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upg_simulator.py
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upg_simulator.py
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import time
import pybullet as p
import pybullet_data
import upg_mass_center
import upg_planning as pl
class Megabot:
"""
Links : self.legs[leg_id][i] = id du i-ème membre de la patte leg_id
Joints : self.joint_name_to_id['ij'] = id du j-ème joint de la patte i
"""
def __init__(
self,
):
self.id = p.loadURDF("megabot/robot.urdf", [0, 0, 0.6], p.getQuaternionFromEuler([0, 0, 0]))
self.connectors = [[16, 8, 6, 9, 12, 17, 15, 72],
[34, 26, 24, 27, 30, 35, 33, 73],
[52, 44, 42, 45, 48, 53, 51, 74],
[70, 62, 60, 63, 66, 71, 69, 75]]
self._buildJointNameToIdDict()
self._createClosedKinematicLoops()
def _buildJointNameToIdDict(self):
num_joints = p.getNumJoints(self.id)
self.joint_name_to_id = {}
for i in range(num_joints):
joint_info = p.getJointInfo(self.id, i)
self.joint_name_to_id[joint_info[1].decode("UTF-8")] = joint_info[0]
def _createClosedKinematicLoops(self):
for i in range(4):
self._constraint(i, 0, [0, 1, 0])
self._constraint(i, 1, [1, 0, 0])
self._constraint(i, 2, [1, 0, 0])
self._constraint(i, 3, [1, 0, 0])
def _constraint(self, leg_id, n, axis):
p.createConstraint(self.id, self.connectors[leg_id][2 * n], self.id, self.connectors[leg_id][2 * n + 1],
p.JOINT_POINT2POINT, axis, [0, 0, 0], [0, 0, 0])
def moveCylinders(self, V, force):
for i in range(12):
if 0.4455 - V[i] * 0.001 > -0.0044999 or 0.4455 - V[i] * 0.001 < -0.2045001:
print("ERROR !!! Le vérin ", i, "est hors limites : ", 0.4455 - V[i] * 0.001)
p.setJointMotorControl2(self.id, self.joint_name_to_id['0v1'], targetPosition=0.4455 - V[0] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['0v2'], targetPosition=0.4455 - V[1] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['0v3'], targetPosition=0.4455 - V[2] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['1v1'], targetPosition=0.4455 - V[3] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['1v2'], targetPosition=0.4455 - V[4] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['1v3'], targetPosition=0.4455 - V[5] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['2v1'], targetPosition=0.4455 - V[6] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['2v2'], targetPosition=0.4455 - V[7] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['2v3'], targetPosition=0.4455 - V[8] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['3v1'], targetPosition=0.4455 - V[9] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['3v2'], targetPosition=0.4455 - V[10] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
p.setJointMotorControl2(self.id, self.joint_name_to_id['3v3'], targetPosition=0.4455 - V[11] * 0.001,
controlMode=p.POSITION_CONTROL, force=force)
def getCenterOfMassSimu(self):
"""
Calcule les coordonnées du centre de masse du Megabot simulé à partir de l'URDF
:return: coordonnées du centre de masse
"""
nb_links = p.getNumJoints(self.id)
base_pos = p.getBasePositionAndOrientation(self.id)[0]
base_mass = p.getDynamicsInfo(self.id, -1)[0]
com = [base_pos[0] * base_mass, base_pos[1] * base_mass, base_pos[2] * base_mass]
mass = base_mass
for i in range(nb_links):
link_pos = p.getLinkState(self.id, i)[0]
link_mass = p.getDynamicsInfo(self.id, i)[0]
com = [com[0] + link_pos[0] * link_mass, com[1] + link_pos[1] * link_mass, com[2] + link_pos[2] * link_mass]
mass += link_mass
return [com[0] / mass, com[1] / mass, com[2] / mass]
# def DrawCOM(self):
# p.addUserDebugLine(pl.get_leg_pos())
def draw(pt, color=[1, 0, 0], durationTime=0):
"""
Trace un point lors de la simulation
:param pt: coordonnées du point
:param color: couleur du point
:param durationTime: durée en secondes d'affichage du point
:return: None
"""
end_pt = [pt[0]+0.0025, pt[1], pt[2]]
p.addUserDebugLine(pt, end_pt, lineColorRGB=color, lineWidth=10, lifeTime=durationTime)
################################ SIMULATION ################################
physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
planeId = p.loadURDF("plane.urdf")
p.setGravity(0, 0, -10)
megabot = Megabot()
FRAME_RATE = 1 / 10 # Fréquence à laquelle un ordre est transmis au vérins
TICK_RATE = 1 / 240 # Fréquence à laquelle le simulateur s'actualise
CYL_FORCE = 10000
PASSENGER_MASS = 0
pl.init()
# LV = pl.legs_up(com_radius=200, passenger_weight=PASSENGER_MASS, nb_tours=3)
LV, LO, LOmega = pl.legs_up(com_radius=200, passenger_weight=PASSENGER_MASS, nb_tours=3, all_infos=True)
Lcom = upg_mass_center.centers_of_mass(LV, LO, LOmega, passenger_weight=PASSENGER_MASS)
# LV = pl.simple_walk(((0, 0), 1), passenger_weight=PASSENGER_MASS, nb_tours=1)
# p.changeVisualShape(megabot.id, megabot.connectors[0][0], rgbaColor=[1, 0, 0, 1])
# p.changeVisualShape(megabot.id, megabot.connectors[0][1], rgbaColor=[1, 0, 0, 1])
# p.changeVisualShape(megabot.id, megabot.connectors[0][2], rgbaColor=[1, 1, 0, 1])
# p.changeVisualShape(megabot.id, megabot.connectors[0][3], rgbaColor=[1, 1, 0, 1])
# p.changeVisualShape(megabot.id, megabot.connectors[0][4], rgbaColor=[1, 0, 1, 1])
# p.changeVisualShape(megabot.id, megabot.connectors[0][5], rgbaColor=[1, 0, 1, 1])
# p.changeVisualShape(megabot.id, megabot.connectors[0][6], rgbaColor=[0, 1, 0, 1])
# p.changeVisualShape(megabot.id, megabot.connectors[0][7], rgbaColor=[0, 1, 0, 1])
# friction_v = 10
# restitution_v = 0
# p.changeDynamics(megabot.id, 3, lateralFriction=friction_v)
# p.changeDynamics(megabot.id, 21, lateralFriction=friction_v)
# p.changeDynamics(megabot.id, 39, lateralFriction=friction_v)
# p.changeDynamics(megabot.id, 57, lateralFriction=friction_v)
# p.changeDynamics(megabot.id, 3, restitution=restitution_v)
# p.changeDynamics(megabot.id, 21, restitution=restitution_v)
# p.changeDynamics(megabot.id, 39, restitution=restitution_v)
# p.changeDynamics(megabot.id, 57, restitution=restitution_v)
for i in range(20):
p.stepSimulation()
if i < 10:
basePos = p.getBasePositionAndOrientation(megabot.id)[0]
p.resetBasePositionAndOrientation(megabot.id, basePos, p.getQuaternionFromEuler([0, 0, 0]))
else:
megabot.moveCylinders(pl.ROBOT['idle_pos'], CYL_FORCE)
time.sleep(TICK_RATE)
elapsed_time = 0
for i in range(10000):
p.stepSimulation()
step = int(elapsed_time / FRAME_RATE)
megabot.moveCylinders(LV[step], CYL_FORCE)
# megabot.moveCylinders(pl.ROBOT['idle_pos'], CYL_FORCE)
draw(megabot.getCenterOfMassSimu())
draw(Lcom[step] / 1000, color=[0, 0, 1])
print("Simu :", megabot.getCenterOfMassSimu())
print("Algo :", Lcom[step])
time.sleep(TICK_RATE)
elapsed_time += TICK_RATE
p.disconnect()