraint(humanoid2, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
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startLocations[1], [0, 0, 0, 1])
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humanoid3_fix = p.createConstraint(humanoid3, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
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startLocations[2], [0, 0, 0, 1])
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humanoid3_fix = p.createConstraint(humanoid4, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
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startLocations[3], [0, 0, 0, 1])
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humanoid4_fix = p.createConstraint(humanoid5, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
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startLocations[4], [0, 0, 0, 1])
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startPose = [
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2, 0.847532, 0, 0.9986781045, 0.01410400148, -0.0006980000731, -0.04942300517, 0.9988133229,
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0.009485003066, -0.04756001538, -0.004475001447, 1, 0, 0, 0, 0.9649395871, 0.02436898957,
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-0.05755497537, 0.2549218909, -0.249116, 0.9993661511, 0.009952001505, 0.03265400494,
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0.01009800153, 0.9854981188, -0.06440700776, 0.09324301124, -0.1262970152, 0.170571,
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0.9927545808, -0.02090099117, 0.08882396249, -0.07817796699, -0.391532, 0.9828788495,
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0.1013909845, -0.05515999155, 0.143618978, 0.9659421276, 0.1884590249, -0.1422460188,
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0.105854014, 0.581348
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]
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startVel = [
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1.235314324, -0.008525509087, 0.1515293946, -1.161516553, 0.1866449799, -0.1050802848, 0,
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0.935706195, 0.08277326387, 0.3002461862, 0, 0, 0, 0, 0, 1.114409628, 0.3618553952,
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-0.4505575061, 0, -1.725374735, -0.5052852598, -0.8555179722, -0.2221173515, 0, -0.1837617357,
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0.00171895706, 0.03912837591, 0, 0.147945294, 1.837653345, 0.1534535548, 1.491385941, 0,
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-4.632454387, -0.9111172777, -1.300648184, -1.345694622, 0, -1.084238535, 0.1313680236,
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-0.7236998534, 0, -0.5278312973
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]
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p.resetBasePositionAndOrientation(humanoid, startLocations[0], [0, 0, 0, 1])
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p.resetBasePositionAndOrientation(humanoid2, startLocations[1], [0, 0, 0, 1])
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p.resetBasePositionAndOrientation(humanoid3, startLocations[2], [0, 0, 0, 1])
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p.resetBasePositionAndOrientation(humanoid4, startLocations[3], [0, 0, 0, 1])
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p.resetBasePositionAndOrientation(humanoid5, startLocations[4], [0, 0, 0, 1])
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index0 = 7
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for j in range(p.getNumJoints(humanoid)):
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ji = p.getJointInfo(humanoid, j)
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targetPosition = [0]
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jointType = ji[2]
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if (jointType == p.JOINT_SPHERICAL):
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targetPosition = [
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startPose[index0 + 1], startPose[index0 + 2], startPose[index0 + 3], startPose[index0 + 0]
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]
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targetVel = [startVel[index0 + 0], startVel[index0 + 1], startVel[index0 + 2]]
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index0 += 4
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print("spherical position: ", targetPosition)
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print("spherical velocity: ", targetVel)
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p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
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p.resetJointStateMultiDof(humanoid5, j, targetValue=targetPosition, targetVelocity=targetVel)
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p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
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if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
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targetPosition = [startPose[index0]]
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targetVel = [startVel[index0]]
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index0 += 1
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print("revolute:", targetPosition)
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print("revolute velocity:", targetVel)
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p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
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p.resetJointStateMultiDof(humanoid5, j, targetValue=targetPosition, targetVelocity=targetVel)
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p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
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for j in range(p.getNumJoints(humanoid)):
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ji = p.getJointInfo(humanoid, j)
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targetPosition = [0]
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jointType = ji[2]
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if (jointType == p.JOINT_SPHERICAL):
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targetPosition = [0, 0, 0, 1]
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p.setJointMotorControlMultiDof(humanoid,
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j,
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p.POSITION_CONTROL,
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targetPosition,
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targetVelocity=[0, 0, 0],
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positionGain=0,
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velocityGain=1,
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force=[0, 0, 0])
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p.setJointMotorControlMultiDof(humanoid5,
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j,
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p.POSITION_CONTROL,
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targetPosition,
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targetVelocity=[0, 0, 0],
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positionGain=0,
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velocityGain=1,
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force=[0, 0, 0])
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p.setJointMotorControlMultiDof(humanoid3,
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j,
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p.POSITION_CONTROL,
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targetPosition,
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targetVelocity=[0, 0, 0],
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positionGain=0,
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velocityGain=1,
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force=[31, 31, 31])
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p.setJointMotorControlMultiDof(humanoid4,
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j,
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p.POSITION_CONTROL,
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targetPosition,
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targetVelocity=[0, 0, 0],
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positionGain=0,
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velocityGain=1,
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force=[1, 1, 1])
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if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
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p.setJointMotorControl2(humanoid, j, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
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p.setJointMotorControl2(humanoid3, j, p.VELOCITY_CONTROL, targetVelocity=0, force=31)
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p.setJointMotorControl2(humanoid4, j, p.VELOCITY_CONTROL, targetVelocity=0, force=10)
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p.setJointMotorControl2(humanoid5, j, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
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#print(ji)
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print("joint[", j, "].type=", jointTypes[ji[2]])
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print("joint[", j, "].name=", ji[1])
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jointIds = []
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paramIds = []
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for j in range(p.getNumJoints(humanoid)):
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#p.changeDynamics(humanoid,j,linearDamping=0, angularDamping=0)
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p.changeVisualShape(humanoid, j, rgbaColor=[1, 1, 1, 1])
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info = p.getJointInfo(humanoid, j)
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#print(info)
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if (not useMotionCapture):
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jointName = info[1]
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jointType = info[2]
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if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
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jointIds.append(j)
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#paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,0))
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#print("jointName=",jointName, "at ", j)
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p.changeVisualShape(humanoid, 2, rgbaColor=[1, 0, 0, 1])
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chest = 1
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neck = 2
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rightHip = 3
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rightKnee = 4
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rightAnkle = 5
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rightShoulder = 6
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rightElbow = 7
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leftHip = 9
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leftKnee = 10
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leftAnkle = 11
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leftShoulder = 12
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leftElbow = 13
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#rightShoulder=3
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#rightElbow=4
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#leftShoulder=6
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#leftElbow = 7
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#rightHip = 9
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#rightKnee=10
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#rightAnkle=11
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#leftHip = 12
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#leftKnee=13
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#leftAnkle=14
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import time
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kpOrg = [
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0, 0, 0, 0, 0, 0, 0, 1000, 1000, 1000, 1000, 100, 100, 100, 100, 500, 500, 500, 500, 500, 400,
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400, 400, 400, 400, 400, 400, 400, 300, 500, 500, 500, 500, 500, 400, 400, 400, 400, 400, 400,
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400, 400, 300
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]
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kdOrg = [
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0, 0, 0, 0, 0, 0, 0, 100, 100, 100, 100, 10, 10, 10, 10, 50, 50, 50, 50, 50, 40, 40, 40, 40,
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40, 40, 40, 40, 30, 50, 50, 50, 50, 50, 40, 40, 40, 40, 40, 40, 40, 40, 30
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]
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once = True
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p.getCameraImage(320, 200)
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while (p.isConnected()):
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if useGUI:
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erp = p.readUserDebugParameter(erpId)
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kpMotor = p.readUserDebugParameter(kpMotorId)
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maxForce = p.readUserDebugParameter(forceMotorId)
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frameReal = p.readUserDebugParameter(frameId)
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else:
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erp = 0.2
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kpMotor = 0.2
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maxForce = 1000
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frameReal = 0
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kp = kpMotor
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frame = int(frameReal)
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frameNext = frame + 1
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if (frameNext >= numFrames):
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frameNext = frame
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frameFraction = frameReal - frame
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#print("frameFraction=",frameFraction)
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#print("frame=",frame)
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#print("frameNext=", frameNext)
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#getQuaternionSlerp
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frameData = motion_dict['Frames'][frame]
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frameDataNext = motion_dict['Frames'][frameNext]
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#print("duration=",frameData[0])
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#print(pos=[frameData])
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basePos1Start = [frameData[1], frameData[2], frameData[3]]
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basePos1End = [frameDataNext[1], frameDataNext[2], frameDataNext[3]]
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basePos1 = [
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basePos1Start[0] + frameFraction * (basePos1End[0] - basePos1Start[0]),
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basePos1Start[1] + frameFraction * (basePos1End[1] - basePos1Start[1]),
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basePos1Start[2] + frameFraction * (basePos1End[2] - basePos1Start[2])
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]
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baseOrn1Start = [frameData[5], frameData[6], frameData[7], frameData[4]]
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baseOrn1Next = [frameDataNext[5], frameDataNext[6], frameDataNext[7], frameDataNext[4]]
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baseOrn1 = p.getQuaternionSlerp(baseOrn1Start, baseOrn1Next, frameFraction)
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#pre-rotate to make z-up
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if (useZUp):
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y2zPos = [0, 0, 0.0]
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y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
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basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
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p.resetBasePositionAndOrientation(humanoid, basePos, baseOrn)
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y2zPos = [0, 2, 0.0]
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y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
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basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
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p.resetBasePositionAndOrientation(humanoid2, basePos, baseOrn)
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chestRotStart = [frameData[9], frameData[10], frameData[11], frameData[8]]
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chestRotEnd = [frameDataNext[9], frameDataNext[10], frameDataNext[11], frameDataNext[8]]
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chestRot = p.getQuaternionSlerp(chestRotStart, chestRotEnd, frameFraction)
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neckRotStart = [frameData[13], frameData[14], frameData[15], frameData[12]]
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neckRotEnd = [frameDataNext[13], frameDataNext[14], frameDataNext[15], frameDataNext[12]]
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neckRot = p.getQuaternionSlerp(neckRotStart, neckRotEnd, frameFraction)
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rightHipRotStart = [frameData[17], frameData[18], frameData[19], frameData[16]]
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rightHipRotEnd = [frameDataNext[17], frameDataNext[18], frameDataNext[19], frameDataNext[16]]
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rightHipRot = p.getQuaternionSlerp(rightHipRotStart, rightHipRotEnd, frameFraction)
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rightKneeRotStart = [frameData[20]]
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rightKneeRotEnd = [frameDataNext[20]]
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rightKneeRot = [
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rightKneeRotStart[0] + frameFraction * (rightKneeRotEnd[0] - rightKneeRotStart[0])
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]
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rightAnkleRotStart = [frameData[22], frameData[23], frameData[24], frameData[21]]
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rightAnkleRotEnd = [frameDataNext[22], frameDataNext[23], frameDataNext[24], frameDataNext[21]]
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rightAnkleRot = p.getQuaternionSlerp(rightAnkleRotStart, rightAnkleRotEnd, frameFraction)
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rightShoulderRotStart = [frameData[26], frameData[27], frameData[28], frameData[25]]
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rightShoulderRotEnd = [
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frameDataNext[26], frameDataNext[27], frameDataNext[28], frameDataNext[25]
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]
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rightShoulderRot = p.getQuaternionSlerp(rightShoulderRotStart, rightShoulderRotEnd,
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frameFraction)
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rightElbowRotStart = [frameData[29]]
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rightElbowRotEnd = [frameDataNext[29]]
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rightElbowRot = [
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rightElbowRotStart[0] + frameFraction * (rightElbowRotEnd[0] - rightElbowRotStart[0])
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]
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leftHipRotStart = [frameData[31], frameData[32], frameData[33], frameData[30]]
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leftHipRotEnd = [frameDataNext[31], frameDataNext[32], frameDataNext[33], frameDataNext[30]]
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leftHipRot = p.getQuaternionSlerp(leftHipRotStart, leftHipRotEnd, frameFraction)
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leftKneeRotStart = [frameData[34]]
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leftKneeRotEnd = [frameDataNext[34]]
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leftKneeRot = [leftKneeRotStart[0] + frameFraction * (leftKneeRotEnd[0] - leftKneeRotStart[0])]
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leftAnkleRotStart = [frameData[36], frameData[37], frameData[38], frameData[35]]
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leftAnkleRotEnd = [frameDataNext[36], frameDataNext[37], frameDataNext[38], frameDataNext[35]]
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leftAnkleRot = p.getQuaternionSlerp(leftAnkleRotStart, leftAnkleRotEnd, frameFraction)
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leftShoulderRotStart = [frameData[40], frameData[41], frameData[42], frameData[39]]
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leftShoulderRotEnd = [frameDataNext[40], frameDataNext[41], frameDataNext[42], frameDataNext[39]]
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leftShoulderRot = p.getQuaternionSlerp(leftShoulderRotStart, leftShoulderRotEnd, frameFraction)
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leftElbowRotStart = [frameData[43]]
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leftElbowRotEnd = [frameDataNext[43]]
|
|
leftElbowRot = [
|
|
leftElbowRotStart[0] + frameFraction * (leftElbowRotEnd[0] - leftElbowRotStart[0])
|
|
]
|
|
|
|
if (0): #if (once):
|
|
p.resetJointStateMultiDof(humanoid, chest, chestRot)
|
|
p.resetJointStateMultiDof(humanoid, neck, neckRot)
|
|
p.resetJointStateMultiDof(humanoid, rightHip, rightHipRot)
|
|
p.resetJointStateMultiDof(humanoid, rightKnee, rightKneeRot)
|
|
p.resetJointStateMultiDof(humanoid, rightAnkle, rightAnkleRot)
|
|
p.resetJointStateMultiDof(humanoid, rightShoulder, rightShoulderRot)
|
|
p.resetJointStateMultiDof(humanoid, rightElbow, rightElbowRot)
|
|
p.resetJointStateMultiDof(humanoid, leftHip, leftHipRot)
|
|
p.resetJointStateMultiDof(humanoid, leftKnee, leftKneeRot)
|
|
p.resetJointStateMultiDof(humanoid, leftAnkle, leftAnkleRot)
|
|
p.resetJointStateMultiDof(humanoid, leftShoulder, leftShoulderRot)
|
|
p.resetJointStateMultiDof(humanoid, leftElbow, leftElbowRot)
|
|
once = False
|
|
#print("chestRot=",chestRot)
|
|
p.setGravity(0, 0, -10)
|
|
|
|
kp = kpMotor
|
|
if (useExplicitPD):
|
|
jointDofCounts = [4, 4, 4, 1, 4, 4, 1, 4, 1, 4, 4, 1]
|
|
#[x,y,z] base position and [x,y,z,w] base orientation!
|
|
totalDofs = 7
|
|
for dof in jointDofCounts:
|
|
totalDofs += dof
|
|
|
|
jointIndicesAll = [
|
|
chest, neck, rightHip, rightKnee, rightAnkle, rightShoulder, rightElbow, leftHip, leftKnee,
|
|
leftAnkle, leftShoulder, leftElbow
|
|
]
|
|
basePos, baseOrn = p.getBasePositionAndOrientation(humanoid)
|
|
pose = [
|
|
basePos[0], basePos[1], basePos[2], baseOrn[0], baseOrn[1], baseOrn[2], baseOrn[3],
|
|
chestRot[0], chestRot[1], chestRot[2], chestRot[3], neckRot[0], neckRot[1], neckRot[2],
|
|
neckRot[3], rightHipRot[0], rightHipRot[1], rightHipRot[2], rightHipRot[3],
|
|
rightKneeRot[0], rightAnkleRot[0], rightAnkleRot[1], rightAnkleRot[2], rightAnkleRot[3],
|
|
rightShoulderRot[0], rightShoulderRot[1], rightShoulderRot[2], rightShoulderRot[3],
|
|
rightElbowRot[0], leftHipRot[0], leftHipRot[1], leftHipRot[2], leftHipRot[3],
|
|
leftKneeRot[0], leftAnkleRot[0], leftAnkleRot[1], leftAnkleRot[2], leftAnkleRot[3],
|
|
leftShoulderRot[0], leftShoulderRot[1], leftShoulderRot[2], leftShoulderRot[3],
|
|
leftElbowRot[0]
|
|
]
|
|
|
|
#print("pose=")
|
|
#for po in pose:
|
|
# print(po)
|
|
|
|
|
|
taus = stablePD.computePD(bodyUniqueId=humanoid5,
|
|
jointIndices=jointIndicesAll,
|
|
desiredPositions=pose,
|
|
desiredVelocities=[0] * totalDofs,
|
|
kps=kpOrg,
|
|
kds=kdOrg,
|
|
maxForces=[maxForce] * totalDofs,
|
|
timeStep=timeStep)
|
|
|
|
indices = [chest, neck, rightHip, rightKnee,
|
|
rightAnkle, rightShoulder, rightElbow,
|
|
leftHip, leftKnee, leftAnkle,
|
|
leftShoulder, leftElbow]
|
|
targetPositions = [chestRot,neckRot,rightHipRot, rightKneeRot,
|
|
rightAnkleRot, rightShoulderRot, rightElbowRot,
|
|
leftHipRot, leftKneeRot, leftAnkleRot,
|
|
leftShoulderRot, leftElbowRot]
|
|
maxForces = [ [maxForce,maxForce,maxForce], [maxForce,maxForce,maxForce],[maxForce,maxForce,maxForce],[maxForce],
|
|
[maxForce,maxForce,maxForce],[maxForce,maxForce,maxForce],[maxForce],
|
|
[maxForce,maxForce,maxForce], [maxForce], [maxForce,maxForce,maxForce],
|
|
[maxForce,maxForce,maxForce], [maxForce]]
|
|
|
|
|
|
kps = [1000]*12
|
|
kds = [100]*12
|
|
|
|
|
|
p.setJointMotorControlMultiDofArray(humanoid,
|
|
indices,
|
|
p.STABLE_PD_CONTROL,
|
|
targetPositions=targetPositions,
|
|
positionGains=kps,
|
|
velocityGains=kds,
|
|
forces=maxForces)
|
|
|
|
taus3 = explicitPD.computePD(bodyUniqueId=humanoid3,
|
|
jointIndices=jointIndicesAll,
|
|
desiredPositions=pose,
|
|
desiredVelocities=[0] * totalDofs,
|
|
kps=kpOrg,
|
|
kds=kdOrg,
|
|
maxForces=[maxForce * 0.05] * totalDofs,
|
|
timeStep=timeStep)
|
|
|
|
#taus=[0]*43
|
|
dofIndex = 7
|
|
for index in range(len(jointIndicesAll)):
|
|
jointIndex = jointIndicesAll[index]
|
|
if jointDofCounts[index] == 4:
|
|
|
|
p.setJointMotorControlMultiDof(
|
|
humanoid5,
|
|
jointIndex,
|
|
p.TORQUE_CONTROL,
|
|
force=[taus[dofIndex + 0], taus[dofIndex + 1], taus[dofIndex + 2]])
|
|
p.setJointMotorControlMultiDof(
|
|
humanoid3,
|
|
jointIndex,
|
|
p.TORQUE_CONTROL,
|
|
force=[taus3[dofIndex + 0], taus3[dofIndex + 1], taus3[dofIndex + 2]])
|
|
|
|
if jointDofCounts[index] == 1:
|
|
|
|
|
|
p.setJointMotorControlMultiDof(humanoid5,
|
|
jointIndex,
|
|
controlMode=p.TORQUE_CONTROL,
|
|
force=[taus[dofIndex]])
|
|
p.setJointMotorControlMultiDof(humanoid3,
|
|
jointIndex,
|
|
controlMode=p.TORQUE_CONTROL,
|
|
force=[taus3[dofIndex]])
|
|
|
|
dofIndex += jointDofCounts[index]
|
|
|
|
#print("len(taus)=",len(taus))
|
|
#print("taus=",taus)
|
|
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
chest,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=chestRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
neck,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=neckRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
rightHip,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=rightHipRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
rightKnee,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=rightKneeRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
rightAnkle,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=rightAnkleRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
rightShoulder,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=rightShoulderRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
rightElbow,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=rightElbowRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
leftHip,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=leftHipRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
leftKnee,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=leftKneeRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
leftAnkle,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=leftAnkleRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
leftShoulder,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=leftShoulderRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
p.setJointMotorControlMultiDof(humanoid2,
|
|
leftElbow,
|
|
p.POSITION_CONTROL,
|
|
targetPosition=leftElbowRot,
|
|
positionGain=kp,
|
|
force=[maxForce])
|
|
|
|
kinematicHumanoid4 = True
|
|
if (kinematicHumanoid4):
|
|
p.resetJointStateMultiDof(humanoid4, chest, chestRot)
|
|
p.resetJointStateMultiDof(humanoid4, neck, neckRot)
|
|
p.resetJointStateMultiDof(humanoid4, rightHip, rightHipRot)
|
|
p.resetJointStateMultiDof(humanoid4, rightKnee, rightKneeRot)
|
|
p.resetJointStateMultiDof(humanoid4, rightAnkle, rightAnkleRot)
|
|
p.resetJointStateMultiDof(humanoid4, rightShoulder, rightShoulderRot)
|
|
p.resetJointStateMultiDof(humanoid4, rightElbow, rightElbowRot)
|
|
p.resetJointStateMultiDof(humanoid4, leftHip, leftHipRot)
|
|
p.resetJointStateMultiDof(humanoid4, leftKnee, leftKneeRot)
|
|
p.resetJointStateMultiDof(humanoid4, leftAnkle, leftAnkleRot)
|
|
p.resetJointStateMultiDof(humanoid4, leftShoulder, leftShoulderRot)
|
|
p.resetJointStateMultiDof(humanoid4, leftElbow, leftElbowRot)
|
|
p.stepSimulation()
|
|
|
|
if showJointMotorTorques:
|
|
for j in range(p.getNumJoints(humanoid2)):
|
|
jointState = p.getJointStateMultiDof(humanoid2, j)
|
|
print("jointStateMultiDof[", j, "].pos=", jointState[0])
|
|
print("jointStateMultiDof[", j, "].vel=", jointState[1])
|
|
print("jointStateMultiDof[", j, "].jointForces=", jointState[3])
|
|
time.sleep(timeStep)
|