cubeStartPos,
cubeStartOrientation,
useFixedBase=0)
"""
#To get info of the robot
print("Join Info: ")
for i in range(p.getNumJoints(robot)):
print(p.getJointInfo(robot, i))
print("Link Info: ")
for i in range(p.getNumJoints(robot)+1):
print(p.getLinkStates(robot, [i]))
"""
walk_gen = walkGenerator.WalkGenerator(l0, l1, l2, l3, hip_shift,
sittinghip_shift, swayLength, t0, robot,
physicsClient, motor_force)
#################################################################################################################################################################
################################################### What your Robot should do for you, write below! #############################################################
#################################################################################################################################################################
# time.sleep(1.5)
# walk_gen.sit_stand_motion(d = "sit")
# time.sleep(1.5)
# # forward motion
# swayLength = 0.2
# print(p.getLinkStates(robot, [0])[0][0])
# print(p.getEulerFromQuaternion(p.getLinkStates(robot, [0])[0][1]))
planeID = p.loadURDF("plane.urdf")
robotID = p.loadURDF(os.path.abspath(os.path.dirname(__file__)) +
'/humanoid_leg_12dof.8.urdf', [0, 0, 0.31],
p.getQuaternionFromEuler([0, 0, 0]),
useFixedBase=False)
motorsController = motorController.MotorController(robotID, physicsClient,
fixedTimeStep, motor_kp,
motor_kd, motor_torque,
motor_max_velocity)
print(motorsController.getRevoluteJoint_nameToId())
# %%
motorController.MotorController()
walk = walkGenerator.WalkGenerator()
walk.setWalkParameter(bodyMovePoint=8,
legMovePoint=8,
height=50,
stride=90,
sit=50,
swayBody=30,
swayFoot=0,
bodyPositionForwardPlus=5,
swayShift=3,
liftPush=0.5,
landPull=0.7,
timeStep=0.06,
damping=0.0,
incline=0.0)
walk.generate()