def __init__(self):
client = p.connect(p.GUI)
p.setTimeOut(2)
p.setGravity(0, 0, -9.8)
self.speed = 20
self.walls = []
self.wallThickness = 0.1
self.wallHeight = 1
self.wallColor = [1, 1, 1, 1]
self.agent = 'r2d2.urdf'
self.rotationSpeed = 20
self.max_timesteps = 10000
self.spawnPos = [0, 0, 1]
self.spawnOrn = p.getQuaternionFromEuler([0, 0, 0])
self.prevAction = -1
self.forces = 100
self.frameStackSize = 4
self.frames = []
self.collisionDetected = False
self.counter = 0
self.K = 3
self.viewer = None
self.imgHeight = self.imgWidth = 300
self.screen = None
p.setAdditionalSearchPath(pybullet_data.getDataPath())
maxKneeForce = 1000
physId = p.connect(p.SHARED_MEMORY)
if (physId < 0):
p.connect(p.GUI)
#p.resetSimulation()
angle = 0 # pick in range 0..0.2 radians
orn = p.getQuaternionFromEuler([0, angle, 0])
p.loadURDF("plane.urdf", [0, 0, 0], orn)
p.setPhysicsEngineParameter(numSolverIterations=numSolverIterations)
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,
"genericlogdata.bin",
maxLogDof=16,
logFlags=p.STATE_LOG_JOINT_TORQUES)
p.setTimeOut(4000000)
p.setGravity(0, 0, 0)
p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0, 0, 0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf", [1, -1, .3],
orn,
useFixedBase=False,
useMaximalCoordinates=useMaximalCoordinates)
nJoints = p.getNumJoints(quadruped)
jointNameToId = {}
for i in range(nJoints):
jointInfo = p.getJointInfo(quadruped, i)
import pybullet as p
import time
import math
import sys
sys.path.append(".")
from minitaur import Minitaur
p.connect(p.GUI)
p.setTimeOut(5)
#p.setPhysicsEngineParameter(numSolverIterations=50)
p.setGravity(0, 0, -10)
p.setTimeStep(0.01)
urdfRoot = ''
p.loadURDF("%s/plane.urdf" % urdfRoot)
minitaur = Minitaur(urdfRoot)
while (True):
p.stepSimulation()
time.sleep(0.01)
physId = p.connect(p.SHARED_MEMORY_GUI)
if physId < 0:
p.connect(p.GUI)
# p.resetSimulation()
p.setAdditionalSearchPath(pybullet_data.getDataPath())
angle = 0 # pick in range 0..0.2 radians
orn = p.getQuaternionFromEuler([0, angle, 0])
p.loadURDF("plane.urdf", [0, 0, 0], orn)
p.setPhysicsEngineParameter(numSolverIterations=numSolverIterations)
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,
"genericlogdata.bin",
maxLogDof=16,
logFlags=p.STATE_LOG_JOINT_TORQUES)
p.setTimeOut(4)
p.setGravity(0, 0, 0)
p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0, 0, 0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF(
"quadruped/minitaur_v1.urdf",
[1, -1, 0.3],
orn,
useFixedBase=False,
useMaximalCoordinates=useMaximalCoordinates,
flags=p.URDF_USE_IMPLICIT_CYLINDER,
)
nJoints = p.getNumJoints(quadruped)
import pybullet as p
import time
import math
import sys
sys.path.append(".")
from minitaur import Minitaur
p.connect(p.GUI)
p.setTimeOut(5)
#p.setPhysicsEngineParameter(numSolverIterations=50)
p.setGravity(0,0,-10)
p.setTimeStep(0.01)
urdfRoot = ''
p.loadURDF("%s/plane.urdf" % urdfRoot)
minitaur = Minitaur(urdfRoot)
while (True):
p.stepSimulation()
time.sleep(0.01)
if useYUp:
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP, 1)
from pdControllerExplicit import PDControllerExplicitMultiDof
from pdControllerStable import PDControllerStableMultiDof
explicitPD = PDControllerExplicitMultiDof(p)
stablePD = PDControllerStableMultiDof(p)
p.resetDebugVisualizerCamera(cameraDistance=7,
cameraYaw=-94,
cameraPitch=-14,
cameraTargetPosition=[0.31, 0.03, -1.16])
import pybullet_data
p.setTimeOut(10000)
useMotionCapture = False
useMotionCaptureReset = False #not useMotionCapture
useExplicitPD = True
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setPhysicsEngineParameter(numSolverIterations=30)
#p.setPhysicsEngineParameter(solverResidualThreshold=1e-30)
#explicit PD control requires small timestep
timeStep = 1. / 600.
#timeStep = 1./240.
p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
useZUp = False useYUp = not useZUp if useYUp: p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP , 1) from pdControllerExplicit import PDControllerExplicitMultiDof from pdControllerStable import PDControllerStableMultiDof explicitPD = PDControllerExplicitMultiDof(p) stablePD = PDControllerStableMultiDof(p) p.resetDebugVisualizerCamera(cameraDistance=7, cameraYaw=-94, cameraPitch=-14, cameraTargetPosition=[0.31,0.03,-1.16]) import pybullet_data p.setTimeOut(10000) useMotionCapture=False useMotionCaptureReset=False#not useMotionCapture useExplicitPD = True p.setAdditionalSearchPath(pybullet_data.getDataPath()) p.setPhysicsEngineParameter(numSolverIterations=30) #p.setPhysicsEngineParameter(solverResidualThreshold=1e-30) #explicit PD control requires small timestep timeStep = 1./600. #timeStep = 1./240. p.setPhysicsEngineParameter(fixedTimeStep=timeStep) path = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
maxKneeForce = 1000
physId = p.connect(p.SHARED_MEMORY)
if (physId < 0):
p.connect(p.GUI)
#p.resetSimulation()
angle = 0 # pick in range 0..0.2 radians
orn = p.getQuaternionFromEuler([0, angle, 0])
p.loadURDF("plane.urdf", [0, 0, 0], orn)
p.setPhysicsEngineParameter(numSolverIterations=numSolverIterations)
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,
"genericlogdata.bin",
maxLogDof=16,
logFlags=p.STATE_LOG_JOINT_TORQUES)
p.setTimeOut(4000000)
p.setGravity(0, 0, 0)
p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0, 0, 0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf", [1, -1, .3],
orn,
useFixedBase=False,
useMaximalCoordinates=useMaximalCoordinates,
flags=p.URDF_USE_IMPLICIT_CYLINDER)
nJoints = p.getNumJoints(quadruped)
jointNameToId = {}
for i in range(nJoints):
amplitude = 0.8
jump_amp = 0.5
maxForce = 3.5
kneeFrictionForce = 0.00
kp = 1
kd = .1
physId = p.connect(p.SHARED_MEMORY)
if (physId<0):
p.connect(p.GUI)
#p.resetSimulation()
p.loadURDF("plane.urdf",0,0,0)
p.setPhysicsEngineParameter(numSolverIterations=50)
p.setTimeOut(4)
p.setGravity(0,0,0)
p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0,0,0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur.urdf",[1,0,0.2],orn,useFixedBase=False)
nJoints = p.getNumJoints(quadruped)
jointNameToId = {}
for i in range(nJoints):
jointInfo = p.getJointInfo(quadruped, i)
jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
