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PID.py

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+import pybullet as p
+import time
+import pybullet_data
+import math
+import matplotlib.pyplot as plt
+physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version 
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
+p.setGravity(0,0,-10)
+planeId = p.loadURDF("plane.urdf")
+startPos = [0,0,0]
+startOrientation = p.getQuaternionFromEuler([0,0,0])
+robotId = p.loadURDF("olympian.urdf",startPos, startOrientation, 
+                   # useMaximalCoordinates=1, ## New feature in Pybullet
+                   flags=p.URDF_USE_INERTIA_FROM_FILE)
+
+
+def calcCOM():
+    
+    #CALCULATE COM
+    masstimesxpossum = 0.0
+    masstimesypossum = 0.0
+    masstimeszpossum = 0.0
+    masssum = 0.0
+    for i in range(0, p.getNumJoints(robotId) -1):
+        
+        # if(i >= 0):
+        #     print(p.getJointInfo(robotId, i)[0:13])
+        
+        wheight = p.getDynamicsInfo(robotId, i)[0]
+        xpos = p.getLinkState(robotId, i)[0][0]
+        ypos = p.getLinkState(robotId, i)[0][1]
+        zpos = p.getLinkState(robotId, i)[0][2]
+        
+        masstimesxpossum += (wheight * xpos)
+        masstimesypossum += (wheight * ypos)
+        masstimeszpossum += (wheight * zpos)
+        masssum += wheight
+        
+        # print(wheight)
+        # print(xpos)
+        # print(ypos)
+        # print(zpos)
+        # print("\n")
+        p.stepSimulation()
+    com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
+    
+
+    return com
+
+def error():
+    robotCOM = calcCOM()
+    realRobotCOM = robotCOM[1]
+    footCOM = p.getLinkState(robotId, 15)
+    realFootCOM = footCOM[0][1]
+    error = realRobotCOM - realFootCOM
+    print(realFootCOM, realRobotCOM)
+    return error
+
+Array = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+positions = [0]*23
+forces = [1000]*23
+indexes = list(range(0,23))
+ka = 0
+# p.setJointMotorControl2(robotId, 20, p.POSITION_CONTROL, targetPosition = 0, force = 10000)
+# p.setJointMotorControl2(robotId, 14, p.POSITION_CONTROL, targetPosition = 0, force = 10000)
+
+while(True):
+    Kc = -0.05
+    bias = 0
+    initial_error = error()
+    ka += Kc*initial_error + bias
+    print(initial_error)
+    positions[21] = ka
+    positions[15] = ka
+    positions[18] = ka
+    positions[12] = ka
+    p.setJointMotorControlArray(robotId, indexes, p.POSITION_CONTROL, targetPositions = positions, forces = forces)