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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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examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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@@ -146,7 +146,7 @@ public:
b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args=b3RobotSimulatorLoadUrdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args=b3RobotSimulatorLoadSdfFileArgs());
bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results=b3RobotSimulatorLoadFileResults(), const struct b3RobotSimulatorLoadSdfFileArgs& args=b3RobotSimulatorLoadSdfFileArgs());
bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);