From 1cd513024a37c26a12da358752747466aec70cb8 Mon Sep 17 00:00:00 2001
From: Jie Tan <jietan@jietan0.mtv.corp.google.com>
Date: Wed, 5 Apr 2017 11:54:54 -0700
Subject: [PATCH] make the URDF and the minitaur.py consistent with the real
 robot

---
 data/quadruped/minitaur.urdf           | 76 +++++++++++++-------------
 examples/pybullet/examples/minitaur.py |  2 +-
 2 files changed, 39 insertions(+), 39 deletions(-)

diff --git a/data/quadruped/minitaur.urdf b/data/quadruped/minitaur.urdf
index 663ff2a84..fa4bc2d37 100644
--- a/data/quadruped/minitaur.urdf
+++ b/data/quadruped/minitaur.urdf
@@ -32,7 +32,7 @@
   <link name="base_chassis_link">
     <visual>
       <geometry>
-        <box size=".33 0.14 .07"/>
+        <box size=".33 0.10 .07"/>
       </geometry>
       <material name="black">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -59,7 +59,7 @@
 
     <collision>
       <geometry>
-       <box size=".34 0.14 .07"/>
+       <box size=".33 0.10 .07"/>
       </geometry>
     </collision>
     <collision>
@@ -229,7 +229,7 @@
   </joint>
   
   
-  <link name="motor_front_leftR_link">
+  <link name="motor_front_leftL_link">
     <visual>
       <geometry>
         <mesh filename="tmotor3.obj" scale="1 1 1"/>
@@ -248,17 +248,17 @@
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
-  <joint name="motor_front_leftR_joint" type="continuous">
+  <joint name="motor_front_leftL_joint" type="continuous">
     <axis xyz="0 0 1"/>
     <parent link="chassis_left"/>
-    <child link="motor_front_leftR_link"/>
+    <child link="motor_front_leftL_link"/>
     <origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
     <limit effort="100" velocity="100"/>
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
 
 
-	<link name="motor_front_leftL_link">
+	<link name="motor_front_leftR_link">
     <visual>
       <geometry>
         <mesh filename="tmotor3.obj" scale="1 1 1"/>
@@ -272,10 +272,10 @@
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
-  <joint name="motor_front_leftL_joint" type="continuous">
+  <joint name="motor_front_leftR_joint" type="continuous">
     <axis xyz="0 0 1"/>
     <parent link="chassis_left"/>
-    <child link="motor_front_leftL_link"/>
+    <child link="motor_front_leftR_link"/>
     <origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
     <limit effort="100" velocity="100"/>
     <joint_properties damping="0.0" friction="0.0"/>
@@ -340,36 +340,7 @@
   </joint>
   
   
-  <link name="motor_back_leftR_link">
-    <visual>
-      <geometry>
-        <mesh filename="tmotor3.obj" scale="1 1 1"/>
-      </geometry>
-      <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <cylinder length="0.026" radius="0.0434"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.25"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_back_leftR_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_left"/>
-    <child link="motor_back_leftR_link"/>
-    <origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
-	<link name="motor_back_leftL_link">
+  <link name="motor_back_leftL_link">
     <visual>
       <geometry>
         <mesh filename="tmotor3.obj" scale="1 1 1"/>
@@ -392,6 +363,35 @@
     <axis xyz="0 0 1"/>
     <parent link="chassis_left"/>
     <child link="motor_back_leftL_link"/>
+    <origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+	<link name="motor_back_leftR_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.026" radius="0.0434"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.25"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_leftR_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_left"/>
+    <child link="motor_back_leftR_link"/>
     <origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
     <limit effort="100" velocity="100"/>
     <joint_properties damping="0.0" friction="0.0"/>
diff --git a/examples/pybullet/examples/minitaur.py b/examples/pybullet/examples/minitaur.py
index 1db778237..59fab3bf1 100644
--- a/examples/pybullet/examples/minitaur.py
+++ b/examples/pybullet/examples/minitaur.py
@@ -34,7 +34,7 @@ class Minitaur:
     self.maxForce = 3.5
     self.nMotors = 8
     self.motorIdList = []
-    self.motorDir = [1, 1, 1, 1, 1, 1, 1, 1]
+    self.motorDir = [-1, -1, -1, -1, 1, 1, 1, 1]
     self.buildJointNameToIdDict()
     self.buildMotorIdList()