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import pybullet as p
import json
import time
useGUI = True
if useGUI:
p.connect(p.GUI)
else:
p.connect(p.DIRECT)
useZUp = False
useYUp = not useZUp
showJointMotorTorques = False
if useYUp:
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP, 1)
from pdControllerExplicit import PDControllerExplicitMultiDof
from pdControllerStable import PDControllerStableMultiDof
explicitPD = PDControllerExplicitMultiDof(p)
stablePD = PDControllerStableMultiDof(p)
p.resetDebugVisualizerCamera(cameraDistance=7,
cameraYaw=-94,
cameraPitch=-14,
cameraTargetPosition=[0.31, 0.03, -1.16])
import pybullet_data
p.setTimeOut(10000)
useMotionCapture = False
useMotionCaptureReset = False #not useMotionCapture
useExplicitPD = True
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setPhysicsEngineParameter(numSolverIterations=30)
#p.setPhysicsEngineParameter(solverResidualThreshold=1e-30)
#explicit PD control requires small timestep
timeStep = 1. / 600.
#timeStep = 1./240.
p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt"
#path = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
#p.loadURDF("plane.urdf",[0,0,-1.03])
print("path = ", path)
with open(path, 'r') as f:
motion_dict = json.load(f)
#print("motion_dict = ", motion_dict)
print("len motion=", len(motion_dict))
print(motion_dict['Loop'])
numFrames = len(motion_dict['Frames'])
print("#frames = ", numFrames)
frameId = p.addUserDebugParameter("frame", 0, numFrames - 1, 0)
erpId = p.addUserDebugParameter("erp", 0, 1, 0.2)
kpMotorId = p.addUserDebugParameter("kpMotor", 0, 1, .2)
forceMotorId = p.addUserDebugParameter("forceMotor", 0, 2000, 1000)
jointTypes = [
"JOINT_REVOLUTE", "JOINT_PRISMATIC", "JOINT_SPHERICAL", "JOINT_PLANAR", "JOINT_FIXED"
]
startLocations = [[0, 0, 2], [0, 0, 0], [0, 0, -2], [0, 0, -4]]
p.addUserDebugText("Stable PD",
[startLocations[0][0], startLocations[0][1] + 1, startLocations[0][2]],
[0, 0, 0])
p.addUserDebugText("Spherical Drive",
[startLocations[1][0], startLocations[1][1] + 1, startLocations[1][2]],
[0, 0, 0])
p.addUserDebugText("Explicit PD",
[startLocations[2][0], startLocations[2][1] + 1, startLocations[2][2]],
[0, 0, 0])
p.addUserDebugText("Kinematic",
[startLocations[3][0], startLocations[3][1] + 1, startLocations[3][2]],
[0, 0, 0])
humanoid = p.loadURDF("humanoid/humanoid.urdf",
startLocations[0],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid2 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[1],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid3 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[2],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid4 = p.loadURDF("humanoid/humanoid.urdf",
startLocations[3],
globalScaling=0.25,
useFixedBase=False,
flags=p.URDF_MAINTAIN_LINK_ORDER)
humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[0], [0, 0, 0, 1])
humanoid2_fix = p.createConstraint(humanoid2, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[1], [0, 0, 0, 1])
humanoid3_fix = p.createConstraint(humanoid3, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[2], [0, 0, 0, 1])
humanoid3_fix = p.createConstraint(humanoid4, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
startLocations[3], [0, 0, 0, 1])
startPose = [
2, 0.847532, 0, 0.9986781045, 0.01410400148, -0.0006980000731, -0.04942300517, 0.9988133229,
0.009485003066, -0.04756001538, -0.004475001447, 1, 0, 0, 0, 0.9649395871, 0.02436898957,
-0.05755497537, 0.2549218909, -0.249116, 0.9993661511, 0.009952001505, 0.03265400494,
0.01009800153, 0.9854981188, -0.06440700776, 0.09324301124, -0.1262970152, 0.170571,
0.9927545808, -0.02090099117, 0.08882396249, -0.07817796699, -0.391532, 0.9828788495,
0.1013909845, -0.05515999155, 0.143618978, 0.9659421276, 0.1884590249, -0.1422460188,
0.105854014, 0.581348
]
startVel = [
1.235314324, -0.008525509087, 0.1515293946, -1.161516553, 0.1866449799, -0.1050802848, 0,
0.935706195, 0.08277326387, 0.3002461862, 0, 0, 0, 0, 0, 1.114409628, 0.3618553952,
-0.4505575061, 0, -1.725374735, -0.5052852598, -0.8555179722, -0.2221173515, 0, -0.1837617357,
0.00171895706, 0.03912837591, 0, 0.147945294, 1.837653345, 0.1534535548, 1.491385941, 0,
-4.632454387, -0.9111172777, -1.300648184, -1.345694622, 0, -1.084238535, 0.1313680236,
-0.7236998534, 0, -0.5278312973
]
p.resetBasePositionAndOrientation(humanoid, startLocations[0], [0, 0, 0, 1])
p.resetBasePositionAndOrientation(humanoid2, startLocations[1], [0, 0, 0, 1])
p.resetBasePositionAndOrientation(humanoid3, startLocations[2], [0, 0, 0, 1])
p.resetBasePositionAndOrientation(humanoid4, startLocations[3], [0, 0, 0, 1])
index0 = 7
for j in range(p.getNumJoints(humanoid)):
ji = p.getJointInfo(humanoid, j)
targetPosition = [0]
jointType = ji[2]
if (jointType == p.JOINT_SPHERICAL):
targetPosition = [
startPose[index0 + 1], startPose[index0 + 2], startPose[index0 + 3], startPose[index0 + 0]
]
targetVel = [startVel[index0 + 0], startVel[index0 + 1], startVel[index0 + 2]]
index0 += 4
print("spherical position: ", targetPosition)
print("spherical velocity: ", targetVel)
p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
targetPosition = [startPose[index0]]
targetVel = [startVel[index0]]
index0 += 1
print("revolute:", targetPosition)
print("revolute velocity:", targetVel)
p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
for j in range(p.getNumJoints(humanoid)):
ji = p.getJointInfo(humanoid, j)
targetPosition = [0]
jointType = ji[2]
if (jointType == p.JOINT_SPHERICAL):
targetPosition = [0, 0, 0, 1]
p.setJointMotorControlMultiDof(humanoid,
j,
p.POSITION_CONTROL,
targetPosition,
targetVelocity=[0, 0, 0],
positionGain=0,
velocityGain=1,
force=[0, 0, 0])
p.setJointMotorControlMultiDof(humanoid3,
j,
p.POSITION_CONTROL,
targetPosition,
targetVelocity=[0, 0, 0],
positionGain=0,
velocityGain=1,
force=[31, 31, 31])
p.setJointMotorControlMultiDof(humanoid4,
j,
p.POSITION_CONTROL,
targetPosition,
targetVelocity=[0, 0, 0],
positionGain=0,
velocityGain=1,
force=[1, 1, 1])
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
p.setJointMotorControl2(humanoid, j, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
p.setJointMotorControl2(humanoid3, j, p.VELOCITY_CONTROL, targetVelocity=0, force=31)
p.setJointMotorControl2(humanoid4, j, p.VELOCITY_CONTROL, targetVelocity=0, force=10)
#print(ji)
print("joint[", j, "].type=", jointTypes[ji[2]])
print("joint[", j, "].name=", ji[1])
jointIds = []
paramIds = []
for j in range(p.getNumJoints(humanoid)):
#p.changeDynamics(humanoid,j,linearDamping=0, angularDamping=0)
p.changeVisualShape(humanoid, j, rgbaColor=[1, 1, 1, 1])
info = p.getJointInfo(humanoid, j)
#print(info)
if (not useMotionCapture):
jointName = info[1]
jointType = info[2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
jointIds.append(j)
#paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,0))
#print("jointName=",jointName, "at ", j)
p.changeVisualShape(humanoid, 2, rgbaColor=[1, 0, 0, 1])
chest = 1
neck = 2
rightHip = 3
rightKnee = 4
rightAnkle = 5
rightShoulder = 6
rightElbow = 7
leftHip = 9
leftKnee = 10
leftAnkle = 11
leftShoulder = 12
leftElbow = 13
#rightShoulder=3
#rightElbow=4
#leftShoulder=6
#leftElbow = 7
#rightHip = 9
#rightKnee=10
#rightAnkle=11
#leftHip = 12
#leftKnee=13
#leftAnkle=14
import time
kpOrg = [
0, 0, 0, 0, 0, 0, 0, 1000, 1000, 1000, 1000, 100, 100, 100, 100, 500, 500, 500, 500, 500, 400,
400, 400, 400, 400, 400, 400, 400, 300, 500, 500, 500, 500, 500, 400, 400, 400, 400, 400, 400,
400, 400, 300
]
kdOrg = [
0, 0, 0, 0, 0, 0, 0, 100, 100, 100, 100, 10, 10, 10, 10, 50, 50, 50, 50, 50, 40, 40, 40, 40,
40, 40, 40, 40, 30, 50, 50, 50, 50, 50, 40, 40, 40, 40, 40, 40, 40, 40, 30
]
once = True
p.getCameraImage(320, 200)
while (p.isConnected()):
if useGUI:
erp = p.readUserDebugParameter(erpId)
kpMotor = p.readUserDebugParameter(kpMotorId)
maxForce = p.readUserDebugParameter(forceMotorId)
frameReal = p.readUserDebugParameter(frameId)
else:
erp = 0.2
kpMotor = 0.2
maxForce = 1000
frameReal = 0
kp = kpMotor
frame = int(frameReal)
frameNext = frame + 1
if (frameNext >= numFrames):
frameNext = frame
frameFraction = frameReal - frame
#print("frameFraction=",frameFraction)
#print("frame=",frame)
#print("frameNext=", frameNext)
#getQuaternionSlerp
frameData = motion_dict['Frames'][frame]
frameDataNext = motion_dict['Frames'][frameNext]
#print("duration=",frameData[0])
#print(pos=[frameData])
basePos1Start = [frameData[1], frameData[2], frameData[3]]
basePos1End = [frameDataNext[1], frameDataNext[2], frameDataNext[3]]
basePos1 = [
basePos1Start[0] + frameFraction * (basePos1End[0] - basePos1Start[0]),
basePos1Start[1] + frameFraction * (basePos1End[1] - basePos1Start[1]),
basePos1Start[2] + frameFraction * (basePos1End[2] - basePos1Start[2])
]
baseOrn1Start = [frameData[5], frameData[6], frameData[7], frameData[4]]
baseOrn1Next = [frameDataNext[5], frameDataNext[6], frameDataNext[7], frameDataNext[4]]
baseOrn1 = p.getQuaternionSlerp(baseOrn1Start, baseOrn1Next, frameFraction)
#pre-rotate to make z-up
if (useZUp):
y2zPos = [0, 0, 0.0]
y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
p.resetBasePositionAndOrientation(humanoid, basePos, baseOrn)
y2zPos = [0, 2, 0.0]
y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
p.resetBasePositionAndOrientation(humanoid2, basePos, baseOrn)
chestRotStart = [frameData[9], frameData[10], frameData[11], frameData[8]]
chestRotEnd = [frameDataNext[9], frameDataNext[10], frameDataNext[11], frameDataNext[8]]
chestRot = p.getQuaternionSlerp(chestRotStart, chestRotEnd, frameFraction)
neckRotStart = [frameData[13], frameData[14], frameData[15], frameData[12]]
neckRotEnd = [frameDataNext[13], frameDataNext[14], frameDataNext[15], frameDataNext[12]]
neckRot = p.getQuaternionSlerp(neckRotStart, neckRotEnd, frameFraction)
rightHipRotStart = [frameData[17], frameData[18], frameData[19], frameData[16]]
rightHipRotEnd = [frameDataNext[17], frameDataNext[18], frameDataNext[19], frameDataNext[16]]
rightHipRot = p.getQuaternionSlerp(rightHipRotStart, rightHipRotEnd, frameFraction)
rightKneeRotStart = [frameData[20]]
rightKneeRotEnd = [frameDataNext[20]]
rightKneeRot = [
rightKneeRotStart[0] + frameFraction * (rightKneeRotEnd[0] - rightKneeRotStart[0])
]
rightAnkleRotStart = [frameData[22], frameData[23], frameData[24], frameData[21]]
rightAnkleRotEnd = [frameDataNext[22], frameDataNext[23], frameDataNext[24], frameDataNext[21]]
rightAnkleRot = p.getQuaternionSlerp(rightAnkleRotStart, rightAnkleRotEnd, frameFraction)
rightShoulderRotStart = [frameData[26], frameData[27], frameData[28], frameData[25]]
rightShoulderRotEnd = [
frameDataNext[26], frameDataNext[27], frameDataNext[28], frameDataNext[25]
]
rightShoulderRot = p.getQuaternionSlerp(rightShoulderRotStart, rightShoulderRotEnd,
frameFraction)
rightElbowRotStart = [frameData[29]]
rightElbowRotEnd = [frameDataNext[29]]
rightElbowRot = [
rightElbowRotStart[0] + frameFraction * (rightElbowRotEnd[0] - rightElbowRotStart[0])
]
leftHipRotStart = [frameData[31], frameData[32], frameData[33], frameData[30]]
leftHipRotEnd = [frameDataNext[31], frameDataNext[32], frameDataNext[33], frameDataNext[30]]
leftHipRot = p.getQuaternionSlerp(leftHipRotStart, leftHipRotEnd, frameFraction)
leftKneeRotStart = [frameData[34]]
leftKneeRotEnd = [frameDataNext[34]]
leftKneeRot = [leftKneeRotStart[0] + frameFraction * (leftKneeRotEnd[0] - leftKneeRotStart[0])]
leftAnkleRotStart = [frameData[36], frameData[37], frameData[38], frameData[35]]
leftAnkleRotEnd = [frameDataNext[36], frameDataNext[37], frameDataNext[38], frameDataNext[35]]
leftAnkleRot = p.getQuaternionSlerp(leftAnkleRotStart, leftAnkleRotEnd, frameFraction)
leftShoulderRotStart = [frameData[40], frameData[41], frameData[42], frameData[39]]
leftShoulderRotEnd = [frameDataNext[40], frameDataNext[41], frameDataNext[42], frameDataNext[39]]
leftShoulderRot = p.getQuaternionSlerp(leftShoulderRotStart, leftShoulderRotEnd, frameFraction)
leftElbowRotStart = [frameData[43]]
leftElbowRotEnd = [frameDataNext[43]]
leftElbowRot = [
leftElbowRotStart[0] + frameFraction * (leftElbowRotEnd[0] - leftElbowRotStart[0])
]
if (0): #if (once):
p.resetJointStateMultiDof(humanoid, chest, chestRot)
p.resetJointStateMultiDof(humanoid, neck, neckRot)
p.resetJointStateMultiDof(humanoid, rightHip, rightHipRot)
p.resetJointStateMultiDof(humanoid, rightKnee, rightKneeRot)
p.resetJointStateMultiDof(humanoid, rightAnkle, rightAnkleRot)
p.resetJointStateMultiDof(humanoid, rightShoulder, rightShoulderRot)
p.resetJointStateMultiDof(humanoid, rightElbow, rightElbowRot)
p.resetJointStateMultiDof(humanoid, leftHip, leftHipRot)
p.resetJointStateMultiDof(humanoid, leftKnee, leftKneeRot)
p.resetJointStateMultiDof(humanoid, leftAnkle, leftAnkleRot)
p.resetJointStateMultiDof(humanoid, leftShoulder, leftShoulderRot)
p.resetJointStateMultiDof(humanoid, leftElbow, leftElbowRot)
once = False
#print("chestRot=",chestRot)
p.setGravity(0, 0, -10)
kp = kpMotor
if (useExplicitPD):
jointDofCounts = [4, 4, 4, 1, 4, 4, 1, 4, 1, 4, 4, 1]
#[x,y,z] base position and [x,y,z,w] base orientation!
totalDofs = 7
for dof in jointDofCounts:
totalDofs += dof
jointIndicesAll = [
chest, neck, rightHip, rightKnee, rightAnkle, rightShoulder, rightElbow, leftHip, leftKnee,
leftAnkle, leftShoulder, leftElbow
]
basePos, baseOrn = p.getBasePositionAndOrientation(humanoid)
pose = [
basePos[0], basePos[1], basePos[2], baseOrn[0], baseOrn[1], baseOrn[2], baseOrn[3],
chestRot[0], chestRot[1], chestRot[2], chestRot[3], neckRot[0], neckRot[1], neckRot[2],
neckRot[3], rightHipRot[0], rightHipRot[1], rightHipRot[2], rightHipRot[3],
rightKneeRot[0], rightAnkleRot[0], rightAnkleRot[1], rightAnkleRot[2], rightAnkleRot[3],
rightShoulderRot[0], rightShoulderRot[1], rightShoulderRot[2], rightShoulderRot[3],
rightElbowRot[0], leftHipRot[0], leftHipRot[1], leftHipRot[2], leftHipRot[3],
leftKneeRot[0], leftAnkleRot[0], leftAnkleRot[1], leftAnkleRot[2], leftAnkleRot[3],
leftShoulderRot[0], leftShoulderRot[1], leftShoulderRot[2], leftShoulderRot[3],
leftElbowRot[0]
]
#print("pose=")
#for po in pose:
# print(po)
taus = stablePD.computePD(bodyUniqueId=humanoid,
jointIndices=jointIndicesAll,
desiredPositions=pose,
desiredVelocities=[0] * totalDofs,
kps=kpOrg,
kds=kdOrg,
maxForces=[maxForce] * totalDofs,
timeStep=timeStep)
taus3 = explicitPD.computePD(bodyUniqueId=humanoid3,
jointIndices=jointIndicesAll,
desiredPositions=pose,
desiredVelocities=[0] * totalDofs,
kps=kpOrg,
kds=kdOrg,
maxForces=[maxForce * 0.05] * totalDofs,
timeStep=timeStep)
#taus=[0]*43
dofIndex = 7
for index in range(len(jointIndicesAll)):
jointIndex = jointIndicesAll[index]
if jointDofCounts[index] == 4:
p.setJointMotorControlMultiDof(
humanoid,
jointIndex,
p.TORQUE_CONTROL,
force=[taus[dofIndex + 0], taus[dofIndex + 1], taus[dofIndex + 2]])
p.setJointMotorControlMultiDof(
humanoid3,
jointIndex,
p.TORQUE_CONTROL,
force=[taus3[dofIndex + 0], taus3[dofIndex + 1], taus3[dofIndex + 2]])
if jointDofCounts[index] == 1:
p.setJointMotorControlMultiDof(humanoid,
jointIndex,
controlMode=p.TORQUE_CONTROL,
force=[taus[dofIndex]])
p.setJointMotorControlMultiDof(humanoid3,
jointIndex,
controlMode=p.TORQUE_CONTROL,
force=[taus3[dofIndex]])
dofIndex += jointDofCounts[index]
#print("len(taus)=",len(taus))
#print("taus=",taus)
p.setJointMotorControlMultiDof(humanoid2,
chest,
p.POSITION_CONTROL,
targetPosition=chestRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
neck,
p.POSITION_CONTROL,
targetPosition=neckRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightHip,
p.POSITION_CONTROL,
targetPosition=rightHipRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightKnee,
p.POSITION_CONTROL,
targetPosition=rightKneeRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightAnkle,
p.POSITION_CONTROL,
targetPosition=rightAnkleRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightShoulder,
p.POSITION_CONTROL,
targetPosition=rightShoulderRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
rightElbow,
p.POSITION_CONTROL,
targetPosition=rightElbowRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftHip,
p.POSITION_CONTROL,
targetPosition=leftHipRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftKnee,
p.POSITION_CONTROL,
targetPosition=leftKneeRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftAnkle,
p.POSITION_CONTROL,
targetPosition=leftAnkleRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftShoulder,
p.POSITION_CONTROL,
targetPosition=leftShoulderRot,
positionGain=kp,
force=[maxForce])
p.setJointMotorControlMultiDof(humanoid2,
leftElbow,
p.POSITION_CONTROL,
targetPosition=leftElbowRot,
positionGain=kp,
force=[maxForce])
kinematicHumanoid4 = True
if (kinematicHumanoid4):
p.resetJointStateMultiDof(humanoid4, chest, chestRot)
p.resetJointStateMultiDof(humanoid4, neck, neckRot)
p.resetJointStateMultiDof(humanoid4, rightHip, rightHipRot)
p.resetJointStateMultiDof(humanoid4, rightKnee, rightKneeRot)
p.resetJointStateMultiDof(humanoid4, rightAnkle, rightAnkleRot)
p.resetJointStateMultiDof(humanoid4, rightShoulder, rightShoulderRot)
p.resetJointStateMultiDof(humanoid4, rightElbow, rightElbowRot)
p.resetJointStateMultiDof(humanoid4, leftHip, leftHipRot)
p.resetJointStateMultiDof(humanoid4, leftKnee, leftKneeRot)
p.resetJointStateMultiDof(humanoid4, leftAnkle, leftAnkleRot)
p.resetJointStateMultiDof(humanoid4, leftShoulder, leftShoulderRot)
p.resetJointStateMultiDof(humanoid4, leftElbow, leftElbowRot)
p.stepSimulation()
if showJointMotorTorques:
for j in range(p.getNumJoints(humanoid2)):
jointState = p.getJointStateMultiDof(humanoid2, j)
print("jointStateMultiDof[", j, "].pos=", jointState[0])
print("jointStateMultiDof[", j, "].vel=", jointState[1])
print("jointStateMultiDof[", j, "].jointForces=", jointState[3])
time.sleep(timeStep)
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