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make the URDF and the minitaur.py consistent with the real robot

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This commit is contained in:
Jie Tan
2017-04-05 11:54:54 -07:00
parent ac91896025
commit 1cd513024a
2 changed files with 39 additions and 39 deletions
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76
data/quadruped/minitaur.urdf
View File

@@ -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"/>

2
examples/pybullet/examples/minitaur.py
View File

@@ -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()