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replay.py
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replay.py
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#!/usr/bin/env python3
# fix the base_link to world (modify the URDF file)
import pybullet as p
from time import sleep
import csv
import math
TIME_STEP = 0.001
physicsClient = p.connect(p.GUI)
p.setGravity(0, 0, -9.8)
p.setTimeStep(TIME_STEP)
RobotId = p.loadURDF("URDF/gankenkun.urdf", [0, 0, 0])
for joint in range(p.getNumJoints(RobotId)):
p.setJointMotorControl(RobotId, joint, p.POSITION_CONTROL, 0)
index = {p.getBodyInfo(RobotId)[0].decode('UTF-8'):-1,}
for id in range(p.getNumJoints(RobotId)):
index[p.getJointInfo(RobotId, id)[12].decode('UTF-8')] = id
print(index)
with open("./data4.csv") as f:
reader = csv.reader(f)
for angle in reader:
for i in range(10):
p.setJointMotorControl2(RobotId, index['right_ankle_roll_link' ], p.POSITION_CONTROL, math.radians(float(angle[2])))
p.setJointMotorControl2(RobotId, index['right_ankle_pitch_link' ], p.POSITION_CONTROL, -math.radians(float(angle[3])))
p.setJointMotorControl2(RobotId, index['right_shin_pitch_link' ], p.POSITION_CONTROL, -math.radians(float(angle[4])))
p.setJointMotorControl2(RobotId, index['right_independent_pitch_link' ], p.POSITION_CONTROL, math.radians(float(angle[4])))
p.setJointMotorControl2(RobotId, index['right_shin_pitch_mimic_link' ], p.POSITION_CONTROL, -math.radians(float(angle[4])))
p.setJointMotorControl2(RobotId, index['right_knee_pitch_link' ], p.POSITION_CONTROL, math.radians(float(angle[5])))
p.setJointMotorControl2(RobotId, index['right_waist_pitch_link' ], p.POSITION_CONTROL, -math.radians(float(angle[5])))
p.setJointMotorControl2(RobotId, index['right_waist_pitch_mimic_link' ], p.POSITION_CONTROL, -math.radians(float(angle[5])))
p.setJointMotorControl2(RobotId, index['right_waist_roll_link' ], p.POSITION_CONTROL, -math.radians(float(angle[6])))
p.setJointMotorControl2(RobotId, index['right_waist_yaw_link' ], p.POSITION_CONTROL, math.radians(float(angle[7])))
p.setJointMotorControl2(RobotId, index['right_shoulder_link' ], p.POSITION_CONTROL, -math.radians(float(angle[8])))
p.setJointMotorControl2(RobotId, index['right_upper_arm_link' ], p.POSITION_CONTROL, -math.radians(float(angle[9])))
p.setJointMotorControl2(RobotId, index['right_lower_arm_link' ], p.POSITION_CONTROL, math.radians(float(angle[10])))
p.setJointMotorControl2(RobotId, index['left_ankle_roll_link' ], p.POSITION_CONTROL, math.radians(float(angle[11])))
p.setJointMotorControl2(RobotId, index['left_ankle_pitch_link' ], p.POSITION_CONTROL, math.radians(float(angle[12])))
p.setJointMotorControl2(RobotId, index['left_shin_pitch_link' ], p.POSITION_CONTROL, math.radians(float(angle[13])))
p.setJointMotorControl2(RobotId, index['left_independent_pitch_link' ], p.POSITION_CONTROL, -math.radians(float(angle[13])))
p.setJointMotorControl2(RobotId, index['left_shin_pitch_mimic_link' ], p.POSITION_CONTROL, math.radians(float(angle[13])))
p.setJointMotorControl2(RobotId, index['left_knee_pitch_link' ], p.POSITION_CONTROL, -math.radians(float(angle[14])))
p.setJointMotorControl2(RobotId, index['left_waist_pitch_link' ], p.POSITION_CONTROL, math.radians(float(angle[14])))
p.setJointMotorControl2(RobotId, index['left_waist_pitch_mimic_link' ], p.POSITION_CONTROL, math.radians(float(angle[14])))
p.setJointMotorControl2(RobotId, index['left_waist_roll_link' ], p.POSITION_CONTROL, -math.radians(float(angle[15])))
p.setJointMotorControl2(RobotId, index['left_waist_yaw_link' ], p.POSITION_CONTROL, math.radians(float(angle[16])))
p.setJointMotorControl2(RobotId, index['left_shoulder_link' ], p.POSITION_CONTROL, math.radians(float(angle[17])))
p.setJointMotorControl2(RobotId, index['left_upper_arm_link' ], p.POSITION_CONTROL, -math.radians(float(angle[18])))
p.setJointMotorControl2(RobotId, index['left_lower_arm_link' ], p.POSITION_CONTROL, -math.radians(float(angle[19])))
p.setJointMotorControl2(RobotId, index['head_yaw_link' ], p.POSITION_CONTROL, -math.radians(float(angle[20])))
p.stepSimulation()
# sleep(TIME_STEP)