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Added laikago mocap data for a DeepMimic compatible walk cycle

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Added testLaikago.py script to test this mocap data.
This commit is contained in:
erwincoumans
2019-04-04 19:40:21 -07:00
parent 76918ca26d
commit 024af08320
6 changed files with 395 additions and 22 deletions
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93
examples/pybullet/gym/pybullet_data/cube_no_rotation.urdf Normal file
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<?xml version="1.0" ?>
<robot name="cube">
<link name="world"/>
<link name="x_prismatic">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="x_to_world" type="prismatic">
<parent link="world"/>
<child link="x_prismatic"/>
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="y_prismatic">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="y_to_x" type="prismatic">
<parent link="x_prismatic"/>
<child link="y_prismatic"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="z_prismatic">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="z_to_y" type="prismatic">
<parent link="y_prismatic"/>
<child link="z_prismatic"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="cube_to_z" type="continuous">
<parent link="z_prismatic"/>
<child link="baseLink"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
</robot>