diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl new file mode 100644 index 000000000..5bdce60d6 Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl differ diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_4inch.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_4inch.stl new file mode 100644 index 000000000..351b819b9 Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_4inch.stl differ diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_6inch.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_6inch.stl new file mode 100644 index 000000000..89a4b2ec5 Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel_6inch.stl differ diff --git 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a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102.stl new file mode 100644 index 000000000..0582ab30b Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102.stl differ diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102_lowerscaled.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102_lowerscaled.stl new file mode 100644 index 000000000..7d09e1c05 Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/fr13_s102_lowerscaled.stl differ diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/latest.py b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/latest.py new file mode 100644 index 000000000..68b8f53cc --- /dev/null +++ b/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() diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.py b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.py new file mode 100644 index 000000000..44c7c527a --- /dev/null +++ b/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) diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf new file mode 100644 index 000000000..a32913f49 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf @@ -0,0 +1,1186 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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