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update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware

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added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
This commit is contained in:
Erwin Coumans
2017-03-15 15:38:50 -07:00
parent a613911c84
commit 4db6fa9e29
11 changed files with 2043 additions and 118 deletions
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34
data/quadruped/minitaur.urdf
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@@ -427,7 +427,9 @@
<link name="lower_leg_front_rightR_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
@@ -493,7 +495,9 @@
<link name="lower_leg_front_rightL_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
@@ -557,7 +561,9 @@
<link name="lower_leg_front_leftR_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
@@ -622,7 +628,9 @@
<link name="lower_leg_front_leftL_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
@@ -684,7 +692,9 @@
<link name="lower_leg_back_rightR_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
@@ -750,9 +760,11 @@
<link name="lower_leg_back_rightL_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
@@ -814,7 +826,9 @@
<link name="lower_leg_back_leftR_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
@@ -877,7 +891,9 @@
<link name="lower_leg_back_leftL_link">
<contact>
<lateral_friction value="1"/>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>