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Copy pathKStand_anklez.py
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KStand_anklez.py
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#31 all 32 link states position quaternions
from drb_robot_bases import URDFBasedRobot#, BodyPart
import numpy as np
import pybullet, pybullet_data, os, rospy, actionlib
from sensor_msgs.msg import JointState
from trajectory_msgs.msg import JointTrajectoryPoint
from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryGoal
class WalkerBaseURDF(URDFBasedRobot):
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
URDFBasedRobot.__init__(self, fn, robot_name, action_dim, obs_dim)
self.power = power
# self.camera_x = 0
# self.start_pos_x, self.start_pos_y, self.start_pos_z = 0, 0, 0
self.walk_target_x = 0.01 # kilometer away
self.walk_target_y = 0
# self.waistXYZ = [0, 0, 0]
self.base_id, self.chestY_id, self.chestP_id= -1, 0, 1
self.headY_id, self.headP_id= 2, 3
self.LButRSP, self.leftbutRightSR, self.leftButRSY= 4, 5, 6 #SHOULDER PAD // BONE // BIandTRICEP
self.rightButLSP, self.rightButLeftSR, self.rightSY= 12, 13, 14
self.leftEP, self.leftEY= 7, 8 #ELBOW PAD // FOREARM
self.rightEP, self.rightEY= 15, 16
self.leftWP, self.leftWY, self.leftH= 9, 10, 11 #HAND SENSOR // KNUCKLE// FINGERS
self.rightWP, self.rightWY, self.rightH= 17, 18, 19
self.leftCY, self.leftCR, self.leftCP= 20, 21, 22 # ABOVE QAUD // TINY BALL // THIGH
self.rightCY, self.rightCR, self.rightCP= 26, 27, 28
self.leftKP, self.rightKP= 23, 29
self.leftAR, self.leftAP= 24, 25
self.rightAR, self.rightAP= 29, 31
def setup_collision_group(self, link_a_ids, link_b_ids, flag):
[self.setup_collision(i, j, flag) for i in link_a_ids for j in link_b_ids]
def setup_collision(self, link_a, link_b, flag):
if link_a != link_b: pybullet.setCollisionFilterPair(1, 1, link_a, link_b, flag)
def noCollision(self):
BODY_LINK_IDS = tuple(range(-1, 4))# + (16, 17))
# ARM4BODY_LINK_IDS = tuple((4, 17) + tuple(range(18, 27)))
L_ARM_LINK_IDS = tuple(range(4, 12))
R_ARM_LINK_IDS = tuple(range(12, 20))
L_LEG_LINK_IDS = tuple(range(20, 26))
R_LEG_LINK_IDS = tuple(range(26, 31))
all_link_ids = tuple(range(-1,33))
self.setup_collision_group(all_link_ids, all_link_ids, False)
self.setup_collision_group(L_ARM_LINK_IDS, BODY_LINK_IDS, True)
self.setup_collision_group(R_ARM_LINK_IDS, BODY_LINK_IDS, True)
self.setup_collision_group(R_ARM_LINK_IDS, L_ARM_LINK_IDS, True)
self.setup_collision_group(R_ARM_LINK_IDS, R_LEG_LINK_IDS, True)
self.setup_collision_group(R_ARM_LINK_IDS, L_LEG_LINK_IDS, True)
self.setup_collision_group(L_ARM_LINK_IDS, L_LEG_LINK_IDS, True)
self.setup_collision_group(L_ARM_LINK_IDS, R_LEG_LINK_IDS, True)
self.setup_collision_group(L_LEG_LINK_IDS, R_LEG_LINK_IDS, True)
# pybullet.setCollisionFilterPair(1, 1, self.headY_id, self.chestP_id, True )
def colorTF(self):
pybullet.addUserDebugText("base base base", [0.15, -0.1, 0], textSize=1.3, parentObjectUniqueId=1, parentLinkIndex=-1, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.3,0,0], [-0.3, 0,0], [1,0,0], 8, parentObjectUniqueId=1, parentLinkIndex=-1)
pybullet.addUserDebugLine([0,-0.4,0], [0,0.4,0], [0,2,0], 7, parentObjectUniqueId=1, parentLinkIndex=-1)
pybullet.addUserDebugLine([0,0,-1.1], [0,0,0.15], [0,0,1], 7, parentObjectUniqueId=1, parentLinkIndex=-1)
pybullet.addUserDebugText("HEAD_Y", [0.14, 0, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.headY_id, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.3,0,0], [-0.3, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.headY_id)
pybullet.addUserDebugLine([0,-0.4,0], [0,0.4,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.headY_id)
pybullet.addUserDebugLine([0,0,-1.1], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.headY_id)
pybullet.addUserDebugText("CHEST_Y", [0.2, 0, 0], textSize=2, parentObjectUniqueId=1, parentLinkIndex=self.chestY_id, textColorRGB=[0.7,1.5,0])
pybullet.addUserDebugLine([0.2,0,0], [-0.2,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.chestY_id)
pybullet.addUserDebugLine([0,0.2,0], [0,-0.2,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.chestY_id)
pybullet.addUserDebugLine([0,0,-0.15], [0,0.15,0.2], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.chestY_id)
pybullet.addUserDebugText("CHEST_P", [0.2, 0, 0], textSize=2, parentObjectUniqueId=1, parentLinkIndex=self.chestP_id, textColorRGB=[0.7,1.5,0])
pybullet.addUserDebugLine([0.2,0,0], [-0.2,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.chestP_id)
pybullet.addUserDebugLine([0,0.2,0], [0,-0.2,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.chestP_id)
pybullet.addUserDebugLine([0,0,-0.15], [0,0.15,0.2], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.chestP_id)
pybullet.addUserDebugText("HEAD_P", [0.1, 0, 0.1], textSize=1.5, parentObjectUniqueId=1, parentLinkIndex=self.headP_id, textColorRGB=[0.7,1.5,0])
pybullet.addUserDebugLine([0.2,0,0], [-0.2,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.headP_id)
pybullet.addUserDebugLine([0,0.2,0], [0,-0.2,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=3)
pybullet.addUserDebugLine([0,0,-0.15], [0,0,0.2], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=3)
pybullet.addUserDebugText("(LEFT)R_SR", [0.05, -0.17, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftbutRightSR, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1,0,0], [-0.1, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftbutRightSR)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftbutRightSR)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftbutRightSR)
pybullet.addUserDebugText("(LEFT)R_SP", [0.05, -0.2, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.LButRSP, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.17,0,0], [-0.17, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.LButRSP)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.LButRSP)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.LButRSP)
pybullet.addUserDebugText("(LEFT)R_SY", [0, -0.2, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftButRSY, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1,0,0], [-0.1, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftButRSY)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftButRSY)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftButRSY)
pybullet.addUserDebugText("(LEFT)R_EP", [0, -0.2, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftEP, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1,0,0], [-0.1, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftEP)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftEP)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftEP)
pybullet.addUserDebugText("(LEFT)R_EY", [0, -0.2, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftEY, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1,0,0], [-0.1, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftEY)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftEY)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftEY)
pybullet.addUserDebugText("(LEFT)R_WP", [0, -0.2, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftWP, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1,0,0], [-0.1, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftWP)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftWP)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftWP)
pybullet.addUserDebugText("(LEFT)R_WY", [0, -0.2, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftWY, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1,0,0], [-0.1, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftWY)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftWY)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftWY)
pybullet.addUserDebugText("(RIGHT)L_SP", [0, 0.12, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightButLSP, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.17,0,0], [-0.17, 0,0], [2,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightButLSP)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightButLSP)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightButLSP)
pybullet.addUserDebugText("(RIGHT)L_SR", [0, 0.12, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightButLeftSR, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.17,0,0], [-0.17, 0,0], [2,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightButLeftSR)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightButLeftSR)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightButLeftSR)
pybullet.addUserDebugText("(RIGHT)L_EP", [0, 0.15, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightEP, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1, 0, 0], [-0.1, 0, 0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightEP)
pybullet.addUserDebugLine([0, -0.1, 0], [0, 0.1, 0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightEP)
pybullet.addUserDebugLine([0, 0, -0.1], [0, 0, 0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightEP)
pybullet.addUserDebugText("(RIGHT)L_EY", [0, 0.15, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightEY, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1, 0, 0], [-0.1, 0, 0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightEY)
pybullet.addUserDebugLine([0, -0.1, 0], [0, 0.1, 0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightEY)
pybullet.addUserDebugLine([0, 0, -0.1], [0, 0, 0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightEY)
pybullet.addUserDebugText("(RIGHT)L_WP", [0, 0.17, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightWP, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1,0,0], [-0.1, 0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightWP)
pybullet.addUserDebugLine([0,-0.1,0], [0,0.1,0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightWP)
pybullet.addUserDebugLine([0,0,-0.1], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightWP)
pybullet.addUserDebugText("(RIGHT)L_WY", [0, 0.15, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightWY, textColorRGB=[0.4,1.6,0])
pybullet.addUserDebugLine([0.1, 0, 0], [-0.1, 0, 0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightWY)
pybullet.addUserDebugLine([0, -0.1, 0], [0, 0.1, 0], [0,2,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightWY)
pybullet.addUserDebugLine([0, 0, -0.1], [0, 0, 0.1], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightWY)
pybullet.addUserDebugText("L_CROTCH_P", [0.1, 0.1, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftCP, textColorRGB=[0,3,0])
pybullet.addUserDebugLine([0.15,0,0], [-0.15,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftCP)
pybullet.addUserDebugLine([0,0.15,0], [0,-0.1,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftCP)
pybullet.addUserDebugLine([0,0,-0.15], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftCP)
pybullet.addUserDebugText("L_CROTCH_Y", [0.1, 0.1, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftCY, textColorRGB=[0,3,0])
pybullet.addUserDebugLine([0.15,0,0], [-0.15,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftCY)
pybullet.addUserDebugLine([0,0.15,0], [0,-0.1,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftCY)
pybullet.addUserDebugLine([0,0,-0.15], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftCY)
pybullet.addUserDebugText("LEFT_KNEE", [0, -0.17, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightKP, textColorRGB=[0,3,0])
pybullet.addUserDebugLine([0.18,0,0], [-0.15,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightKP)
pybullet.addUserDebugLine([0,0.09,0], [0,-0.15,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightKP)
pybullet.addUserDebugLine([0,0,-0.15], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightKP)
pybullet.addUserDebugText("L_ANKLE_R", [0, 0.1, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftAR, textColorRGB=[1,3,0])
pybullet.addUserDebugLine([0.15,0,0], [-0.15,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftAR)
pybullet.addUserDebugLine([0,0.15,0], [0,-0.09,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftAR)
pybullet.addUserDebugLine([0,0,-0.2], [0,0,0.2], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftAR)
pybullet.addUserDebugText("L_ANKLE_P", [0.1, 0.1, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftAP, textColorRGB=[1,3,0])
pybullet.addUserDebugLine([0.15,0,0], [-0.15,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftAP)
pybullet.addUserDebugLine([0,0.15,0], [0,-0.09,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftAP)
pybullet.addUserDebugLine([0,0,-0.2], [0,0,0.2], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftAP)
pybullet.addUserDebugText("R_CROTCH_P", [0.1, -0.12, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightCP, textColorRGB=[0,3,0])
pybullet.addUserDebugLine([0.15,0,0], [-0.15,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightCP)
pybullet.addUserDebugLine([0, -0.15,0], [0,0.1,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightCP)
pybullet.addUserDebugLine([0,0,-0.15], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.rightCP)
pybullet.addUserDebugText("RIGHT_KNEE", [0.1, 0.1, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.leftKP, textColorRGB=[0,1.3,0])
pybullet.addUserDebugLine([0.18,0,0], [-0.15,0,0], [1,0,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftKP)
pybullet.addUserDebugLine([0,-0.09,0], [0,0.15,0], [0,1,0], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftKP)
pybullet.addUserDebugLine([0,0,-0.15], [0,0,0.15], [0,0,1], 3, parentObjectUniqueId=1, parentLinkIndex=self.leftKP)
pybullet.addUserDebugText("R_ANKLE_P", [0.1, -0.18, 0], textSize=1, parentObjectUniqueId=1, parentLinkIndex=self.rightAP, textColorRGB=[0,3,0])
pybullet.addUserDebugLine([0.15,0,0], [-0.15,0,0], [1,0,0], 4, parentObjectUniqueId=1, parentLinkIndex=self.rightAP)
pybullet.addUserDebugLine([0,-0.15,0], [0,0.09,0], [0,1,0], 4, parentObjectUniqueId=1, parentLinkIndex=self.rightAP)
pybullet.addUserDebugLine([0,0,-0.2], [0,0,0.2], [0,0,1], 4, parentObjectUniqueId=1, parentLinkIndex=self.rightAP)
# pybullet.addUserDebugText("LEFT SHOULDER", [0.1, 0.15, 0.05], textSize=1, parentObjectUniqueId=1, parentLinkIndex=12, textColorRGB=[1,1,0])
# pybullet.addUserDebugText("RIGHT SHOULDER", [0.1, -0.5, 0.05], textSize=1, parentObjectUniqueId=1, parentLinkIndex=4, textColorRGB=[1,1,0])
# pybullet.addUserDebugText("R_KNEE", [-0.0, -0.35, 0], textSize=2, parentObjectUniqueId=1, parentLinkIndex=29, textColorRGB=[1,0.3,0])
# pybullet.addUserDebugText("L_KNEE", [-0.0, 0.1, 0], textSize=2, parentObjectUniqueId=1, parentLinkIndex=23, textColorRGB=[1,0.3,0])
def printTime(self):
self.t+=self.dt
# txtid = pybullet.addUserDebugText("time="+str(self.t), [0,0,2],replaceItemUniqueId=self.timeid)
print ("time = ", self.t)
def myResetFunc(self):
self.colorTF()
floorFriction= 1
pybullet.changeDynamics(0, -1, mass=0
,lateralFriction= floorFriction, rollingFriction=floorFriction, spinningFriction=floorFriction
,linearDamping=1, angularDamping=1
,contactDamping=-1 ,contactStiffness=-1
,restitution= 0
,frictionAnchor=1)
# pybullet.enableJointForceTorqueSensor(1, self.leftAP, enableSensor= 1)
# pybullet.enableJointForceTorqueSensor(1, self.rightAP, enableSensor= 1)
# pybullet.enableJointForceTorqueSensor(1, self.rightWP, enableSensor= 1)
# pybullet.enableJointForceTorqueSensor(1, self.leftWP, enableSensor= 1)
pybullet.changeVisualShape(1, self.rightCP , rgbaColor= [0.2,0.6, 1,1])
pybullet.changeVisualShape(1, self.leftCY, rgbaColor= [0,1, 0,1])
pybullet.changeVisualShape(1, self.leftCP , rgbaColor= [1,0,0,0.7])
pybullet.changeVisualShape(1, self.leftEY, rgbaColor= [1, 0.2, 0.7, 1])
pybullet.changeVisualShape(1, self.rightEY, rgbaColor= [0.29, 0.29, 0.28, 1])
pybullet.changeVisualShape(1, self.rightEP, rgbaColor= [0.28, 0.28, 0.28, 1])
pybullet.changeVisualShape(1, self.leftButRSY, rgbaColor= [0.2, 0.2, 0.2, 1])
def robot_specific_reset(self, bullet_client):
pybullet = bullet_client
self.t = 0
self.no_of_steps= 0
initialPoseList= [
0, #0 CHEST_Y
0, #1 CHEST_P
0, #2 HEAD_Y
0, #3 HEAD_P
0.2618, #4 L_SHOULDER_P
-0.2618, #5 L_SHOULDER_R #flips -/+ by itself (originally) +
-0.0873, #6 L_SHOULDER_Y
-0.5236, #7 L_ELBOW_P
0, #8 L_ELBOW_Y
0, #9 L_WRIST_P
0, #10 L_WRIST_Y
0, #-0.5061, #11 LH_state
0.2618, #12 R_SHOULDER_P
0.2618, #13 R_SHOULDER_R #flips -/+ by itself (originally) -
0.0873, #14 R_SHOULDER_Y
-0.5236, #15 R_ELBOW_P
0, #16 R_ELBOW_Y
0, #17 R_WRIST_P
0, #18 R_WRIST_Y
0, #-0.5061, #19 RH_state
0, #20 L_CROTCH_Y
0.1745, #21 L_CROTCH_R
-0.2967, #22 L_CROTCH_P
0.6283, #23 L_KNEE_P
-0.1745, #24 L_ANKLE_R
-0.2967, #25 L_ANKLE_P
0, #26 R_CROTCH_Y
-0.1745, #27 R_CROTCH_R
-0.2967, #28 R_CROTCH_P
0.6283, #29 R_KNEE_P
0.1745, #30 R_ANKLE_R
-0.2967 #31 R_ANKLE_P
]
# print (self.ordered_joints)
for i, j in zip(range(30),self.ordered_joints): #zip range because joint type not iterable
# for i in range(pybullet.getNumJoints(1)):
lo, hi= pybullet.getJointInfo(1,i)[8], pybullet.getJointInfo(1, i)[9]
footFriction=1; footDamping=1; damping= 3
if i==self.leftAR or i==self.rightAR: pybullet.changeDynamics(1, i
,lateralFriction=footFriction, rollingFriction=footFriction, spinningFriction=footFriction
,linearDamping=footDamping, angularDamping=footDamping
,contactDamping=-1 ,contactStiffness=-1
,restitution=0
,frictionAnchor=1 ,contactProcessingThreshold=1
)
else: pybullet.changeDynamics(1, i, linearDamping=1, angularDamping=1, jointDamping=1, restitution=0)
j.disable_motor()
j.reset_current_position(0, 0)
# j.reset_current_position(initialPoseList[i], 0)
# j.change_d(1, 10)
# if i >19: pybullet.changeDynamics(1, i, lateralFriction=1, rollingFriction=1, spinningFriction=1, linearDamping=damping, angularDamping=damping)
# pybullet.changeDynamics(1, i, maxJointVelocity=self.max)
# if i==self.leftKP or i==self.rightKP: pybullet.changeDynamics(1, i, linearDamping=3, angularDamping=3)
# if i==self.leftCP or i==self.rightCP: pybullet.changeDynamics(1, i, linearDamping=3, angularDamping=3)
# pybullet.resetJointState(1, i, initialPoseList[i])
# pybullet.resetJointState(1, i, 0)#np.random.uniform(low=-0.1, high=0.1))
# j.reset_current_position(initialPoseList[indexForReset], 0) #TypeError must be real number not list
# if i!=self.leftbutRightSR and i!=self.rightButLeftSR:
# if i==self.leftbutRightSR: j.reset_current_position(np.random.uniform(low=lo,high=0), 0) #ACTUALLy RIGHT
# if i==self.rightButLeftSR: j.reset_current_position(np.random.uniform(low=0,high=hi), 0) #ACTUALLY LEFT ARM
# if i==self.LButRSP or i==self.rightButLSP: j.reset_current_position(np.random.uniform(low=lo,high=hi),0)
# if i==self.leftButRSY or i==self.rightSY: j.reset_current_position(np.random.uniform(low=lo,high=hi),0)
# if i==self.leftEP or i==self.rightEP: j.reset_current_position(np.random.uniform(low=lo,high=hi),0)
# if i==self.leftEY or i==self.rightEY: j.reset_current_position(np.random.uniform(low=lo,high=hi),0)
# if i==self.leftWP or i==self.rightWP: j.reset_current_position(np.random.uniform(low=lo, high=hi),0)
# if i==self.leftWY or i==self.rightWY: j.reset_current_position(np.random.uniform(low=lo,high=hi),0)
# if i==self.leftH or i==self.rightH: j.reset_current_position(np.random.uniform(low=lo,high=hi),0)
# if i==self.chestP_id or i==self.headP_id: j.reset_current_position(np.random.uniform(low=lo,high=hi),0) #
# if i==self.headY_id: pybullet.resetJointState(1, i, np.random.uniform(low=lo,high=hi))
# if i==self.chestY_id: pybullet.resetJointState(1, i, np.random.uniform(low=lo,high=hi))
# if i==self.leftKP or i==self.rightKP: pybullet.resetJointState(1, i, np.random.uniform(low=lo,high=hi))
# if i==self.leftCP or i==self.rightCP: pybullet.resetJointState(1, i, np.random.uniform(low=lo,high=hi))
# if i==self.rightCR: pybullet.resetJointState(1, i, np.random.uniform(low=lo,high=0))
# if i==self.leftCR: pybullet.resetJointState(1, i, np.random.uniform(low=0,high=hi))
# if i==self.leftAR: pybullet.resetJointState(1, i, np.random.uniform(low=0,high=hi), 0)
# if i==self.rightAR: pybullet.resetJointState(1, i, np.random.uniform(low=lo,high=0), 0)
# if i==self.leftAP or i==self.rightAP: pybullet.resetJointState(1, i, np.random.uniform(low=-1.66,high=hi))
# if i==self.leftCY: pybullet.resetJointState(1, i, np.random.uniform(low=-0.35,high=0.51))
# if i==self.rightCY: pybullet.resetJointState(1, i, np.random.uniform(low=-0.51,high=0.35))
# if i>19: j.reset_current_position(initialPoseList[i], 0)#np.random.uniform(low=lo,high=hi))
# elif i<4: j.reset_current_position(initialPoseList[i],0)# initialPoseList[i])
# elif i==self.leftbutRightSR: j.reset_current_position(-0.08726,0)#np.random.uniform(low=0.05*lo,high=0), 0) #pybullet_RIGHT lo is ext
# elif i==self.rightButLeftSR: j.reset_current_position(0.08726,0)#np.random.uniform(low=0,high=hi), 0) #pyb LEFT ARM
# else: j.reset_current_position(np.random.uniform(size=1,low=lo, high=hi),0)# initialPoseList[i])
# pybullet.resetJointState(1, i, initialPoseList[i])
self.initHeadH= pybullet.getLinkState(1,self.headP_id)[0][2]
self.initChestPH= pybullet.getLinkState(1,self.chestP_id)[0][2]
self.initChestY= pybullet.getLinkState(1,self.chestY_id)
self.initWaistH= pybullet.getBasePositionAndOrientation(1)[0][2]
self.initLKnee= pybullet.getLinkState(1, self.leftKP)[0][2]
self.initRKnee= pybullet.getLinkState(1, self.rightKP)[0][2]
# self.feet = [self.link_dict[f] for f in self.foot_list]
# self.feet_contact = np.array([0.0 for f in self.foot_list], dtype=np.float32)
self.feet_on_ground=np.array([0 for i in self.foot_list], dtype=np.float32)
self.scene.actor_introduce(self)
def basketball(self):
# fiba3x3= pybullet.loadURDF("/home/admin/3x3/fiba3x3.urdf",[-0.4,0.3,1.5])
# wnbaball = pybullet.loadURDF("/home/admin/3x3/wnba.urdf",[-0.4,-0.2,1], useFixedBase=0, globalScaling=1)
nbaball = pybullet.loadURDF("/home/admin/3x3/nba.urdf", [0.2, 0.170, 0.01], useFixedBase=0)
# sphere = pybullet.loadURDF("sphere_with_restitution.urdf", [-1, 0.6 ,3], useFixedBase=0, globalScaling = 1)
# pybullet.changeDynamics(sphere, -1, restitution=2 )
pybullet.changeDynamics(nbaball, -1, restitution=1 )
# pybullet.changeDynamics(wnbaball, -1, restitution=1 )
# pybullet.changeDynamics(fiba3x3, -1, restitution=1.2 )
pybullet.addUserDebugText("NBA BALL", [0, 0,0.2], textSize=0.6, parentObjectUniqueId=nbaball, parentLinkIndex=-1, textColorRGB=[1,1,0])
# pybullet.addUserDebugText("WNBA BALL", [0, 0,0.25], textSize=0.6, parentObjectUniqueId=wnbaball, parentLinkIndex=-1, textColorRGB=[1,1,0])
# pybullet.addUserDebugText("FIBA 3x3", [0, 0,0.25], textSize=0.6, parentObjectUniqueId=fiba3x3, parentLinkIndex=-1, textColorRGB=[1,1,0])
# return pybullet.getBasePositionAndOrientation(nbaball)[0][2]
def calc_state(self):
self.no_of_steps += 1
# self.t+=1/400
# print ("time in calc_state = ", self.t)
# posList, velList= [], []
# for i in range(pybullet.getNumJoints(1)):
# lo2, hi2= pybullet.getJointInfo(1,i)[8], pybullet.getJointInfo(1, i)[9]
# pos, vel = pybullet.getJointState(1, i)[0], pybullet.getJointState(1, i)[1]
# pos_mid = 0.5 * (lo2 + hi2)
# relativePos= (2 * (pos - pos_mid) / (hi2 - lo2))
# posList.append(relativePos), velList.append(vel)
jointPV = np.array([j.current_relative_position() for j in self.ordered_joints]).flatten()#, dtype=np.float32).flatten()
# jointPV = np.array([j.ROS_relative_position() for j in self.ordered_joints]).flatten()#, dtype=np.float32).flatten()
# even elements [0::2] position, scaled to -1..+1 between limits
# odd elements [1::2] angular speed, scaled to show -1..+1
self.joint_speeds =jointPV[1::2] #velList
self.joints_at_limit = np.count_nonzero(np.abs(jointPV[0::2]) > 0.99)
# print(j[0::2])
self.waistState= pybullet.getBasePositionAndOrientation(1); self.waistXYZ = self.waistState[0]; waist_quat = self.waistState[1]; self.waistAngleEuler = pybullet.getEulerFromQuaternion(waist_quat)
self.chestY_state= pybullet.getLinkState(1,self.chestY_id); self.chestY_XYZ= self.chestY_state[0]; chestY_quat= self.chestY_state[1]
self.chestP_state= pybullet.getLinkState(1,self.chestP_id); self.chestP_XYZ= self.chestP_state[0]; chestP_quat= self.chestP_state[1]
self.headY_state= pybullet.getLinkState(1,self.headY_id); self.headY_XYZ= self.headY_state[0]; headY_quat= self.headY_state[1]
self.headP_state= pybullet.getLinkState(1,self.headP_id); self.headP_XYZ= self.headP_state[0]; headP_quat= self.headP_state[1]
self.LSP_state= pybullet.getLinkState(1,self.LButRSP); self.LSP_XYZ= self.LSP_state[0]; LSP_quat= self.LSP_state[1]
self.LSR_state= pybullet.getLinkState(1,self.rightButLeftSR); self.LSR_XYZ= self.LSR_state[0]; LSR_quat= self.LSR_state[1]
self.LSY_state= pybullet.getLinkState(1,self.leftButRSY); self.LSY_XYZ= self.LSY_state[0]; LSY_quat= self.LSY_state[1]
self.LEP_state= pybullet.getLinkState(1,self.leftEP); self.LEP_XYZ= self.LEP_state[0]; LEP_quat= self.LEP_state[1]
self.LEY_state= pybullet.getLinkState(1,self.leftEY); self.LEY_XYZ= self.LEY_state[0]; LEY_quat= self.LEY_state[1]
self.LWP_state= pybullet.getLinkState(1,self.leftWP); self.LWP_XYZ= self.LWP_state[0]; LWP_quat= self.LWP_state[1]
self.LWY_state= pybullet.getLinkState(1,self.leftWY); self.LWY_XYZ= self.LWY_state[0]; LWY_quat= self.LWY_state[1]
self.LH_state= pybullet.getLinkState(1,self.leftH); self.LH_XYZ= self.LH_state[0]; LH_quat= self.LH_state[1]
self.RSP_state= pybullet.getLinkState(1,self.rightButLSP); self.RSP_XYZ= self.RSP_state[0]; RSP_quat= self.RSP_state[1]
self.RSR_state= pybullet.getLinkState(1,self.leftbutRightSR); self.RSR_XYZ= self.RSR_state[0]; RSR_quat= self.RSR_state[1]
self.RSY_state= pybullet.getLinkState(1,self.rightSY); self.RSY_XYZ= self.RSY_state[0]; RSY_quat= self.RSY_state[1]
self.REP_state= pybullet.getLinkState(1,self.rightEP); self.REP_XYZ= self.REP_state[0]; REP_quat= self.REP_state[1]
self.REY_state= pybullet.getLinkState(1,self.rightEY); self.REY_XYZ= self.REY_state[0]; REY_quat= self.REY_state[1]
self.RWP_state= pybullet.getLinkState(1,self.rightWP); self.RWP_XYZ= self.RWP_state[0]; RWP_quat= self.RWP_state[1]
self.RWY_state= pybullet.getLinkState(1,self.rightWY); self.RWY_XYZ= self.RWY_state[0]; RWY_quat= self.RWY_state[1]
self.RH_state= pybullet.getLinkState(1,self.rightH); self.RH_XYZ= self.RH_state[0]; RH_quat= self.RH_state[1]
self.LCY_state= pybullet.getLinkState(1,self.leftCY); self.LCY_XYZ= self.LCY_state[0]; LCY_quat= self.LCY_state[1]
self.LCR_state= pybullet.getLinkState(1,self.leftCR); self.LCR_XYZ= self.LCR_state[0]; LCR_quat= self.LCR_state[1]
self.LCP_state= pybullet.getLinkState(1,self.leftCP); self.LCP_XYZ= self.LCP_state[0]; LCP_quat= self.LCP_state[1]
self.LKP_state= pybullet.getLinkState(1,self.leftKP); self.LKP_XYZ= self.LKP_state[0]; LKP_quat= self.LKP_state[1]
self.LAR_state= pybullet.getLinkState(1,self.leftAR); self.LAR_XYZ= self.LAR_state[0]; LAR_quat= self.LAR_state[1]
# self.LAP_state= pybullet.getLinkState(1,self.leftAP,1); self.LAP_XYZ= self.LAP_state[0]; LAP_quat = self.LAP_state[1]; self.LAP_rad= pybullet.getEulerFromQuaternion(LAP_quat)
self.RCY_state= pybullet.getLinkState(1,self.rightCY); self.RCY_XYZ= self.RCY_state[0]; RCY_quat= self.RCY_state[1]
self.RCR_state= pybullet.getLinkState(1,self.rightCR); self.RCR_XYZ= self.RCR_state[0]; RCR_quat= self.RCR_state[1]
self.RCP_state= pybullet.getLinkState(1,self.rightCP); self.RCP_XYZ= self.RCP_state[0]; RCP_quat= self.RCP_state[1]
self.RKP_state= pybullet.getLinkState(1,self.rightKP); self.RKP_XYZ= self.RKP_state[0]; RKP_quat= self.RKP_state[1]
self.RAR_state= pybullet.getLinkState(1,self.rightAR); self.RAR_XYZ= self.RAR_state[0]; RAR_quat= self.RAR_state[1]
# self.RAP_state= pybullet.getLinkState(1,self.rightAP,1); self.RAP_XYZ= self.RAP_state[0]; RAP_quat = self.RAP_state[1]; self.RAP_rad= pybullet.getEulerFromQuaternion(RAP_quat)
# self.LAP_linearV = self.LAP_state[6]; self.RAP_linearV = self.RAP_state[6]
# self.leftKnee_X= pybullet.getLinkState(1,self.leftKP)[0][0]
# self.leftAnkleP_X= pybullet.getLinkState(1,self.leftAP)[0][0]
# print ("chest P", self.chestP_XYZ[2]); # print ("chest Y", self.chestY_state[0][2]); # print ("waist Z", self.waistXYZ[2])
roll, pitch, yaw = self.waistAngleEuler
self.walk_target_theta = np.arctan2(self.walk_target_y - self.waistXYZ[1], self.walk_target_x - self.waistXYZ[0])
self.walk_target_dist = np.linalg.norm([self.walk_target_y - self.waistXYZ[1], self.walk_target_x - self.waistXYZ[0]])
angle_to_target = self.walk_target_theta - yaw
rot_speed = np.array([[np.cos(-yaw), -np.sin(-yaw), 0], [np.sin(-yaw), np.cos(-yaw), 0], [0, 0, 1]])
vx, vy, vz = np.dot(rot_speed, self.robot_body.speed()) # rotate speed back to body point of view
# lFSensor= pybullet.getJointState(1, self.leftAP)[2]; rFSensor= pybullet.getJointState(1, self.rightAP)[2]
# lHandSensor= pybullet.getJointState(1, self.leftWY)[2]; rHandSensor= pybullet.getJointState(1, self.rightWY)[2]
# print("left foot Fz", int(rFSensor[0]))
waistVel= pybullet.getBaseVelocity(1)
# print("BASE VELOCITY |", "X:", format(waistVel[0][0],".2f"), " Y:", format(waistVel[0][1],".2f"), " Z:", format(waistVel[0][2],".2f"))
# print("LEFT FOOT VELOCITY |", "X:", format(self.LAP_state[6][0],".2f"), " Y:", format(self.LAP_state[6][1],".2f"), " Z:", format(self.LAP_state[6][2],".2f"))
# print ("LEFT_AP_STATE:", self.LAP_state[6])
# more = np.array(
# [ z - self.initial_z,
# # np.sin(angle_to_target), np.cos(angle_to_target),
# # 0.3 * vx, 0.3 * vy, 0.3 * vz, # 0.3 is just scaling typical speed into -1..+1, no physical sense here
# # roll, pitch
# ], dtype=np.float32)
torso_XYZ_quat = np.array([
self.waistXYZ[0] ,self.waistXYZ[1], self.waistXYZ[2] ,waist_quat[0] ,waist_quat[1], waist_quat[2]
,self.chestY_XYZ[0], self.chestY_XYZ[1] ,self.chestY_XYZ[2] ,chestY_quat[0], chestY_quat[1] ,chestY_quat[2]
,self.chestP_XYZ[0], self.chestP_XYZ[1] ,self.chestP_XYZ[2] ,chestP_quat[0], chestP_quat[1] ,chestP_quat[2]
,self.headY_XYZ[0], self.headY_XYZ[1] ,self.headY_XYZ[2] ,headY_quat[0], headY_quat[1] ,headY_quat[2]
,self.headP_XYZ[0], self.headP_XYZ[1] ,self.headP_XYZ[2] ,headP_quat[0], headP_quat[1] ,headP_quat[2]
], dtype=np.float32 )
L_arm_XYZ_quat = np.array([
self.LSP_XYZ[0] ,self.LSP_XYZ[1], self.LSP_XYZ[2] ,LSP_quat[0], LSP_quat[1], LSP_quat[2]
,self.LSR_XYZ[0] ,self.LSR_XYZ[1], self.LSR_XYZ[2] ,LSR_quat[0], LSR_quat[1], LSR_quat[2]
,self.LSY_XYZ[0] ,self.LSY_XYZ[1], self.LSY_XYZ[2] ,LSY_quat[0], LSY_quat[1], LSY_quat[2]
,self.LEP_XYZ[0] ,self.LEP_XYZ[1], self.LEP_XYZ[2] ,LEP_quat[0], LEP_quat[1], LEP_quat[2]
,self.LEY_XYZ[0], self.LEY_XYZ[1] ,self.LEY_XYZ[2] ,LEY_quat[0], LEY_quat[1], LEY_quat[2]
,self.LWP_XYZ[0], self.LWP_XYZ[1] ,self.LWP_XYZ[2], LWP_quat[0], LWP_quat[1], LWP_quat[2]
,self.LWY_XYZ[0], self.LWY_XYZ[1] ,self.LWY_XYZ[2], LWY_quat[0], LWY_quat[1], LWY_quat[2]
,self.LH_XYZ[0], self.LH_XYZ[1] ,self.LH_XYZ[2], LH_quat[0], LH_quat[1], LH_quat[2]
], dtype=np.float32 )
R_arm_XYZ_quat = np.array([
self.RSP_XYZ[0] ,self.RSP_XYZ[1], self.RSP_XYZ[2] ,RSP_quat[0], RSP_quat[1], RSP_quat[2]
,self.RSR_XYZ[0] ,self.RSR_XYZ[1], self.RSR_XYZ[2] ,RSR_quat[0], RSR_quat[1], RSR_quat[2]
,self.RSY_XYZ[0] ,self.RSY_XYZ[1], self.RSY_XYZ[2] ,RSY_quat[0], RSY_quat[1], RSY_quat[2]
,self.REP_XYZ[0] ,self.REP_XYZ[1], self.REP_XYZ[2] ,REP_quat[0], REP_quat[1], REP_quat[2]
,self.REY_XYZ[0], self.REY_XYZ[1] ,self.REY_XYZ[2] ,REY_quat[0], REY_quat[1], REY_quat[2]
,self.RWP_XYZ[0], self.RWP_XYZ[1] ,self.RWP_XYZ[2] ,RWP_quat[0], RWP_quat[1], RWP_quat[2]
,self.RWY_XYZ[0], self.RWY_XYZ[1] ,self.RWY_XYZ[2] ,RWY_quat[0], RWY_quat[1], RWY_quat[2]
,self.RH_XYZ[0], self.RH_XYZ[1] ,self.RH_XYZ[2] ,RH_quat[0], RH_quat[1], RH_quat[2]
], dtype=np.float32 )
L_leg_XYZ_quat = np.array([
self.LCY_XYZ[0], self.LCY_XYZ[1] ,self.LCY_XYZ[2] ,LCY_quat[0], LCY_quat[1], LCY_quat[2]
,self.LCR_XYZ[0], self.LCR_XYZ[1] ,self.LCR_XYZ[2] ,LCR_quat[0], LCR_quat[1], LCR_quat[2]
,self.LCP_XYZ[0], self.LCP_XYZ[1] ,self.LCP_XYZ[2] ,LCP_quat[0], LCP_quat[1], LCP_quat[2]
,self.LKP_XYZ[0], self.LKP_XYZ[1] ,self.LKP_XYZ[2] ,LKP_quat[0], LKP_quat[1], LKP_quat[2]
,self.LAR_XYZ[0], self.LAR_XYZ[1] ,self.LAR_XYZ[2] ,LAR_quat[0], LAR_quat[1], LAR_quat[2]
# ,self.LAP_XYZ[0], self.LAP_XYZ[1] ,self.LAP_XYZ[2] ,LAP_quat[0], LAP_quat[1], LAP_quat[2]
], dtype=np.float32 )
R_leg_XYZ_quat = np.array([
self.RCY_XYZ[0], self.RCY_XYZ[1] ,self.RCY_XYZ[2] ,RCY_quat[0], RCY_quat[1], RCY_quat[2]
,self.RCR_XYZ[0], self.RCR_XYZ[1] ,self.RCR_XYZ[2] ,RCR_quat[0], RCR_quat[1], RCR_quat[2]
,self.RCP_XYZ[0], self.RCP_XYZ[1] ,self.RCP_XYZ[2] ,RCP_quat[0], RCP_quat[1], RCP_quat[2]
,self.RKP_XYZ[0], self.RKP_XYZ[1] ,self.RKP_XYZ[2] ,RKP_quat[0], RKP_quat[1], RKP_quat[2]
,self.RAR_XYZ[0], self.RAR_XYZ[1] ,self.RAR_XYZ[2] ,RAR_quat[0], RAR_quat[1], RAR_quat[2]
# ,self.RAP_XYZ[0], self.RAP_XYZ[1] ,self.RAP_XYZ[2] ,RAP_quat[0], RAP_quat[1], RAP_quat[2]
], dtype=np.float32 )
# AP_reactionForce = np.array([ #SIX VALUES
# lFSensor[0], lFSensor[1] ,lFSensor[2]
# ,rFSensor[0], rFSensor[1] ,rFSensor[2]# Z force
# #lHandSensor[0], lHandSensor[1],lHandSensor[2], # rHandSensor[0], rHandSensor[1], rHandSensor[2]
# ], dtype=np.int32 )
chestY_Gsensor= np.array([
chestY_quat[0], chestY_quat[1], chestY_quat[2]
], dtype=np.float32 )
# feetOrient= np.array([
# LAP_quat[0], LAP_quat[1] ,LAP_quat[2],
# RAP_quat[0], RAP_quat[1], RAP_quat[2]
# ], dtype=np.float32 )
# feetLinerVel= np.array([
# self.LAP_linearV[0] ,self.RAP_linearV[0]
# ,self.LAP_linearV[1] ,self.RAP_linearV[1]
# ,self.LAP_linearV[2] ,self.RAP_linearV[2]
# ])
# print ("jay for ",1,1000*j[1])
# print ("self.no_of_steps: ", self.no_of_steps)
# print ("bodyRPY:",self.waistAngleEuler)
# print ("J", [j])
# return np.array(posList) #, velList)
# print ("init left knee height:", self.LKP_state[0][2])
# print ("init RIGHT knee height:", self.LCP_state[0][2])
# print("chesty vwhy", chestY_Gsensor-pEE)
# print("chesty peee", pEE)
return np.concatenate(
[jointPV] + #64
# + [chestY_Gsensor] #3+ [feetOrient]
[torso_XYZ_quat] + [L_arm_XYZ_quat] + [R_arm_XYZ_quat] + [L_leg_XYZ_quat] + [R_leg_XYZ_quat] #198
# + [AP_reactionForce] #6
# + [self.feet_on_ground]
)
# return np.clip(np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
def calc_potential(self):
# progress in potential field is speed*dt, typical speed is about 2-3 meter per second, this potential will change 2-3 per frame (not per second),
# all rewards have rew/frame units and close to 1.0
debugmode = 0
if (debugmode):
# print("--- from KStand.py ---")
print("calc_potential: self.walk_target_dist", self.walk_target_dist)
print("self.scene.dt: ", self.scene.dt)
print("self.scene.frame_skip: ", self.scene.frame_skip)
print("self.scene.timestep: ", self.scene.timestep)
return -self.walk_target_dist / self.scene.dt
def self_collision_function(self):
touchSelf= False
# quadhand = set(x[0] for x in pybullet.getContactPoints(1, 1, 6, 1))
bothFeet = set(x[0] for x in pybullet.getContactPoints(1, 1, self.leftAR, self.rightAR))
leftFootShin = set(x[0] for x in pybullet.getContactPoints(1, 1, self.leftAP, self.rightKP)) #L FOOT R SHIN
rightFootShin = set(x[0] for x in pybullet.getContactPoints(1, 1, self.rightAR, self.leftKP)) #R FOOT L SHIN
leftShinQuad = set(x[0] for x in pybullet.getContactPoints(1, 1, self.leftKP, self.rightCP)) #L SHIN R QUAD
rightShinQuad = set(x[0] for x in pybullet.getContactPoints(1, 1, self.rightKP, self.leftCP)) #R SHIN L QUAD
bothKnees = set(x[0] for x in pybullet.getContactPoints(1, 1, self.leftKP, self.rightKP))
bothQuads = set(x[0] for x in pybullet.getContactPoints(1, 1, self.leftCP, self.rightCP))
leftBicepChest = set(x[0] for x in pybullet.getContactPoints(1, 1, self.chestP_id, self.leftButRSY))
rightBicepChest = set(x[0] for x in pybullet.getContactPoints(1, 1, self.chestP_id, self.rightSY))
leftForearmChest = set(x[0] for x in pybullet.getContactPoints(1, 1, self.chestP_id, self.leftEY)) #L ELBOW Y
rightForearmChest = set(x[0] for x in pybullet.getContactPoints(1, 1, self.chestP_id, self.rightEY)) #R ELBOW Y
leftKnuckleChest = set(x[0] for x in pybullet.getContactPoints(1, 1, self.chestP_id, self.leftWY)) #L ELBOW Y
rightKnuckleChest = set(x[0] for x in pybullet.getContactPoints(1, 1, self.chestP_id, self.rightWY)) #R ELBOW Y
rightKnuckleWaist = set(x[0] for x in pybullet.getContactPoints(1, 1, self.base_id, self.rightWY)) #R ELBOW Y
leftKnuckleWaist = set(x[0] for x in pybullet.getContactPoints(1, 1, self.base_id, self.leftWY)) #R ELBOW Y
rightForearmWaist = set(x[0] for x in pybullet.getContactPoints(1, 1, self.base_id, self.rightEY)) #R ELBOW Y
leftForearmWaist = set(x[0] for x in pybullet.getContactPoints(1, 1, self.base_id, self.leftEY))
rightKnuckleQuad = set(x[0] for x in pybullet.getContactPoints(1, 1, self.rightCP, self.rightWY)) #R ELBOW Y
leftKnuckleQuad = set(x[0] for x in pybullet.getContactPoints(1, 1, self.leftCP, self.leftWY)) #R ELBOW Y
headLeftShoulder = set(x[0] for x in pybullet.getContactPoints(1, 1, self.headP_id, self.rightButLSP))
# if (quadhand):
# # print ("QUAD AND HAND")
# self.touchSelf= True
if (headLeftShoulder):
# print ("HEAD and shoulders shjampoo")
touchSelf= True
if (bothFeet):
# print ("FEET are TOUCHING")
touchSelf= True
if (bothKnees):
# print ("SHINS are TOUCHING")
touchSelf= True
if (leftFootShin or rightFootShin):
# print ("FOOT & SHIN are TOUCHING")
touchSelf= True
if (leftShinQuad or rightShinQuad ):
# print ("SHIN and QUAD are TOUCHING")
touchSelf= True
if (bothQuads):
# print ("QUADS are TOUCHING")
touchSelf= True
if (leftBicepChest or rightBicepChest):
# print ("bicep and chest contact")
touchSelf=True
if (leftForearmChest or rightForearmChest):
# print ("forearm and chest contact")
touchSelf=True
if (leftKnuckleChest or rightKnuckleChest):
# print ("kuckle and chest contact")
touchSelf=True
if (leftKnuckleWaist or rightKnuckleWaist):
# print ("kuckle and WAIST contact")
touchSelf=True
if (leftKnuckleQuad or rightKnuckleQuad):
# print ("kuckle and QUAD contact")
touchSelf=True
if (leftForearmWaist or rightForearmWaist):
# print ("FOREARM & WAIST")
touchSelf=True
return -0.75 if touchSelf is True else 0
def bodyPartHeights(self):
headAboveChestP, headAbovewAIST, chestAboveWaist,crotchPAboveKnee, WaistAboveKnee, WaistAboveCrotch, waistKneesAligned, kneeAboveFoot= 0,0,0,0,0,0,0,0
botchCrotchPPs= [self.LCP_state[0][2], self.RCP_state[0][2]]
bothKneeHeights = [self.LKP_state[0][2], self.RKP_state[0][2]]
bothFeetHeights= [self.LAP_state[0][2], self.RAP_state[0][2]]
# if self.headP_XYZ[2] < self.chestP_XYZ[2]: headAboveChestP= -1 ;print("HEAD < below CHEST P")
if self.headP_XYZ[2] <= self.waistXYZ[2]: headAbovewAIST= -1 ;print("HEAD < below waist")
# if self.chestP_XYZ[2] < self.waistXYZ[2]: chestAboveWaist= -1 ;print("CHEST below WAIST")
if self.waistXYZ[2] <= min(botchCrotchPPs): WaistAboveCrotch= -1 ;print("WAIST below CROTCH P")
# if self.waistXYZ[2] < max(bothKneeHeights): WaistAboveKnee= -1 ;print("WAIST below KNEEs")
if min(botchCrotchPPs) < min(bothKneeHeights): crotchPAboveKnee= -1 ;print("CROTCH PPPP below KNEEE")
if min(bothKneeHeights) < min(bothFeetHeights): kneeAboveFoot= -1 ;print("knEEs below FEET")
# if (self.waistXYZ[0]> max([self.LAP_state[0][0], self.RAP_state[0][0]])): WaistAboveKnee= -1 ;print("WAIST behind/front of Feet X")
# if self.LKP_state[0][2] > self.initLKnee : X= -1 ; print("KNEES dropped")
# if (self.waistXYZ[0] - self.headP_XYZ[0]) > 0.15: waistKneesAligned= -1 ; print("Head/Waist NOT ALIGNED")
bodyPartHeightReward= [headAbovewAIST, WaistAboveCrotch, crotchPAboveKnee, kneeAboveFoot]
# print("left knee now", float(self.LKP_state[0][2]), "left knee init", float(self.initLKnee))
return +2 if sum(bodyPartHeightReward)== 0 else -1
def linkInfo(self):
return [self.headP_XYZ ,self.waistXYZ, self.LAP_state[0], self.RAP_state[0]]
def imuZero(self):
rollCost, pitchCost= 0, 0
rollRad, pitchRad= pybullet.getEulerFromQuaternion(self.chestY_state[1])[0], pybullet.getEulerFromQuaternion(self.chestY_state[1])[1]
headrollDeg, headpitchDeg= np.rad2deg(pybullet.getEulerFromQuaternion(self.headP_state[1])[0]), np.rad2deg(pybullet.getEulerFromQuaternion(self.headP_state[1])[1])
rollDeg, pitchDeg = np.rad2deg(rollRad), np.rad2deg(pitchRad)
rollCost= (2 * np.exp( -0.75 * (rollDeg/15)**2))-1
if pitchDeg>=0:pitchCost= (2 * np.exp( -0.75 * (pitchDeg/30)**2))-1
else: pitchCost= (2 * np.exp( -5 * (pitchDeg/15)**2))-1
# pitchCost = (3 * np.exp( -0.7 * (pitchDeg/15)**2))-1.5
# print ("PITCH",format(pitchDeg,".2f"),"ROLL", format(rollDeg,".2f"))
return rollCost, pitchCost
def imuAlive(self):
rollRad, pitchRad= pybullet.getEulerFromQuaternion(self.chestY_state[1])[0], pybullet.getEulerFromQuaternion(self.chestY_state[1])[1]
rollDeg, pitchDeg = np.rad2deg(rollRad), np.rad2deg(pitchRad)
# if abs(rollDeg) > 45: print("TOO MUCH ROOOLLLLLL")
# if abs(pitchDeg) > 45: print("PIIIIITCH")
leftFootWaistX = self.LAP_state[0][0] - self.waistXYZ[0]
rightFootWaistX = self.RAP_state[0][0] - self.waistXYZ[0]
feetXalive = (leftFootWaistX+rightFootWaistX)/2
waistDrop = self.initWaistH - self.waistXYZ[2]
# print ("init height",format(self.initWaistH,".2f"), "current:", format(self.waistXYZ[2],".2f" ))
# print ("DROP:", format(waistDrop,".2f" ))
# print ("DEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAD!!!") if abs(rollDeg) > 30 or pitchDeg > 45 or pitchDeg < -15 or waistDrop > 0.5 else +2
return -1 if abs(rollDeg) > 30 or pitchDeg > 45 or pitchDeg < -15 else +2#or waistDrop > 0.5 else +2
def headXwaistX(self):
headXWaistX = self.headP_XYZ[0] - self.waistXYZ[0]
if headXWaistX<0: headXcost = (2 * np.exp( -300 * (headXWaistX/1)**2))-1
else: headXcost = (2 * np.exp( -50 * (headXWaistX/2)**2))-1
# print (format(headXWaistX,".2f"),"||", format(headXcost,".3f"))
return (headXcost)
def waistXYZfeetXY(self):
leftFootWaistX = self.LAP_state[0][0] - self.waistXYZ[0]
rightFootWaistX = self.RAP_state[0][0] - self.waistXYZ[0]
self.avgFeetX = (leftFootWaistX+rightFootWaistX)/2
if self.avgFeetX<0: waistFeetXCost = (2 * np.exp( -200 * (self.avgFeetX/2)**2))-1 # ; print ("feet BEHIND waist")
else: waistFeetXCost = (2 * np.exp( -400 * (self.avgFeetX/8)**2))-1 # ; print ("feet IN FRONT of waist")
# print ("average feet X", format(self.avgFeetX,".2f"))
self.avgFeetY = (self.RAP_state[0][1] + self.LAP_state[0][1])
waistLeftRight = (self.avgFeetY - self.waistXYZ[1])
# if self.avgFeetY< 0: print("midFeet RIGHT")
# if waistLeftRight==0: print("waist_Y MID")
# if self.avgFeetY>0: print("midFeet LEFT")
waistFeetYCost = (2 * np.exp( -70 * (waistLeftRight/2)**2))-1
# print ("median feet Y", format(self.avgFeetY,".2f"), "waist L_R", format(waistLeftRight,".2f"))
# print ("LEFT fOOt Y", format(self.LAP_state[0][1],".2f"), "RIGHT fOOt Y", format(self.RAP_state[0][1],".2f"))
waistDrop2 = self.initWaistH - self.waistXYZ[2]
if waistDrop2>0: waistZCost = (2 * np.exp( -75 * (waistDrop2/0.75)**2))-1
else: waistZCost = (2 * np.exp( -1000 * (waistDrop2/0.99)**2))-1
return (waistFeetXCost, waistFeetYCost, waistZCost)
def headP_XYZfeetXY(self):
leftFootHeadX = self.LAP_state[0][0] - self.headP_XYZ[0]
rightFootHeadX = self.RAP_state[0][0] - self.headP_XYZ[0]
self.avgFeetX = (leftFootHeadX+rightFootHeadX)/2
if self.avgFeetX<0: headFeetXCost = (2 * np.exp( -200 * (self.avgFeetX/2)**2))-1 # ; print ("feet BEHIND waist")
else: headFeetXCost = (2 * np.exp( -400 * (self.avgFeetX/8)**2))-1 # ; print ("feet IN FRONT of waist")
# print ("average feet X", format(self.avgFeetX,".2f"))
self.avgFeetY = (self.RAP_state[0][1] + self.LAP_state[0][1])
headLeftRight = (self.avgFeetY - self.headP_XYZ[1])
# if self.avgFeetY< 0: print("midFeet RIGHT")
# if waistLeftRight==0: print("waist_Y MID")
# if self.avgFeetY>0: print("midFeet LEFT")
headFeetYCost = (2 * np.exp( -70 * (headLeftRight/2)**2))-1
# print ("median feet Y", format(self.avgFeetY,".2f"), "waist L_R", format(waistLeftRight,".2f"))
# print ("LEFT fOOt Y", format(self.LAP_state[0][1],".2f"), "RIGHT fOOt Y", format(self.RAP_state[0][1],".2f"))
headDrop = self.initHeadH - self.headP_XYZ[2]
if headDrop>0: headZCost = (2 * np.exp( -75 * (headDrop/0.75)**2))-1
else: headZCost = (2 * np.exp( -1000 * (headDrop/0.99)**2))-1
return (headFeetXCost, headFeetYCost, headZCost)
def feetUnderAlive(self):
waistDrop = self.initWaistH - self.waistXYZ[2]
# print ("waist has DROPPED", format(waistDrop,".2f"))
# waistDrop = self.initHeadH - self.headP_XYZ[2]
# pybullet.addUserDebugText(str(self.t), [0,-0.8,1.8], textSize=3)
waistBehindAheadFeet = False
midFeetX = (self.LAR_state[0][0] + self.RAR_state[0][0])/2
feetXwaistX = midFeetX - self.waistXYZ[0]
frontFoot = max(self.LAR_state[0][0], self.RAR_state[0][0])
backFoot = min(self.LAR_state[0][0], self.RAR_state[0][0])
# if self.waistXYZ[0] < (backFoot-0.2) or
if self.waistXYZ[0] > (frontFoot+0.15) or self.waistXYZ[0] < (backFoot - 0.15): waistBehindAheadFeet=True
# if abs(feetXwaistX) > 0.26: waistBehindAheadFeet=True
# print ("LEFT foot X", format(self.LAP_state[0][0],".2f"), "RIGHT foot X", format(self.RAP_state[0][0],".2f"), "WAIST X", format(self.waistXYZ[0],".2f"))
waistOutsideFoot = False
# leftFootWaistY = self.LAP_state[0][1] - self.waistXYZ[1]
# rightFootWaistY = self.RAP_state[0][1] - self.waistXYZ[1]
# if leftFootWaistY<0 or rightFootWaistY>0: waistOutsideFoot= True
if self.waistXYZ[1] > self.LAR_state[0][1] or self.waistXYZ[1] < self.RAR_state[0][1]: waistOutsideFoot= True
# if leftFootWaistY<0: print ()
# self.waistXYZ[1] < self.RAP_state[0][1]: waistLeanCOndition=True
# print ("current LEFT foot Y", format(self.LAP_state[0][1],".2f"), "current WAIST Y", format(self.waistXYZ[1],".2f"))
# waistLean = (leftFootWaistY+rightFootWaistY)/2
debugmode=0
if (debugmode):
# if leftFootWaistY<0: print("waist outside LEFT") ##for X
# if rightFootWaistY>0: print("waist outside RIGHT")
print ("Waist X feet X", format(feetXwaistX,".2f"))
# if feetXwaistX > 0.3: print("waist TOO far BEHIND 30cm") ##for Y
# if feetXwaistX < 0.3: print("waist TOO far AHEAD 30cm")
# print ("average feet Y LEAN", format(waistLean,".2f"))
# print ("average feet X StR8", format(waistComeAndGo,".2f"))
# if waistComeAndGo<0: print ("feet BEHIND WAIST")
# else: print ("feet IN FRONT OF waist")
# if waistLean<0.3: print ("waist OUTSIDE RIGHT FOOT")
# elif waistLean<-0.3: print ("waist OUTSIDE LEFT FOOT")
return -3 if waistDrop > 0.15 else 2#or waistBehindAheadFeet==True or waistOutsideFoot==True else +2
def dontMoveY(self):
headYWaistY = self.headP_XYZ[1] - self.waistXYZ[1]
headYcost = (2 * np.exp( -170 * (headYWaistY/3)**2))-1
# print ((self.headP_XYZ[1]), headYcost)# and waistXcost))
return (headYcost)
def dontMoveZ(self):
headZWaistZ = self.headP_XYZ[2] - self.waistXYZ[2]
headZcost = (2 * np.exp( -170 * (headZWaistZ/3)**2))-1
print (int(headZWaistZ), headZcost)
return (headZcost)
def stayUprightFn(self):
headStraight, headTilt, chestStraight, chestTilt, waistStraight, waistTilt= 0,0,0,0,0,0
waistDegress= list(self.waistAngleEuler) #(np.rad2deg(pybullet.getEulerFromQuaternion(self.waistState[1])))
waistRoll, waistPitch = waistDegress[0], waistDegress[1]
chestDegrees= list(np.rad2deg(pybullet.getEulerFromQuaternion(self.chestP_state[1])))
chestRoll, chestPitch = chestDegrees[0], chestDegrees[1] #CHESTrOLL VALUES are too LOW e.g. 1.0039241789312915e-16
headDegrees= list(np.rad2deg(pybullet.getEulerFromQuaternion(pybullet.getLinkState(1,self.headP_id)[1])))
headRoll, headPitch = headDegrees[0], headDegrees[1]
if (np.abs(headPitch)>=20): headStraight= np.tanh(-1 * (np.abs(headPitch)/20))
# if (np.abs(headRoll)>=20): headStraight= np.tanh(-1 * (np.abs(headRoll)/20))
if (headPitch<20 and headPitch>-20 and headPitch!= 0): headStraight = np.tanh(+1 / (np.abs(headPitch)/20))
elif(headPitch==0): headStraight=1
if (np.abs(headRoll)>=5): headTilt = np.tanh(-1 * (np.abs(headRoll)/5))
if (np.abs(headRoll)<5 and headRoll!=0): headTilt = np.tanh(+1 / (np.abs(headRoll)/5))
elif(headRoll==0): headTilt=1
# print("HEAD:",(headPitch))
if (chestPitch>=30): chestStraight = np.tanh(-1 * (np.abs(chestPitch)/30))
if (chestPitch<=-20): chestStraight = np.tanh(-1 * (np.abs(chestPitch)/20))
if (chestPitch<30 and chestPitch>-20 and chestPitch!= 0): chestStraight = np.tanh(+1 / (np.abs(chestPitch)/30))
elif(chestPitch==0): chestStraight=1
if (np.abs(chestRoll)>=5): chestTilt = np.tanh(-1 * (np.abs(chestRoll)/5))
if (np.abs(chestRoll)<5 and chestRoll!=0): chestTilt = np.tanh(+1 / (np.abs(chestRoll)/5))
elif(chestRoll==0): chestTilt=1
# print("chest:",(chestPitch))
if (np.abs(waistPitch)>=10): waistStraight = np.tanh(-1 * (np.abs(waistPitch)/10))
if (np.abs(waistPitch)<10 and waistPitch!=0): waistStraight = np.tanh(+1 / (np.abs(waistPitch)/10))
elif(waistPitch==0): waistStraight=1
if (np.abs(waistRoll)>=5): waistTilt = np.tanh(-1 * (np.abs(waistRoll)/5))
if (np.abs(waistRoll)<5 and waistRoll!=0): waistTilt = np.tanh(+1 / (np.abs(waistRoll)/5))
elif (waistRoll==0): waistTilt=1 # if (chestPitch<30 and chestPitch>-20): chestStraight = +0.1 / (np.abs(chestPitch)/30)
# print("waist:", (waistTilt))
# print("waistP:", (waistRoll))
stayStraightReward=[headStraight, headTilt, chestTilt, chestStraight ,waistStraight ,waistTilt]
return sum(stayStraightReward)
def NFLrules(self):
playerDown= False
# for i in range(pybullet.getNumJoints(1)):
# bodyFloor= set(x[0] for x in pybullet.getContactPoints(0, 1, -1, i))
waistFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, -1))
headFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.headP_id))
chestFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.chestP_id))
leftShinFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.leftKP))
rightShinFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightKP))
leftQuadFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.leftCP))
rightQuadFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightCP))
leftHandFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.leftH))
leftWristFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.leftWY))
leftElbowFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.leftEP))
rightElbowFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightEP))
rightForearmFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightEY))
leftForearmFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.leftEY))
rightShoulderFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightButLSP))
leftShoulderFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.LButRSP))
rightWristFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightWY))
rightHandFloor = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightH))
leftFootFloor2 = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.leftAP))
rightFootFloor2 = set(x[0] for x in pybullet.getContactPoints(0, 1, -1, self.rightAP))
if (leftWristFloor or leftHandFloor or rightHandFloor or rightWristFloor or leftFootFloor2 or rightFootFloor2):
# print("hand on floor, player UP")
playerDown= False
if (headFloor or waistFloor or chestFloor):
# print ("player Dooooown - TORSO")
playerDown= True
if (leftShinFloor or rightShinFloor or leftQuadFloor or rightQuadFloor ):
# print ("player Dooooown - LEGS")
playerDown= True
if (leftElbowFloor or rightElbowFloor or leftForearmFloor or rightForearmFloor or leftShoulderFloor or rightShoulderFloor ):
# print ("player Dooooown - ARMS")
playerDown= True
return +2 if playerDown== False else -1
def flatFooted(self):
leftFlat, rightFlat = 0, 0
leftFootDeg= list(np.rad2deg(self.LAP_rad))
rightFootDeg= list(np.rad2deg(self.RAP_rad))
leftFootRoll, leftFootPitch= leftFootDeg[0], leftFootDeg[1]
rightFootRoll, rightFootPitch= rightFootDeg[0], rightFootDeg[1]
# print("left foot:",(leftFootDeg))
# print("left roll:",(leftFootRoll))
leftNoRoll= (2 * np.exp( -0.1 * (leftFootRoll/2)**2))-1.0
rightNoRoll= (2 * np.exp( -0.1 * (rightFootRoll/2)**2))-1.0
leftNoPitch= (2 * np.exp( -0.1 * (leftFootPitch/5)**2))-1.0
rightNoPitch= (2 * np.exp( -0.1 * (rightFootPitch/5)**2))-1.0
# if (np.abs(leftFootPitch)>=10): leftFlat = np.tanh(-1 * (np.abs(leftFootPitch)/20))
# if (np.abs(leftFootPitch)<10 and leftFootPitch!=0): leftFlat = np.tanh(+1 / (np.abs(leftFootPitch)/5))
# if (np.abs(rightFootPitch)>=10): rightFlat = np.tanh(-1 * (np.abs(rightFootPitch)/20))
# if (np.abs(rightFootPitch)<10 and rightFootPitch!=0): rightFlat = np.tanh(+1 / (np.abs(rightFootPitch)/5))
# if (rightFootRoll<-20): rightFlat = np.tanh(-1 * (np.abs(rightFootRoll)/40)) #20/40 from +0.2 to -0.5 at -20deg
# if (rightFootRoll>0): rightFlat = np.tanh(-1 * np.abs(rightFootRoll)) #do not bend inwards
# if (rightFootRoll<0 and rightFootRoll>=-20): rightFlat = np.tanh(+1 / (np.abs(rightFootRoll)/5))
# if (leftFootRoll>20): leftFlat = np.tanh(-1 * (np.abs(leftFootRoll)/40))
# if (leftFootRoll<0): leftFlat = np.tanh(-1 * np.abs(leftFootRoll))
# if (leftFootRoll>0 and leftFootRoll<=20): leftFlat = np.tanh(+1 / (np.abs(leftFootRoll)/5))
# flatFeetReward= [leftFlat, rightFlat]
leftFootRP= (leftNoRoll+ leftNoPitch)/2
rightFootRP= (rightNoRoll+ rightNoPitch)/2
return leftFootRP, rightFootRP
def feet_ground_contact(self):
rightFootFloor = set(x[0] for x in pybullet.getContactPoints(1, 0, self.rightAP, -1)) # L_ANKLE_P_LINK
leftFootFLoor = set(x[0] for x in pybullet.getContactPoints(1, 0, self.leftAP, -1)) # R_ANKLE_P_LINK
leftFootOnGround, rightFootOnGround = 0.0, 0.0
if (leftFootFLoor): leftFootOnGround = 0.5 #; print ("LEFT foot on floor:")#, self.foot_on_ground)
if (rightFootFloor): rightFootOnGround= 0.5 #; print ("RIGHT foot on floor:")#, self.foot_on_ground)
self.feet_on_ground= np.array([leftFootOnGround, rightFootOnGround])
return -1 if sum(self.feet_on_ground) ==0 else sum(self.feet_on_ground)
def torsoHeights(self):
waistHigh, chestHigh, headHigh= 0,0,0
waistH, chestH, headH, kneeH= self.waistXYZ[2], self.chestP_XYZ[2], self.headP_XYZ[2], self.LKP_state[0][2]
badPose=False
if (headH <= chestH): headHigh=-1; badPose=True
if (chestH <= waistH): chestHigh=-1; badPose=True
if (waistH <= kneeH): waistHigh=-1; badPose=True
# if (badPose==True): waistHigh, chestHigh, headHigh= -1, -1, -1
if (badPose==False):
print('bad Pose is False')
# print("head height:", headH, "; chest height:", chestH, "; waist height", waistH)
# print("initial head:", self.initHeadH, "; initial chest:", self.initChestPH, "; initial waist", self.initWaistH)
# print ("knee init:", self.LKP_state[0][2], "knee+now:", pybullet.getLinkState(1,self.leftKP)[0][2])
# if (waistH==self.initWaistH or (waistH>=(self.initWaistH-0.15))): waistHigh=( +1 * (waistH/self.initWaistH))
# if (waistH<(self.initWaistH-0.15)): waistHigh=np.tanh(-1 / (10*waistH/self.initWaistH))
# if (waistH> self.initWaistH or waistH<=kneeH): waistHigh=-1
# if (chestH<(self.initChestPH-0.2)): chestHigh= np.tanh(-1 / (3*chestH/self.initChestPH))
# if (chestH<self.initChestPH-0.2 and chestH>waistH): chestHigh= np.tanh(-1 / (20*chestH/self.initChestPH))
# if (chestH>waistH and waistH>kneeH): chestHigh= 0.1*chestH/waistH
# if (chestH <= waistH or chestH> self.initChestPH): chestHigh=-1
# if (chestH==self.initChestPH or (chestH > waistH and chestH>=(self.initChestPH-0.2) and chestH<self.initChestPH)): chestHigh= (chestH/self.initChestPH)
stayingHighReward = [waistHigh, chestHigh, headHigh]
return sum(stayingHighReward)
def keepLegsInitial(self):
currentList=[]
for i in range(pybullet.getNumJoints(1))[20:]:
current= pybullet.getJointState(1, i)[0]
currentList.append(current)
print ((currentList))
def longLife(self, LLMultiplier):
liveLong = LLMultiplier * (self.no_of_steps / 1500)
# np.clip(liveLong, 0, 2.5)
# longLife = np.tanh(liveLong)
return np.clip(liveLong, 0, 2.5)
def alive_bonus(self, alive_z):#, pitch):
# print('alive bonus Z = ', alive_z)
# return +2 if alive_z > 0.9 else -1 # 2 here because 17 joints produce a lot of electricity cost just from policy noise, living must be better than dying
return +2 if alive_z >= self.LCP_state[0][2] else -1 # 2 here because 17 joints produce a lot of electricity cost just from policy noise, living must be better than dying
class KClass(WalkerBaseURDF):
# self_collision = False #works without so ...
# quad_list = ["R_CROTCH_P_LINK", "L_CROTCH_P_LINK"] # right quad, left quad
foot_list = ["R_ANKLE_P_LINK", "L_ANKLE_P_LINK"]
# foot_list += ["R_KNEE_P_LINK", "L_KNEE_P_LINK", "R_ANKLE_P_LINK", "L_ANKLE_P_LINK"] # right SHIN, left SHIN
def __init__(self):
WalkerBaseURDF.__init__(self,
'/home/admin/dribble_repo/RHP5E_anklez.urdf', #mod2.urdf',
# '/home/admin/dribble_repo/RHP5E_gundam.urdf',
# '/home/admin/dribble_repo/RHP5E_chappie.urdf',
# '/home/jovyan/private/drb/RHP5E_late_jup.urdf',
'robot_name_WBURDF',
action_dim= 30, #no of joints to play with
obs_dim= 246, # ???
power= 0.3) #because 30% EFFORT ????
# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
# 32 / 13 important standing joints = 2.461538462
self.choreonoidPose= [
0, #0 CHEST_Y
0, #1 CHEST_P
0, #2 HEAD_Y
0, #3 HEAD_P
0.2618, #4 L_SHOULDER_P
0.2618, #5 L_SHOULDER_R #flips -/+ by itself (originally) + !! + again for apply, but - in initial
-0.0873, #6 L_SHOULDER_Y
-0.5236, #7 L_ELBOW_P
0, #8 L_ELBOW_Y
0, #9 L_WRIST_P
0, #10 L_WRIST_Y
0, #-0.5061, #11 LH_state
0.2618, #12 R_SHOULDER_P
-0.2618, #13 R_SHOULDER_R #flips -/+ by itself (originally) -
0.0873, #14 R_SHOULDER_Y
-0.5236, #15 R_ELBOW_P
0, #16 R_ELBOW_Y
0, #17 R_WRIST_P
0, #18 R_WRIST_Y
0, #-0.5061, #19 RH_state
0, #20 L_CROTCH_Y
0.1745, #21 L_CROTCH_R
-0.2967, #22 L_CROTCH_P
0.6283, #23 L_KNEE_P
-0.1745, #24 L_ANKLE_R
-0.2967, #25 L_ANKLE_P
0, #26 R_CROTCH_Y
-0.1745, #27 R_CROTCH_R
-0.2967, #28 R_CROTCH_P
0.6283, #29 R_KNEE_P
0.1745, #30 R_ANKLE_R
-0.2967 #31 R_ANKLE_P
]
def robot_specific_reset(self, bullet_client):
WalkerBaseURDF.robot_specific_reset(self, bullet_client)
self.motor_names = ["CHEST_Y"]; self.motor_power = [347.5636]; self.pGainList = [44000]; self.vGainList = [400]; self.maxVelList = [366.667]
self.motor_names += ["CHEST_P"]; self.motor_power += [347.5636]; self.pGainList+= [44000]; self.vGainList+= [440]; self.maxVelList+= [366.667]
self.motor_names += ["HEAD_Y"]; self.motor_power += [22.2]; self.pGainList+= [2000]; self.vGainList+= [50]; self.maxVelList+= [1800]
self.motor_names += ["HEAD_P"]; self.motor_power += [22.2]; self.pGainList+= [2000]; self.vGainList+= [50]; self.maxVelList+= [1800]
# self.motor_names += ["LC-W-base-joint", "LC-W-linear-joint"]; self.motor_power += [0.0, 0.0]
self.motor_names += ["L_SHOULDER_P"]; self.motor_power += [178.42]; self.pGainList+= [15000]; self.vGainList+= [240]; self.maxVelList+= [357.143]
self.motor_names += ["L_SHOULDER_R"]; self.motor_power += [185.85]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [685.714]
self.motor_names += ["L_SHOULDER_Y"]; self.motor_power += [185.85]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [685.714]
# self.motor_names += ["LC-E-base-joint", "LC-E-linear-joint"]; self.motor_power += [0.0, 0.0]
self.motor_names += ["L_ELBOW_P"]; self.motor_power += [247.16]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [257.813]
self.motor_names += ["L_ELBOW_Y"]; self.motor_power += [123.62]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [257.727]
self.motor_names += ["L_WRIST_P"]; self.motor_power += [159.3]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [400]
self.motor_names += ["L_WRIST_Y"]; self.motor_power += [159.3]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [400]
self.motor_names += ["L_HAND"]; self.motor_power += [94.4]; self.pGainList+= [1]; self.vGainList+= [0.1]; self.maxVelList+= [675]
# self.motor_names += ["RC-W-base-joint", "RC-W-linear-joint"]; self.motor_power += [0.0, 0.0]
self.motor_names += ["R_SHOULDER_P"]; self.motor_power += [178.42]; self.pGainList+= [15000]; self.vGainList+= [240]; self.maxVelList+= [357.143]
self.motor_names += ["R_SHOULDER_R"]; self.motor_power += [185.85]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [685.714]
self.motor_names += ["R_SHOULDER_Y"]; self.motor_power += [185.85]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [685.714]
# self.motor_names += ["RC-E-base-joint", "RC-E-linear-joint"]; self.motor_power += [0.0, 0.0]
self.motor_names += ["R_ELBOW_P"]; self.motor_power += [247.16]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [257.813]
self.motor_names += ["R_ELBOW_Y"]; self.motor_power += [123.62]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [257.727]
self.motor_names += ["R_WRIST_P"]; self.motor_power += [159.3]; self.pGainList+= [14000]; self.vGainList+= [240]; self.maxVelList+= [400]