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update Laikago robot with textures, and a version with toes to enable inverse kinematics.

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This commit is contained in:
Erwin Coumans
2019-12-04 14:48:28 -08:00
parent 763e25dd37
commit 7c5796b67d
28 changed files with 74259 additions and 15915 deletions
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10
examples/pybullet/gym/pybullet_envs/examples/laikago.py
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@@ -12,7 +12,7 @@ p.setTimeStep(1. / 500)
#p.setDefaultContactERP(0)
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
urdfFlags = p.URDF_USE_SELF_COLLISION
quadruped = p.loadURDF("laikago/laikago.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
quadruped = p.loadURDF("laikago/laikago_toes.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
flags=urdfFlags,
useFixedBase=False)
@@ -87,6 +87,7 @@ with open(pd.getDataPath() + "/laikago/data1.txt", "r") as filestream:
# print(pt[9])
time.sleep(1. / 500.)
index = 0
for j in range(p.getNumJoints(quadruped)):
p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped, j)
@@ -95,9 +96,10 @@ for j in range(p.getNumJoints(quadruped)):
jointName = info[1]
jointType = info[2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
paramIds.append(
p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,
(js[0] - jointOffsets[j]) / jointDirections[j]))
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,
(js[0] - jointOffsets[index]) / jointDirections[index]))
index = index+1
p.setRealTimeSimulation(1)