def __init__(self, filename):
# Parsing the dwl control suite configuration and initialization
self.parseConfigFile(filename)
self.loop_sim = False
self.fixed_base = False
self.t = 0.
# Creating the bullet clien and configure it
if self.enable_gui:
self.client = pb.connect(pb.GUI, options='--opengl2')
else:
self.client = pb.connect(pb.DIRECT)
# Creating and configurating the bullet interface
self.biface = BulletInterface(self.client)
self.biface.setGravity(self.gravity[dwl.X],
self.gravity[dwl.Y],
self.gravity[dwl.Z])
self.biface.setTimeStep(self.time_step)
self.biface.resetDebugVisualizerCamera(self.cam_dist,
self.cam_yaw,
self.cam_pitch,
self.cam_target.tolist())
# Loading the ground model
pb.setAdditionalSearchPath(pybullet_data.getDataPath())
self.plane_id = pb.loadURDF('plane.urdf')
# Loading the robot model to dwl and simulator
self.fbs = dwl.FloatingBaseSystem()
self.wkin = dwl.WholeBodyKinematics()
self.wdyn = dwl.WholeBodyDynamics()
self.fbs.resetFromURDFFile(self.root_path + self.urdf_path,
self.root_path + self.yarf_path)
self.wkin.reset(self.fbs)
self.wdyn.reset(self.fbs, self.wkin)
pb.setAdditionalSearchPath(self.root_path)
self.robot_id = pb.loadURDF(self.urdf_path,
self.robot_pos0.tolist(),
pb.getQuaternionFromEuler(self.robot_rpy0),
flags=pb.URDF_USE_INERTIA_FROM_FILE)
# Creating the actual whole-body state
self.ws_states = [dwl.WholeBodyState(self.fbs.getJointDoF()), # actual state
dwl.WholeBodyState(self.fbs.getJointDoF())] # desired state
self.parseRobot()
self.resetRobotPosition(self.robot_pos0)
self.readControllerPlugins()
# Creating the controller
if not self.changeController(self.ctrl_name, self.ctrl_config):
print bcolors.FAIL + 'Error: the default controller is not defined' + bcolors.ENDC
sys.exit()
if self.enable_ros:
self.enableROS()
def __init__(self, urdf, yarf):
# Four-bar linkage mechanical constants
self.akh = 0.522
self.fkb = 0.694
self.cj = 0.005
self.jk = 0.360 + 0.041
# The linkage bars
self.ak = 0.04614
self.bk = 0.03406
self.ar = 0.056
self.br = 0.056
self.ak2 = self.ak**2
self.bk2 = self.bk**2
self.ar2 = self.ar**2
self.br2 = self.br**2
self.cyl_retracted = 0.3251
# The triangle CJK; it is invariant regardless the linkage status
self.ck2 = self.cj**2 + self.jk**2
self.ck = math.sqrt(self.ck2)
self.ckh = math.acos(self.jk / self.ck)
self.LF_HFE_JOINT_MOTOR_OFF = -2.356
self.LF_HAA_JOINT_MOTOR_OFF = -0.698
self.fbs = dwl.FloatingBaseSystem()
self.fbs.resetFromURDFFile(urdf, yarf)
self.LF_HAA = self.fbs.getJointId('lf_haa_joint')
self.LF_HFE = self.fbs.getJointId('lf_hfe_joint')
self.LF_KFE = self.fbs.getJointId('lf_kfe_joint')
self.LH_HAA = self.fbs.getJointId('lh_haa_joint')
self.LH_HFE = self.fbs.getJointId('lh_hfe_joint')
self.LH_KFE = self.fbs.getJointId('lh_kfe_joint')
self.RF_HAA = self.fbs.getJointId('rf_haa_joint')
self.RF_HFE = self.fbs.getJointId('rf_hfe_joint')
self.RF_KFE = self.fbs.getJointId('rf_kfe_joint')
self.RH_HAA = self.fbs.getJointId('rh_haa_joint')
self.RH_HFE = self.fbs.getJointId('rh_hfe_joint')
self.RH_KFE = self.fbs.getJointId('rh_kfe_joint')
self.FBLStatus = {'theta': 0.0, 'cylinder': 0.0, 'lever': 0.0}
def __init__(self, urdf, yarf):
self.a1 = 0.3219
self.b1 = 0.045
self.a2 = 0.3218
self.b2 = 0.045
self.eps11 = 0.1089
self.eps21 = 0.1403
self.eps22 = 0.1047
self.fbs = dwl.FloatingBaseSystem()
self.fbs.resetFromURDFFile(urdf, yarf)
self.LF_HAA = self.fbs.getJointId('lf_haa_joint')
self.LF_HFE = self.fbs.getJointId('lf_hfe_joint')
self.LF_KFE = self.fbs.getJointId('lf_kfe_joint')
self.LH_HAA = self.fbs.getJointId('lh_haa_joint')
self.LH_HFE = self.fbs.getJointId('lh_hfe_joint')
self.LH_KFE = self.fbs.getJointId('lh_kfe_joint')
self.RF_HAA = self.fbs.getJointId('rf_haa_joint')
self.RF_HFE = self.fbs.getJointId('rf_hfe_joint')
self.RF_KFE = self.fbs.getJointId('rf_kfe_joint')
self.RH_HAA = self.fbs.getJointId('rh_haa_joint')
self.RH_HFE = self.fbs.getJointId('rh_hfe_joint')
self.RH_KFE = self.fbs.getJointId('rh_kfe_joint')
from __future__ import print_function
# This lets us use the python3-style print() function even in python2. It should have no effect if you're already running python3.
import os
import dwl
import numpy as np
# Configure the printing
np.set_printoptions(suppress=True)
# Construct an instance of the FloatingBaseSystem class, which wraps the C++ class.
fbs = dwl.FloatingBaseSystem()
ws = dwl.WholeBodyState()
# Initializing the URDF model and whole-body state
fpath = os.path.dirname(os.path.abspath(__file__))
fbs.resetFromURDFFile(fpath + "/../hyq.urdf", fpath + "/../../config/hyq.yarf")
ws.setJointDoF(fbs.getJointDoF())
# The robot state
ws.setBasePosition(np.array([0., 0., 0.]))
ws.setBaseRPY(np.array([0., 0., 0.]))
ws.setBaseVelocity_W(np.array([0., 0., 0.]))
ws.setBaseRPYVelocity_W(np.array([0., 0., 0.]))
ws.setBaseAcceleration_W(np.array([0., 0., 0.]))
ws.setBaseRPYAcceleration_W(np.array([0., 0., 0.]))
ws.setJointPosition(0.75, fbs.getJointId("lf_hfe_joint"))
ws.setJointPosition(-1.5, fbs.getJointId("lf_kfe_joint"))
ws.setJointPosition(-0.75, fbs.getJointId("lh_hfe_joint"))
ws.setJointPosition(1.5, fbs.getJointId("lh_kfe_joint"))
ws.setJointPosition(0.75, fbs.getJointId("rf_hfe_joint"))