From e7b9de3160019cff7fd7bfb8f6f6bea88782ec41 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 2 Sep 2020 14:18:00 -0700 Subject: [PATCH 1/5] bump up version --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 459fe0797..fbdf8db02 100644 --- a/setup.py +++ b/setup.py @@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.9.0', + version='2.9.1', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From c4f4692b683d3f8054f6d3c14474276fa066f12e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 3 Sep 2020 17:30:07 -0700 Subject: [PATCH 2/5] add xiURDF for Ghost Robotics Spirit40 and Unitree A1 quadruped --- .../pybullet/gym/pybullet_data/a1/LICENSE | 375 + examples/pybullet/gym/pybullet_data/a1/a1.py | 18 + .../pybullet/gym/pybullet_data/a1/a1.urdf | 701 + .../gym/pybullet_data/a1/meshes/calf.mtl | 12 + .../gym/pybullet_data/a1/meshes/calf.obj | 13564 +++ .../gym/pybullet_data/a1/meshes/hip.mtl | 12 + .../gym/pybullet_data/a1/meshes/hip.obj | 5219 + .../gym/pybullet_data/a1/meshes/thigh.mtl | 12 + .../gym/pybullet_data/a1/meshes/thigh.obj | 8971 ++ .../pybullet_data/a1/meshes/thigh_mirror.mtl | 12 + .../pybullet_data/a1/meshes/thigh_mirror.obj | 9318 ++ .../gym/pybullet_data/a1/meshes/trunk.mtl | 13 + .../gym/pybullet_data/a1/meshes/trunk.obj | 83622 ++++++++++++++++ .../gym/pybullet_data/a1/meshes/trunk_A1.png | Bin 0 -> 71835 bytes .../gym/pybullet_data/quadruped/spirit40.urdf | 580 + 15 files changed, 122429 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/a1/LICENSE create mode 100644 examples/pybullet/gym/pybullet_data/a1/a1.py create mode 100644 examples/pybullet/gym/pybullet_data/a1/a1.urdf create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/hip.mtl create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/hip.obj create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/thigh.mtl create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/thigh.obj create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj create mode 100644 examples/pybullet/gym/pybullet_data/a1/meshes/trunk_A1.png create mode 100644 examples/pybullet/gym/pybullet_data/quadruped/spirit40.urdf diff --git a/examples/pybullet/gym/pybullet_data/a1/LICENSE b/examples/pybullet/gym/pybullet_data/a1/LICENSE new file mode 100644 index 000000000..b98a971d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/LICENSE @@ -0,0 +1,375 @@ + +Mozilla Public License Version 2.0 +================================== + +1. Definitions +-------------- + +1.1. "Contributor" + means each individual or legal entity that creates, contributes to + the creation of, or owns Covered Software. + +1.2. "Contributor Version" + means the combination of the Contributions of others (if any) used + by a Contributor and that particular Contributor's Contribution. + +1.3. "Contribution" + means Covered Software of a particular Contributor. + +1.4. "Covered Software" + means Source Code Form to which the initial Contributor has attached + the notice in Exhibit A, the Executable Form of such Source Code + Form, and Modifications of such Source Code Form, in each case + including portions thereof. + +1.5. "Incompatible With Secondary Licenses" + means + + (a) that the initial Contributor has attached the notice described + in Exhibit B to the Covered Software; or + + (b) that the Covered Software was made available under the terms of + version 1.1 or earlier of the License, but not also under the + terms of a Secondary License. + +1.6. "Executable Form" + means any form of the work other than Source Code Form. + +1.7. "Larger Work" + means a work that combines Covered Software with other material, in + a separate file or files, that is not Covered Software. + +1.8. "License" + means this document. + +1.9. "Licensable" + means having the right to grant, to the maximum extent possible, + whether at the time of the initial grant or subsequently, any and + all of the rights conveyed by this License. + +1.10. "Modifications" + means any of the following: + + (a) any file in Source Code Form that results from an addition to, + deletion from, or modification of the contents of Covered + Software; or + + (b) any new file in Source Code Form that contains any Covered + Software. + +1.11. "Patent Claims" of a Contributor + means any patent claim(s), including without limitation, method, + process, and apparatus claims, in any patent Licensable by such + Contributor that would be infringed, but for the grant of the + License, by the making, using, selling, offering for sale, having + made, import, or transfer of either its Contributions or its + Contributor Version. + +1.12. "Secondary License" + means either the GNU General Public License, Version 2.0, the GNU + Lesser General Public License, Version 2.1, the GNU Affero General + Public License, Version 3.0, or any later versions of those + licenses. + +1.13. "Source Code Form" + means the form of the work preferred for making modifications. + +1.14. "You" (or "Your") + means an individual or a legal entity exercising rights under this + License. For legal entities, "You" includes any entity that + controls, is controlled by, or is under common control with You. For + purposes of this definition, "control" means (a) the power, direct + or indirect, to cause the direction or management of such entity, + whether by contract or otherwise, or (b) ownership of more than + fifty percent (50%) of the outstanding shares or beneficial + ownership of such entity. + +2. License Grants and Conditions +-------------------------------- + +2.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, +non-exclusive license: + +(a) under intellectual property rights (other than patent or trademark) + Licensable by such Contributor to use, reproduce, make available, + modify, display, perform, distribute, and otherwise exploit its + Contributions, either on an unmodified basis, with Modifications, or + as part of a Larger Work; and + +(b) under Patent Claims of such Contributor to make, use, sell, offer + for sale, have made, import, and otherwise transfer either its + Contributions or its Contributor Version. + +2.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution +become effective for each Contribution on the date the Contributor first +distributes such Contribution. + +2.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under +this License. No additional rights or licenses will be implied from the +distribution or licensing of Covered Software under this License. +Notwithstanding Section 2.1(b) above, no patent license is granted by a +Contributor: + +(a) for any code that a Contributor has removed from Covered Software; + or + +(b) for infringements caused by: (i) Your and any other third party's + modifications of Covered Software, or (ii) the combination of its + Contributions with other software (except as part of its Contributor + Version); or + +(c) under Patent Claims infringed by Covered Software in the absence of + its Contributions. + +This License does not grant any rights in the trademarks, service marks, +or logos of any Contributor (except as may be necessary to comply with +the notice requirements in Section 3.4). + +2.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to +distribute the Covered Software under a subsequent version of this +License (see Section 10.2) or under the terms of a Secondary License (if +permitted under the terms of Section 3.3). + +2.5. Representation + +Each Contributor represents that the Contributor believes its +Contributions are its original creation(s) or it has sufficient rights +to grant the rights to its Contributions conveyed by this License. + +2.6. Fair Use + +This License is not intended to limit any rights You have under +applicable copyright doctrines of fair use, fair dealing, or other +equivalents. + +2.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted +in Section 2.1. + +3. Responsibilities +------------------- + +3.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any +Modifications that You create or to which You contribute, must be under +the terms of this License. You must inform recipients that the Source +Code Form of the Covered Software is governed by the terms of this +License, and how they can obtain a copy of this License. You may not +attempt to alter or restrict the recipients' rights in the Source Code +Form. + +3.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + +(a) such Covered Software must also be made available in Source Code + Form, as described in Section 3.1, and You must inform recipients of + the Executable Form how they can obtain a copy of such Source Code + Form by reasonable means in a timely manner, at a charge no more + than the cost of distribution to the recipient; and + +(b) You may distribute such Executable Form under the terms of this + License, or sublicense it under different terms, provided that the + license for the Executable Form does not attempt to limit or alter + the recipients' rights in the Source Code Form under this License. + +3.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, +provided that You also comply with the requirements of this License for +the Covered Software. If the Larger Work is a combination of Covered +Software with a work governed by one or more Secondary Licenses, and the +Covered Software is not Incompatible With Secondary Licenses, this +License permits You to additionally distribute such Covered Software +under the terms of such Secondary License(s), so that the recipient of +the Larger Work may, at their option, further distribute the Covered +Software under the terms of either this License or such Secondary +License(s). + +3.4. Notices + +You may not remove or alter the substance of any license notices +(including copyright notices, patent notices, disclaimers of warranty, +or limitations of liability) contained within the Source Code Form of +the Covered Software, except that You may alter any license notices to +the extent required to remedy known factual inaccuracies. + +3.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, +indemnity or liability obligations to one or more recipients of Covered +Software. However, You may do so only on Your own behalf, and not on +behalf of any Contributor. You must make it absolutely clear that any +such warranty, support, indemnity, or liability obligation is offered by +You alone, and You hereby agree to indemnify every Contributor for any +liability incurred by such Contributor as a result of warranty, support, +indemnity or liability terms You offer. You may include additional +disclaimers of warranty and limitations of liability specific to any +jurisdiction. + +4. Inability to Comply Due to Statute or Regulation +--------------------------------------------------- + +If it is impossible for You to comply with any of the terms of this +License with respect to some or all of the Covered Software due to +statute, judicial order, or regulation then You must: (a) comply with +the terms of this License to the maximum extent possible; and (b) +describe the limitations and the code they affect. Such description must +be placed in a text file included with all distributions of the Covered +Software under this License. Except to the extent prohibited by statute +or regulation, such description must be sufficiently detailed for a +recipient of ordinary skill to be able to understand it. + +5. Termination +-------------- + +5.1. The rights granted under this License will terminate automatically +if You fail to comply with any of its terms. However, if You become +compliant, then the rights granted under this License from a particular +Contributor are reinstated (a) provisionally, unless and until such +Contributor explicitly and finally terminates Your grants, and (b) on an +ongoing basis, if such Contributor fails to notify You of the +non-compliance by some reasonable means prior to 60 days after You have +come back into compliance. Moreover, Your grants from a particular +Contributor are reinstated on an ongoing basis if such Contributor +notifies You of the non-compliance by some reasonable means, this is the +first time You have received notice of non-compliance with this License +from such Contributor, and You become compliant prior to 30 days after +Your receipt of the notice. + +5.2. If You initiate litigation against any entity by asserting a patent +infringement claim (excluding declaratory judgment actions, +counter-claims, and cross-claims) alleging that a Contributor Version +directly or indirectly infringes any patent, then the rights granted to +You by any and all Contributors for the Covered Software under Section +2.1 of this License shall terminate. + +5.3. In the event of termination under Sections 5.1 or 5.2 above, all +end user license agreements (excluding distributors and resellers) which +have been validly granted by You or Your distributors under this License +prior to termination shall survive termination. + +************************************************************************ +* * +* 6. Disclaimer of Warranty * +* ------------------------- * +* * +* Covered Software is provided under this License on an "as is" * +* basis, without warranty of any kind, either expressed, implied, or * +* statutory, including, without limitation, warranties that the * +* Covered Software is free of defects, merchantable, fit for a * +* particular purpose or non-infringing. The entire risk as to the * +* quality and performance of the Covered Software is with You. * +* Should any Covered Software prove defective in any respect, You * +* (not any Contributor) assume the cost of any necessary servicing, * +* repair, or correction. This disclaimer of warranty constitutes an * +* essential part of this License. No use of any Covered Software is * +* authorized under this License except under this disclaimer. * +* * +************************************************************************ + +************************************************************************ +* * +* 7. Limitation of Liability * +* -------------------------- * +* * +* Under no circumstances and under no legal theory, whether tort * +* (including negligence), contract, or otherwise, shall any * +* Contributor, or anyone who distributes Covered Software as * +* permitted above, be liable to You for any direct, indirect, * +* special, incidental, or consequential damages of any character * +* including, without limitation, damages for lost profits, loss of * +* goodwill, work stoppage, computer failure or malfunction, or any * +* and all other commercial damages or losses, even if such party * +* shall have been informed of the possibility of such damages. This * +* limitation of liability shall not apply to liability for death or * +* personal injury resulting from such party's negligence to the * +* extent applicable law prohibits such limitation. Some * +* jurisdictions do not allow the exclusion or limitation of * +* incidental or consequential damages, so this exclusion and * +* limitation may not apply to You. * +* * +************************************************************************ + +8. Litigation +------------- + +Any litigation relating to this License may be brought only in the +courts of a jurisdiction where the defendant maintains its principal +place of business and such litigation shall be governed by laws of that +jurisdiction, without reference to its conflict-of-law provisions. +Nothing in this Section shall prevent a party's ability to bring +cross-claims or counter-claims. + +9. Miscellaneous +---------------- + +This License represents the complete agreement concerning the subject +matter hereof. If any provision of this License is held to be +unenforceable, such provision shall be reformed only to the extent +necessary to make it enforceable. Any law or regulation which provides +that the language of a contract shall be construed against the drafter +shall not be used to construe this License against a Contributor. + +10. Versions of the License +--------------------------- + +10.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section +10.3, no one other than the license steward has the right to modify or +publish new versions of this License. Each version will be given a +distinguishing version number. + +10.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version +of the License under which You originally received the Covered Software, +or under the terms of any subsequent version published by the license +steward. + +10.3. Modified Versions + +If you create software not governed by this License, and you want to +create a new license for such software, you may create and use a +modified version of this License if you rename the license and remove +any references to the name of the license steward (except to note that +such modified license differs from this License). + +10.4. Distributing Source Code Form that is Incompatible With Secondary +Licenses + +If You choose to distribute Source Code Form that is Incompatible With +Secondary Licenses under the terms of this version of the License, the +notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice +------------------------------------------- + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular +file, then You may include the notice in a location (such as a LICENSE +file in a relevant directory) where a recipient would be likely to look +for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - "Incompatible With Secondary Licenses" Notice +--------------------------------------------------------- + + This Source Code Form is "Incompatible With Secondary Licenses", as + defined by the Mozilla Public License, v. 2.0. + diff --git a/examples/pybullet/gym/pybullet_data/a1/a1.py b/examples/pybullet/gym/pybullet_data/a1/a1.py new file mode 100644 index 000000000..0716039a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/a1.py @@ -0,0 +1,18 @@ +import pybullet as p +import time +import pybullet_data as pd +p.connect(p.GUI) +p.setAdditionalSearchPath(pd.getDataPath()) +dt = 1./240. + +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) +p.loadURDF("plane.urdf") +p.loadURDF("a1.urdf",[0,0,0.5]) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) +p.setGravity(0,0,-9.8) + +while 1: + p.stepSimulation() + time.sleep(dt) + + diff --git a/examples/pybullet/gym/pybullet_data/a1/a1.urdf b/examples/pybullet/gym/pybullet_data/a1/a1.urdf new file mode 100644 index 000000000..a81949101 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/a1.urdf @@ -0,0 +1,701 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl new file mode 100644 index 000000000..5441bc8c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl @@ -0,0 +1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl 材质 +Ns 96.078431 +Ka 1.000000 1.000000 1.000000 +Kd 0.900000 0.900000 0.900000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj new file mode 100644 index 000000000..0eb9da144 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj @@ -0,0 +1,13564 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib calf.mtl +o Calf +v 0.017995 0.000067 -0.210736 +v 0.017101 0.000025 -0.212075 +v 0.016848 0.003656 -0.211934 +v 0.017629 0.002795 -0.211016 +v 0.017117 0.002134 -0.211898 +v -0.014013 0.004328 -0.184934 +v -0.015370 0.005949 -0.187103 +v -0.012823 -0.007836 -0.185435 +v -0.011920 -0.009563 -0.185890 +v 0.014567 -0.008483 -0.212223 +v 0.015545 -0.008327 -0.211125 +v 0.003869 -0.017874 -0.203246 +v 0.005735 -0.017515 -0.204811 +v 0.008604 -0.016817 -0.203236 +v 0.012136 -0.012899 -0.210183 +v 0.013913 -0.012198 -0.208751 +v 0.013479 -0.010846 -0.211310 +v 0.014817 -0.010754 -0.209567 +v 0.016414 -0.012809 -0.200367 +v 0.014259 -0.013918 -0.203163 +v 0.013760 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+1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl 材质.003 +Ns 96.078431 +Ka 1.000000 1.000000 1.000000 +Kd 0.400000 0.400000 0.400000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj new file mode 100644 index 000000000..f3e2b4691 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj @@ -0,0 +1,9318 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib thigh_mirror.mtl +o Thigh_Mirror +v 0.023945 0.009000 0.007551 +v 0.032780 0.009000 0.004676 +v 0.030491 0.009000 0.012726 +v 0.021013 0.009000 0.013591 +v 0.027243 0.009000 0.018693 +v 0.018009 0.009000 0.017495 +v 0.021535 0.009000 0.025152 +v 0.012295 0.009000 0.021812 +v 0.014501 0.009000 0.029687 +v 0.006933 0.009000 0.024059 +v 0.008122 0.009000 0.032026 +v 0.000980 0.009000 0.024947 +v 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a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl new file mode 100644 index 000000000..99461f759 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl 材质.004 +Ns 96.078431 +Ka 1.000000 1.000000 1.000000 +Kd 0.640000 0.640000 0.640000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 2 +map_Kd trunk_A1.png diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj new file mode 100644 index 000000000..7eff8359f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj @@ -0,0 +1,83622 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib trunk.mtl +o 机身组件2020(1) +v 0.118500 0.018500 0.057000 +v 0.118500 0.006500 0.057000 +v 0.118500 0.018500 -0.057000 +v 0.118500 0.006500 -0.057000 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index 000000000..f9816856f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/spirit40.urdf @@ -0,0 +1,580 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 224eceb75bf4db922e89fac1a84f251631886f6c Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 3 Sep 2020 21:16:39 -0700 Subject: [PATCH 3/5] add test script for spirit40 --- .../gym/pybullet_data/quadruped/spirit40.py | 63 +++++++++++++++++++ 1 file changed, 63 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/quadruped/spirit40.py diff --git a/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py b/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py new file mode 100644 index 000000000..cb1d5ce9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py @@ -0,0 +1,63 @@ +from __future__ import print_function +import time +import numpy as np +import argparse + + +import pybullet as p +import time +import pybullet_data as pd +p.connect(p.GUI) +p.setAdditionalSearchPath(pd.getDataPath()) +dt = 1./240. + +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) +p.loadURDF("plane.urdf") +robot = p.loadURDF("quadruped/spirit40.urdf",[0,0,.5], useFixedBase=False) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) +p.setGravity(0,0,-9.8) + + +#j= (0, b'8', 0, 7, 6, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip0', (1.0, 0.0, 0.0), (0.2263, 0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1) +#j= (1, b'0', 0, 8, 7, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper0', (0.0, -1.0, 0.0), (0.0, 0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 0) +#j= (2, b'1', 0, 9, 8, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower0', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 1) +#j= (3, b'jtoe0', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe0', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 2) +#j= (4, b'9', 0, 10, 9, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip1', (1.0, 0.0, 0.0), (-0.2263, 0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1) +#j= (5, b'2', 0, 11, 10, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper1', (0.0, -1.0, 0.0), (0.0, 0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 4) +#j= (6, b'3', 0, 12, 11, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower1', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 5) +#j= (7, b'jtoe1', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe1', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 6) +#j= (8, b'10', 0, 13, 12, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip2', (1.0, 0.0, 0.0), (0.2263, -0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1) +#j= (9, b'4', 0, 14, 13, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper2', (0.0, -1.0, 0.0), (0.0, -0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 8) +#j= (10, b'5', 0, 15, 14, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower2', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 9) +#j= (11, b'jtoe2', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe2', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 10) +#j= (12, b'11', 0, 16, 15, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip3', (1.0, 0.0, 0.0), (-0.2263, -0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1) +#j= (13, b'6', 0, 17, 16, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper3', (0.0, -1.0, 0.0), (0.0, -0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 12) +#j= (14, b'7', 0, 18, 17, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower3', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 13) +#j= (15, b'jtoe3', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe3', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 14) + +toes=[3,7,11,15] +revolute_joints=[1,2, 5,6, 9,10, 13,14, 0, 4, 8, 12] + +joint_positions = [0.11321902, 0.1833849, 0.11935401, 0.1723926, 0.13162422, 0.2013433, + 0.09736967, 0.16855788, -0.08001328, -0.140342, 0.0006392, 0.11989117] + + +joint_positions = [0.74833727, 1.4664032, 0.76712584, 1.4589894, 0.74642015, 1.4782903, + 0.7488482, 1.4464638 , -0.01239824 ,-0.02952504, 0.02939725, 0.05764484] + +for j in range (p.getNumJoints(robot)): + print("j=", p.getJointInfo(robot,j)) + +for j in range (12): + joint_index = revolute_joints[j] + print("revolute_joint index=", joint_index) + p.resetJointState(robot, joint_index, joint_positions[j]) + p.setJointMotorControl(robot,joint_index,p.POSITION_CONTROL, joint_positions[j]) + +count = 0 +while p.isConnected(): + count+=1 + p.stepSimulation() + time.sleep(dt) +print("sitting!") + From 67061cf98c813487ac47d766a98f2452f38d8c5e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 4 Sep 2020 14:21:53 -0700 Subject: [PATCH 4/5] update a1 urdf to match naming for our software update test a1.py script --- examples/pybullet/gym/pybullet_data/a1/a1.py | 44 ++++- .../pybullet/gym/pybullet_data/a1/a1.urdf | 165 ++++++++---------- setup.py | 2 +- 3 files changed, 119 insertions(+), 92 deletions(-) diff --git a/examples/pybullet/gym/pybullet_data/a1/a1.py b/examples/pybullet/gym/pybullet_data/a1/a1.py index 0716039a4..e21b188a0 100644 --- a/examples/pybullet/gym/pybullet_data/a1/a1.py +++ b/examples/pybullet/gym/pybullet_data/a1/a1.py @@ -1,17 +1,57 @@ import pybullet as p import time import pybullet_data as pd +import numpy as np p.connect(p.GUI) p.setAdditionalSearchPath(pd.getDataPath()) dt = 1./240. p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) p.loadURDF("plane.urdf") -p.loadURDF("a1.urdf",[0,0,0.5]) +robot = p.loadURDF("a1/a1.urdf",[0,0,0.5]) p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) p.setGravity(0,0,-9.8) -while 1: +A1_DEFAULT_ABDUCTION_ANGLE = 0 +A1_DEFAULT_HIP_ANGLE = 0.9 +A1_DEFAULT_KNEE_ANGLE = -1.8 +NUM_LEGS = 4 +INIT_MOTOR_ANGLES = np.array([ + A1_DEFAULT_ABDUCTION_ANGLE, + A1_DEFAULT_HIP_ANGLE, + A1_DEFAULT_KNEE_ANGLE +] * NUM_LEGS) + +MOTOR_NAMES = [ + "FR_hip_joint", + "FR_upper_joint", + "FR_lower_joint", + "FL_hip_joint", + "FL_upper_joint", + "FL_lower_joint", + "RR_hip_joint", + "RR_upper_joint", + "RR_lower_joint", + "RL_hip_joint", + "RL_upper_joint", + "RL_lower_joint", +] +motor_ids = [] + +for j in range (p.getNumJoints(robot)): + joint_info = p.getJointInfo(robot,j) + name = joint_info[1].decode('utf-8') + print("joint_info[1]=",name) + if name in MOTOR_NAMES: + motor_ids.append(j) + +for index in range (12): + joint_id = motor_ids[index] + p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index]) + p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index]) + +print("motor_ids=",motor_ids) +while p.isConnected(): p.stepSimulation() time.sleep(dt) diff --git a/examples/pybullet/gym/pybullet_data/a1/a1.urdf b/examples/pybullet/gym/pybullet_data/a1/a1.urdf index a81949101..f588aa8be 100644 --- a/examples/pybullet/gym/pybullet_data/a1/a1.urdf +++ b/examples/pybullet/gym/pybullet_data/a1/a1.urdf @@ -31,19 +31,6 @@ - - - - - - - - - - - - - @@ -120,10 +107,10 @@ - + - + @@ -131,15 +118,15 @@ - + - + - + @@ -159,15 +146,15 @@ - + - - + + - + @@ -187,12 +174,12 @@ - + - - + + - + @@ -221,22 +208,22 @@ 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 @@ -272,10 +259,10 @@ - + - + @@ -283,15 +270,15 @@ - + - + - + @@ -311,15 +298,15 @@ - + - - + + - + @@ -339,12 +326,12 @@ - + - - + + - + @@ -373,22 +360,22 @@ 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 @@ -424,10 +411,10 @@ - + - + @@ -435,15 +422,15 @@ - + - + - + @@ -463,15 +450,15 @@ - + - - + + - + @@ -491,12 +478,12 @@ - + - - + + - + @@ -525,22 +512,22 @@ 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 @@ -576,10 +563,10 @@ - + - + @@ -587,15 +574,15 @@ - + - + - + @@ -615,15 +602,15 @@ - + - - + + - + @@ -643,12 +630,12 @@ - + - - + + - + @@ -677,22 +664,22 @@ 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 diff --git a/setup.py b/setup.py index fbdf8db02..23b7967e3 100644 --- a/setup.py +++ b/setup.py @@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.9.1', + version='2.9.2', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= From edd57d0f3f6beb869dc2bd22f8322df262edd6f0 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 4 Sep 2020 15:45:51 -0700 Subject: [PATCH 5/5] bump up pybullet version --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 23b7967e3..2b045ab43 100644 --- a/setup.py +++ b/setup.py @@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.9.2', + version='2.9.3', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description=