add friction_anchor to microtaur.urdf

examples/pybullet/gym/pybullet_data/quadruped/microtaur/latest.py

@@ -0,0 +1,14 @@
+import pybullet as p
+cin = p.connect(p.SHARED_MEMORY)
+if (cin < 0):
+    cin = p.connect(p.GUI)
+objects = [p.loadURDF("plane_transparent.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("microtaur.urdf", -0.505314,0.078555,0.228410,-0.013472,-0.004258,0.359966,0.932858)]
+ob = objects[0]
+jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.562331, 0.000000, -0.730446, -1.420420, -1.388973, 0.000000, -0.755517, -1.353138, 0.000000, 0.000000, 0.000000, 0.000000, 1.521366, 0.000000, -0.766233, -1.517965, 1.432633, 0.000000, -0.797550, -1.514139 ]
+for jointIndex in range (p.getNumJoints(ob)):
+	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
+
+p.setGravity(0.000000,0.000000,-10.000000)
+p.stepSimulation()
+p.disconnect()

examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.py

@@ -0,0 +1,42 @@
+import pybullet as p
+import pybullet_data as pd
+import time
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+plane = p.loadURDF("plane_transparent.urdf")
+startPos = [0,0,0.25]
+humanoid = p.loadURDF("microtaur.urdf", startPos, useFixedBase=False)
+ob = humanoid
+jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.557895, 0.000000, -0.715790, -1.347363, -1.389474, 0.000000, -0.757895, -1.347364, 0.000000, 0.000000, 0.000000, 0.000000, 1.515790, 0.000000, -0.757895, -1.347364, 1.431579, 0.000000, -0.800000, -1.515786 ]
+for jointIndex in range (p.getNumJoints(ob)):
+	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
+	
+
+gravId = p.addUserDebugParameter("gravity", -10, 10, -10)
+jointIds = []
+paramIds = []
+
+p.setPhysicsEngineParameter(numSolverIterations=10)
+p.changeDynamics(humanoid, -1, linearDamping=0, angularDamping=0)
+
+for j in range(p.getNumJoints(humanoid)):
+  p.changeDynamics(humanoid, j, linearDamping=0, angularDamping=0)
+  info = p.getJointInfo(humanoid, j)
+  #print(info)
+  jointName = info[1]
+  jointType = info[2]
+  if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
+    jointIds.append(j)
+    paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, jointPositions[j]))
+
+p.setRealTimeSimulation(1)
+while (1):
+  p.setGravity(0, 0, p.readUserDebugParameter(gravId))
+  for i in range(len(paramIds)):
+    c = paramIds[i]
+    targetPos = p.readUserDebugParameter(c)
+    p.setJointMotorControl2(humanoid, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.)
+  p.saveWorld("latest.py")
+  time.sleep(0.01)