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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/pybullet/minitaur_evaluate.py
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@@ -58,7 +58,7 @@ evaluate_func_map['evaluate_desired_motorAngle_hop'] = evaluate_desired_motorAng
def evaluate_params(evaluateFunc, params, objectiveParams, urdfRoot='', timeStep=0.01, maxNumSteps=1000, sleepTime=0):
def evaluate_params(evaluateFunc, params, objectiveParams, urdfRoot='', timeStep=0.01, maxNumSteps=10000, sleepTime=0):
print('start evaluation')
beforeTime = time.time()
p.resetSimulation()