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tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo

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allow VR physics server to run with or without 'realTimeSimulation'
This commit is contained in:
Erwin Coumans
2016-12-11 09:28:36 -08:00
parent 27d38a1ba8
commit 17570c4700
7 changed files with 70 additions and 67 deletions
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100
data/quadruped/quadruped.urdf
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@@ -5,8 +5,8 @@
<geometry>
<box size=".226 0.16 .07"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
@@ -26,9 +26,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -55,9 +53,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -84,9 +80,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -113,9 +107,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -142,9 +134,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -171,9 +161,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -200,9 +188,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -229,9 +215,7 @@
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
<material name="black"/>
</visual>
<collision>
<geometry>
@@ -258,8 +242,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -286,8 +270,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -315,8 +299,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -345,8 +329,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -374,8 +358,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -402,8 +386,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -431,8 +415,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -461,8 +445,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -493,8 +477,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -521,8 +505,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -550,8 +534,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -580,8 +564,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -609,8 +593,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -637,8 +621,8 @@
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -666,8 +650,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
@@ -696,8 +680,8 @@
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>