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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2019-07-21 13:13:25 -07:00
parent 39a4e8dcd9 4732acfcb1
commit 0cf6685041
1 changed files with 188 additions and 195 deletions
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383
examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
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@@ -12,8 +12,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis.stl" scale="1 1 1"/>
<mesh filename="chassis.stl" scale="1 1 1"/>
</geometry>
<material name="yellow">
<color rgba="0.95 0.75 0.05 1"/>
@@ -22,49 +21,45 @@
<collision>
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
@@ -77,29 +72,29 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
@@ -112,32 +107,30 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
@@ -149,31 +142,31 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
<material name="green">
<color rgba="0.23 0.73 0.33 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
@@ -186,34 +179,34 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry>
<material name="blue">
<color rgba="0.28 0.52 0.93 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
@@ -226,37 +219,37 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red">
<color rgba="0.85 0.19 0.21 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
@@ -265,33 +258,33 @@
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
@@ -304,29 +297,29 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
@@ -339,31 +332,31 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
@@ -375,30 +368,30 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
@@ -411,31 +404,31 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
@@ -448,28 +441,28 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="toeRL">
<contact>
@@ -502,9 +495,9 @@
<child link="toeRL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeRR">
</joint>
<link name="toeRR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
@@ -535,9 +528,9 @@
<child link="toeRR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFL">
</joint>
<link name="toeFL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
@@ -568,9 +561,9 @@
<child link="toeFL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFR">
</joint>
<link name="toeFR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
@@ -601,6 +594,6 @@
<child link="toeFR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</joint>
</robot>