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change quadruped, remove old files

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Erwin Coumans
2019-05-30 14:55:47 -07:00
parent 63e13d32cb
commit 1933661124
13 changed files with 0 additions and 2297 deletions
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examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl
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examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.13"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.019 -0.019 -0.1502"/>
<geometry>
<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
</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="0.038 0.038 0.305"/>
</geometry>
</collision>
</link>
</robot>

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examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl
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examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.081"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0125"/>
<geometry>
<mesh filename="d435i.stl" scale="1.0 1.0 1.0"/>
</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="0.09 0.025 0.025"/>
</geometry>
</collision>
</link>
</robot>

1663
examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
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examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl
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examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.13"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
<geometry>
<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
</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="0.074 0.009 0.138"/>
</geometry>
</collision>
</link>
</robot>

22
examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py
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import pybullet as p
cin = p.connect(p.SHARED_MEMORY)
if (cin < 0):
cin = p.connect(p.GUI)
objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
objects = [p.loadURDF("quadruped/microtaur/microtaur.urdf", 0.858173,-0.698485,0.227967,-0.002864,0.000163,0.951778,0.306776)]
ob = objects[0]
jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.568555, 0.000000, -2.177277, 1.570089, 0.000000, -2.184705, 1.570229, 0.000000, -2.182261, 1.570008, 0.000000, -2.184197, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, -1.569978, 0.000000, 2.184092, -1.569669, 0.000000, 2.186906, -1.570584, 0.000000, 2.181503, -1.568404, 0.000000, 2.178427 ]
for jointIndex in range (p.getNumJoints(ob)):
p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
cid0 = p.createConstraint(1,35,1,32,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
p.changeConstraint(cid0,maxForce=1000.000000)
cid1 = p.createConstraint(1,7,1,10,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
p.changeConstraint(cid1,maxForce=1000.000000)
cid2 = p.createConstraint(1,41,1,38,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
p.changeConstraint(cid2,maxForce=1000.000000)
cid3 = p.createConstraint(1,13,1,16,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
p.changeConstraint(cid3,maxForce=1000.000000)
p.setGravity(0.000000,0.000000,-10.000000)
p.stepSimulation()
p.disconnect()

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examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl
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examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf
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<?xml version="0.0" ?>
<robot name="xavier">
<link name="baseLink">
<contact>
<lateral_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.64"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.045 -0.045 -0.018"/>
<geometry>
<mesh filename="xavier.stl" scale="1.0 1.0 1.0"/>
</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="0.092 0.105 0.045"/>
</geometry>
</collision>
</link>
</robot>

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examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl
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examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.082"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0.011 0"/>
<geometry>
<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
</geometry>
<material name="black">
<color rgba=".3 .3 .3 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.024 0.047 0.034"/>
</geometry>
</collision>
</link>
</robot>