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78 lines
2.5 KiB
Python
78 lines
2.5 KiB
Python
#!/usr/bin/env python
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"""Provide the Laikago robotic platform.
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"""
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import os
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import numpy as np
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from legged_robot import QuadrupedRobot
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class Laikago(QuadrupedRobot):
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r"""Laikago robot
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References:
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[1] Laikago: http://www.unitree.cc/e/action/ShowInfo.php?classid=6&id=1
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[2] https://github.com/erwincoumans/pybullet_robots/tree/master/data/laikago
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"""
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def __init__(self,
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simulator,
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init_pos=(0, 0, .5),
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init_orient=(0.5, 0.5, 0.5, 0.5),
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useFixedBase=False,
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scaling=1.,
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urdf_path=os.path.dirname(__file__) + '/urdfs/laikago/laikago.urdf'):
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# check parameters
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if init_pos is None:
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init_pos = (0., 0., 0.5)
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if len(init_pos) == 2: # assume x, y are given
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init_pos = tuple(init_pos) + (0.5,)
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if init_orient is None:
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init_orient = (0.5, 0.5, 0.5, 0.5)
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if useFixedBase is None:
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useFixedBase = False
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super(Laikago, self).__init__(simulator, urdf_path, init_pos, init_orient, useFixedBase, scaling)
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self.name = 'laikago'
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self.legs = [[self.getLinkIds(link) for link in links if link in self.link_names]
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for links in [['FL_hip_motor', 'FL_upper_leg', 'FL_lower_leg'],
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['FR_hip_motor', 'FR_upper_leg', 'FR_lower_leg'],
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['RL_hip_motor', 'RL_upper_leg', 'RL_lower_leg'],
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['RR_hip_motor','RR_upper_leg', 'RR_lower_leg']]]
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self.feet = [self.getLinkIds(link) for link in ['FL_lower_leg', 'FR_lower_leg',
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'RL_lower_leg', 'RR_lower_leg'] if link in self.link_names]
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def getHomeJointPositions(self):
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"""Return the joint positions for the home position"""
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return np.zeros(self.getNumberOfDoFs())
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# Test
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if __name__ == "__main__":
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from itertools import count
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from pyrobolearn.simulators import BulletSim
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from pyrobolearn.worlds import BasicWorld
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# Create simulator
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sim = BulletSim()
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# create world
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world = BasicWorld(sim)
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# create robot
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robot = Laikago(sim)
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# print information about the robot
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robot.printRobotInfo()
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# # Position control using sliders
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# robot.addJointSlider()
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# run simulator
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for _ in count():
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# robot.updateJointSlider()
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robot.moveJointHomePositions()
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world.step(sleep_dt=1./240)
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