99 lines
3.4 KiB
Python
99 lines
3.4 KiB
Python
import time
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from copy import deepcopy
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import matplotlib.pyplot as plt
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import mujoco
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import mujoco.viewer
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import numpy as np
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import pinocchio as pin
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from pinocchio.robot_wrapper import RobotWrapper
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from Go2Py import ASSETS_PATH
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import os
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class Go2Sim:
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def __init__(self, render=True, dt=0.002):
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self.model = mujoco.MjModel.from_xml_path(
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os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
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)
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self.data = mujoco.MjData(self.model)
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self.dt = dt
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_render_dt = 1/60
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self.render_ds_ratio = max(1, _render_dt//dt)
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if render:
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self.viewer = mujoco.viewer.launch_passive(self.model, self.data)
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self.render = True
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self.viewer.cam.distance = 3.0
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self.viewer.cam.azimuth = 90
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self.viewer.cam.elevation = -45
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self.viewer.cam.lookat[:] = np.array([0.0, -0.25, 0.824])
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else:
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self.render = False
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self.model.opt.gravity[2] = -9.81
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self.model.opt.timestep = dt
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self.renderer = None
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self.render = render
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self.step_counter = 0
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self.q0 = np.array([-0.03479636, 1.26186061, -2.81310153,
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0.03325212, 1.25883281, -2.78329301,
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-0.34708387, 1.27193761, -2.8052032 ,
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0.32040933, 1.27148342, -2.81436563])
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self.pos0 = np.array([0., 0., 0.1])
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self.rot0 = np.array([1., 0., 0., 0.])
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self.reset()
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mujoco.mj_step(self.model, self.data)
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self.viewer.sync()
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def reset(self):
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self.q_nominal = np.hstack(
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[self.pos0.squeeze(), self.rot0.squeeze(), self.q0.squeeze()]
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)
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self.data.qpos = self.q_nominal
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self.data.qvel = np.zeros(18)
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def standUp(self):
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self.q0 = np.array([ 0.00901526, 0.77832842, -1.56065452,
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-0.00795561, 0.76754963, -1.56634164,
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-0.05375515, 0.76681757, -1.53601146,
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0.06183922, 0.75422204, -1.53229916])
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self.pos0 = np.array([0., 0., 0.33])
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self.rot0 = np.array([1., 0., 0., 0.])
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self.reset()
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mujoco.mj_step(self.model, self.data)
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self.viewer.sync()
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def sitDown(self):
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self.q0 = np.array([-0.03479636, 1.26186061, -2.81310153,
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0.03325212, 1.25883281, -2.78329301,
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-0.34708387, 1.27193761, -2.8052032 ,
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0.32040933, 1.27148342, -2.81436563])
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self.pos0 = np.array([0., 0., 0.1])
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self.rot0 = np.array([1., 0., 0., 0.])
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self.reset()
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mujoco.mj_step(self.model, self.data)
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self.viewer.sync()
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def getJointStates(self):
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return self.data.qpos[7:], self.data.qvel[6:]
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def getPose(self):
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return self.data.qpos[:3], self.data.qpos[3:7]
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def setCommands(self, q_des, dq_des, kp, kv, tau_ff):
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q, dq = self.getJointStates()
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tau = np.diag(kp)@(q_des-q).reshape(12,1)+ \
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np.diag(kv)@(dq_des-dq).reshape(12,1)+tau_ff.reshape(12,1)
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self.data.ctrl[:] = tau.squeeze()
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def step(self):
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self.step_counter += 1
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mujoco.mj_step(self.model, self.data)
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# Render every render_ds_ratio steps (60Hz GUI update)
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if self.render and (self.step_counter%self.render_ds_ratio)==0:
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self.viewer.sync()
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def close(self):
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self.viewer.close()
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