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

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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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249
examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
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@@ -12,8 +12,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.043794"/> <origin rpy="0 0 0" xyz="0 0 0.043794"/>
<geometry> <geometry>
<mesh filename="chassis.stl" scale="1 1 1"/>
<mesh filename="chassis.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="yellow"> <material name="yellow">
<color rgba="0.95 0.75 0.05 1"/> <color rgba="0.95 0.75 0.05 1"/>
@@ -22,28 +21,24 @@
<collision> <collision>
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/> <origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
<geometry> <geometry>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<link name="FR_hip_motor">
<contact>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/> <origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/> <mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/> <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
@@ -51,19 +46,19 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/> <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous"> <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<parent link="chassis"/> <parent link="chassis"/>
<child link="FR_hip_motor"/> <child link="FR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/> <origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FR_upper_leg"> <link name="FR_upper_leg">
<contact> <contact>
@@ -77,7 +72,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/> <mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="blue"/> <material name="blue"/>
</visual> </visual>
@@ -85,20 +80,20 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/> <parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/> <child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/> <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FR_lower_leg"> <link name="FR_lower_leg">
<contact> <contact>
@@ -112,7 +107,7 @@
<visual> <visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/> <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="red"/> <material name="red"/>
</visual> </visual>
@@ -120,24 +115,22 @@
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/> <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/> <parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/> <child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/> <origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FL_hip_motor"> <link name="FL_hip_motor">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
@@ -149,7 +142,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/> <mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="green"> <material name="green">
<color rgba="0.23 0.73 0.33 1"/> <color rgba="0.23 0.73 0.33 1"/>
@@ -159,20 +152,20 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/> <mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous"> <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis"/> <parent link="chassis"/>
<child link="FL_hip_motor"/> <child link="FL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/> <origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FL_upper_leg"> <link name="FL_upper_leg">
<contact> <contact>
@@ -187,7 +180,7 @@
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/> <mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="blue"> <material name="blue">
<color rgba="0.28 0.52 0.93 1"/> <color rgba="0.28 0.52 0.93 1"/>
@@ -197,7 +190,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
@@ -205,13 +198,13 @@
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/> <parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/> <child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/> <origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FL_lower_leg"> <link name="FL_lower_leg">
@@ -226,7 +219,7 @@
<visual> <visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="red"> <material name="red">
<color rgba="0.85 0.19 0.21 1"/> <color rgba="0.85 0.19 0.21 1"/>
@@ -236,27 +229,27 @@
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/> <parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/> <child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/> <origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RR_hip_motor"> <link name="RR_hip_motor">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
@@ -266,10 +259,10 @@
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/> <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
@@ -277,20 +270,20 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/> <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous"> <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<parent link="chassis"/> <parent link="chassis"/>
<child link="RR_hip_motor"/> <child link="RR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/> <origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RR_upper_leg"> <link name="RR_upper_leg">
<contact> <contact>
@@ -304,7 +297,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/> <mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="blue"/> <material name="blue"/>
</visual> </visual>
@@ -312,20 +305,20 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/> <parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/> <child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/> <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RR_lower_leg"> <link name="RR_lower_leg">
<contact> <contact>
@@ -339,7 +332,7 @@
<visual> <visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="red"/> <material name="red"/>
</visual> </visual>
@@ -347,23 +340,23 @@
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/> <parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/> <child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/> <origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RL_hip_motor"> <link name="RL_hip_motor">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
@@ -375,7 +368,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/> <mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
@@ -383,21 +376,21 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/> <mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous"> <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis"/> <parent link="chassis"/>
<child link="RL_hip_motor"/> <child link="RL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/> <origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RL_upper_leg"> <link name="RL_upper_leg">
<contact> <contact>
@@ -411,7 +404,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/> <mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="blue"/> <material name="blue"/>
</visual> </visual>
@@ -419,7 +412,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
@@ -427,13 +420,13 @@
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/> <parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/> <child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/> <origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RL_lower_leg"> <link name="RL_lower_leg">
@@ -448,7 +441,7 @@
<visual> <visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="red"/> <material name="red"/>
</visual> </visual>
@@ -456,20 +449,20 @@
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/> <parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/> <child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/> <origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="toeRL"> <link name="toeRL">
<contact> <contact>
@@ -504,7 +497,7 @@
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="toeRR"> <link name="toeRR">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="30000.0"/>
@@ -537,7 +530,7 @@
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="toeFL"> <link name="toeFL">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="30000.0"/>
@@ -570,7 +563,7 @@
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="toeFR"> <link name="toeFR">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="30000.0"/>