diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl
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index 000000000..5bdce60d6
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diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf
new file mode 100644
index 000000000..7fa546941
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf
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diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl
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diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf
new file mode 100644
index 000000000..d519e1d3a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf
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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..6dcdf6f42
--- /dev/null
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diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl
new file mode 100644
index 000000000..5b6a098df
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl differ
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf
new file mode 100644
index 000000000..704e9802c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf
@@ -0,0 +1,29 @@
+
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diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py
new file mode 100644
index 000000000..252ee1c09
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py
@@ -0,0 +1,22 @@
+import pybullet as p
+cin = p.connect(p.SHARED_MEMORY)
+if (cin < 0):
+ cin = p.connect(p.GUI)
+objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("quadruped/microtaur/microtaur.urdf", 0.858173,-0.698485,0.227967,-0.002864,0.000163,0.951778,0.306776)]
+ob = objects[0]
+jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.568555, 0.000000, -2.177277, 1.570089, 0.000000, -2.184705, 1.570229, 0.000000, -2.182261, 1.570008, 0.000000, -2.184197, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, -1.569978, 0.000000, 2.184092, -1.569669, 0.000000, 2.186906, -1.570584, 0.000000, 2.181503, -1.568404, 0.000000, 2.178427 ]
+for jointIndex in range (p.getNumJoints(ob)):
+ p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
+
+cid0 = p.createConstraint(1,35,1,32,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
+p.changeConstraint(cid0,maxForce=1000.000000)
+cid1 = p.createConstraint(1,7,1,10,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
+p.changeConstraint(cid1,maxForce=1000.000000)
+cid2 = p.createConstraint(1,41,1,38,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
+p.changeConstraint(cid2,maxForce=1000.000000)
+cid3 = p.createConstraint(1,13,1,16,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
+p.changeConstraint(cid3,maxForce=1000.000000)
+p.setGravity(0.000000,0.000000,-10.000000)
+p.stepSimulation()
+p.disconnect()
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl
new file mode 100644
index 000000000..7df3364e5
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl differ
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf
new file mode 100644
index 000000000..47b58a758
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf
@@ -0,0 +1,29 @@
+
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diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl
new file mode 100644
index 000000000..10a55eaaf
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl differ
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf
new file mode 100644
index 000000000..cba3b292d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf
@@ -0,0 +1,29 @@
+
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diff --git a/examples/pybullet/gym/pybullet_envs/examples/microtaur.py b/examples/pybullet/gym/pybullet_envs/examples/microtaur.py
new file mode 100644
index 000000000..fa66814f7
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/examples/microtaur.py
@@ -0,0 +1,469 @@
+import pybullet as p
+import pybullet_data as pd
+
+import time
+import math
+
+
+def drawInertiaBox(parentUid, parentLinkIndex, color):
+ return
+ dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
+ mass = dyn[0]
+ frictionCoeff = dyn[1]
+ inertia = dyn[2]
+ if (mass > 0):
+ Ixx = inertia[0]
+ Iyy = inertia[1]
+ Izz = inertia[2]
+ boxScaleX = 0.5 * math.sqrt(6 * (Izz + Iyy - Ixx) / mass)
+ boxScaleY = 0.5 * math.sqrt(6 * (Izz + Ixx - Iyy) / mass)
+ boxScaleZ = 0.5 * math.sqrt(6 * (Ixx + Iyy - Izz) / mass)
+
+ halfExtents = [boxScaleX, boxScaleY, boxScaleZ]
+ pts = [[halfExtents[0], halfExtents[1], halfExtents[2]],
+ [-halfExtents[0], halfExtents[1], halfExtents[2]],
+ [halfExtents[0], -halfExtents[1], halfExtents[2]],
+ [-halfExtents[0], -halfExtents[1], halfExtents[2]],
+ [halfExtents[0], halfExtents[1], -halfExtents[2]],
+ [-halfExtents[0], halfExtents[1], -halfExtents[2]],
+ [halfExtents[0], -halfExtents[1], -halfExtents[2]],
+ [-halfExtents[0], -halfExtents[1], -halfExtents[2]]]
+
+ p.addUserDebugLine(pts[0],
+ pts[1],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[1],
+ pts[3],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[3],
+ pts[2],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[2],
+ pts[0],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+
+ p.addUserDebugLine(pts[0],
+ pts[4],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[1],
+ pts[5],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[2],
+ pts[6],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[3],
+ pts[7],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+
+ p.addUserDebugLine(pts[4 + 0],
+ pts[4 + 1],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[4 + 1],
+ pts[4 + 3],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[4 + 3],
+ pts[4 + 2],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+ p.addUserDebugLine(pts[4 + 2],
+ pts[4 + 0],
+ color,
+ 1,
+ parentObjectUniqueId=parentUid,
+ parentLinkIndex=parentLinkIndex)
+
+
+toeConstraint = True
+useMaximalCoordinates = False
+useRealTime = 1
+
+#the fixedTimeStep and numSolverIterations are the most important parameters to trade-off quality versus performance
+fixedTimeStep = 1. / 100
+numSolverIterations = 50
+
+if (useMaximalCoordinates):
+ fixedTimeStep = 1. / 500
+ numSolverIterations = 200
+
+speed = 10
+amplitude = 0.8
+jump_amp = 0.5
+maxForce = 3.5
+kneeFrictionForce = 0
+kp = 1
+kd = .5
+maxKneeForce = 1000
+
+physId = p.connect(p.SHARED_MEMORY)
+
+if (physId < 0):
+ p.connect(p.GUI)
+#p.resetSimulation()
+p.setAdditionalSearchPath(pd.getDataPath())
+angle = 0 # pick in range 0..0.2 radians
+orn = p.getQuaternionFromEuler([0, angle, 0])
+p.loadURDF("plane.urdf", [0, 0, 0], orn)
+p.setPhysicsEngineParameter(numSolverIterations=numSolverIterations)
+p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,
+ "genericlogdata.bin",
+ maxLogDof=16,
+ logFlags=p.STATE_LOG_JOINT_TORQUES)
+p.setTimeOut(4000000)
+
+p.setGravity(0, 0, 0)
+p.setTimeStep(fixedTimeStep)
+
+orn = p.getQuaternionFromEuler([0, 0, 0.4])
+p.setRealTimeSimulation(0)
+quadruped = p.loadURDF("quadruped/microtaur/microtaur.urdf", [1, -1, .3],
+ orn,
+ useFixedBase=False,
+ useMaximalCoordinates=useMaximalCoordinates,
+ flags=p.URDF_USE_IMPLICIT_CYLINDER)
+nJoints = p.getNumJoints(quadruped)
+
+jointNameToId = {}
+for i in range(nJoints):
+ jointInfo = p.getJointInfo(quadruped, i)
+ jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
+
+motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
+motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
+knee_front_rightL_link = jointNameToId['knee_front_rightL_link']
+hip_front_rightR_link = jointNameToId['hip_front_rightR_link']
+knee_front_rightR_link = jointNameToId['knee_front_rightR_link']
+motor_front_rightL_link = jointNameToId['motor_front_rightL_link']
+motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint']
+hip_front_leftR_link = jointNameToId['hip_front_leftR_link']
+knee_front_leftR_link = jointNameToId['knee_front_leftR_link']
+motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
+motor_front_leftL_link = jointNameToId['motor_front_leftL_link']
+knee_front_leftL_link = jointNameToId['knee_front_leftL_link']
+motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint']
+hip_rightR_link = jointNameToId['hip_rightR_link']
+knee_back_rightR_link = jointNameToId['knee_back_rightR_link']
+motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
+motor_back_rightL_link = jointNameToId['motor_back_rightL_link']
+knee_back_rightL_link = jointNameToId['knee_back_rightL_link']
+motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint']
+hip_leftR_link = jointNameToId['hip_leftR_link']
+knee_back_leftR_link = jointNameToId['knee_back_leftR_link']
+motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
+motor_back_leftL_link = jointNameToId['motor_back_leftL_link']
+knee_back_leftL_link = jointNameToId['knee_back_leftL_link']
+
+#fixtorso = p.createConstraint(-1,-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,0])
+
+motordir = [-1, -1, -1, -1, 1, 1, 1, 1]
+halfpi = 1.57079632679
+twopi = 4 * halfpi
+kneeangle = -2.1834
+
+dyn = p.getDynamicsInfo(quadruped, -1)
+mass = dyn[0]
+friction = dyn[1]
+localInertiaDiagonal = dyn[2]
+
+print("localInertiaDiagonal", localInertiaDiagonal)
+
+#this is a no-op, just to show the API
+p.changeDynamics(quadruped, -1, localInertiaDiagonal=localInertiaDiagonal)
+
+#for i in range (nJoints):
+# p.changeDynamics(quadruped,i,localInertiaDiagonal=[0.000001,0.000001,0.000001])
+
+drawInertiaBox(quadruped, -1, [1, 0, 0])
+#drawInertiaBox(quadruped,motor_front_rightR_joint, [1,0,0])
+
+for i in range(nJoints):
+ drawInertiaBox(quadruped, i, [0, 1, 0])
+
+if (useMaximalCoordinates):
+ steps = 400
+ for aa in range(steps):
+ p.setJointMotorControl2(quadruped, motor_front_leftL_joint, p.POSITION_CONTROL,
+ motordir[0] * halfpi * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, motor_front_leftR_joint, p.POSITION_CONTROL,
+ motordir[1] * halfpi * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, motor_back_leftL_joint, p.POSITION_CONTROL,
+ motordir[2] * halfpi * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, motor_back_leftR_joint, p.POSITION_CONTROL,
+ motordir[3] * halfpi * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, motor_front_rightL_joint, p.POSITION_CONTROL,
+ motordir[4] * halfpi * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, motor_front_rightR_joint, p.POSITION_CONTROL,
+ motordir[5] * halfpi * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, motor_back_rightL_joint, p.POSITION_CONTROL,
+ motordir[6] * halfpi * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL,
+ motordir[7] * halfpi * float(aa) / steps)
+
+ p.setJointMotorControl2(quadruped, knee_front_leftL_link, p.POSITION_CONTROL,
+ motordir[0] * (kneeangle + twopi) * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, knee_front_leftR_link, p.POSITION_CONTROL,
+ motordir[1] * kneeangle * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, knee_back_leftL_link, p.POSITION_CONTROL,
+ motordir[2] * kneeangle * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, knee_back_leftR_link, p.POSITION_CONTROL,
+ motordir[3] * (kneeangle + twopi) * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, knee_front_rightL_link, p.POSITION_CONTROL,
+ motordir[4] * (kneeangle) * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, knee_front_rightR_link, p.POSITION_CONTROL,
+ motordir[5] * (kneeangle + twopi) * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, knee_back_rightL_link, p.POSITION_CONTROL,
+ motordir[6] * (kneeangle + twopi) * float(aa) / steps)
+ p.setJointMotorControl2(quadruped, knee_back_rightR_link, p.POSITION_CONTROL,
+ motordir[7] * kneeangle * float(aa) / steps)
+
+ p.stepSimulation()
+ #time.sleep(fixedTimeStep)
+else:
+
+ p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi)
+ p.resetJointState(quadruped, knee_front_leftL_link, motordir[0] * kneeangle)
+ p.resetJointState(quadruped, motor_front_leftR_joint, motordir[1] * halfpi)
+ p.resetJointState(quadruped, knee_front_leftR_link, motordir[1] * kneeangle)
+
+ p.resetJointState(quadruped, motor_back_leftL_joint, motordir[2] * halfpi)
+ p.resetJointState(quadruped, knee_back_leftL_link, motordir[2] * kneeangle)
+ p.resetJointState(quadruped, motor_back_leftR_joint, motordir[3] * halfpi)
+ p.resetJointState(quadruped, knee_back_leftR_link, motordir[3] * kneeangle)
+
+ p.resetJointState(quadruped, motor_front_rightL_joint, motordir[4] * halfpi)
+ p.resetJointState(quadruped, knee_front_rightL_link, motordir[4] * kneeangle)
+ p.resetJointState(quadruped, motor_front_rightR_joint, motordir[5] * halfpi)
+ p.resetJointState(quadruped, knee_front_rightR_link, motordir[5] * kneeangle)
+
+ p.resetJointState(quadruped, motor_back_rightL_joint, motordir[6] * halfpi)
+ p.resetJointState(quadruped, knee_back_rightL_link, motordir[6] * kneeangle)
+ p.resetJointState(quadruped, motor_back_rightR_joint, motordir[7] * halfpi)
+ p.resetJointState(quadruped, knee_back_rightR_link, motordir[7] * kneeangle)
+
+#p.getNumJoints(1)
+
+if (toeConstraint):
+ cid = p.createConstraint(quadruped, knee_front_leftR_link, quadruped, knee_front_leftL_link,
+ p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
+ p.changeConstraint(cid, maxForce=maxKneeForce)
+ cid = p.createConstraint(quadruped, knee_front_rightR_link, quadruped, knee_front_rightL_link,
+ p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
+ p.changeConstraint(cid, maxForce=maxKneeForce)
+ cid = p.createConstraint(quadruped, knee_back_leftR_link, quadruped, knee_back_leftL_link,
+ p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
+ p.changeConstraint(cid, maxForce=maxKneeForce)
+ cid = p.createConstraint(quadruped, knee_back_rightR_link, quadruped, knee_back_rightL_link,
+ p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
+ p.changeConstraint(cid, maxForce=maxKneeForce)
+
+if (1):
+ p.setJointMotorControl(quadruped, knee_front_leftL_link, p.VELOCITY_CONTROL, 0,
+ kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_front_leftR_link, p.VELOCITY_CONTROL, 0,
+ kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_front_rightL_link, p.VELOCITY_CONTROL, 0,
+ kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_front_rightR_link, p.VELOCITY_CONTROL, 0,
+ kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_back_rightL_link, p.VELOCITY_CONTROL, 0,
+ kneeFrictionForce)
+ p.setJointMotorControl(quadruped, knee_back_rightR_link, p.VELOCITY_CONTROL, 0,
+ kneeFrictionForce)
+
+p.setGravity(0, 0, -10)
+
+legnumbering = [
+ motor_front_leftL_joint, motor_front_leftR_joint, motor_back_leftL_joint,
+ motor_back_leftR_joint, motor_front_rightL_joint, motor_front_rightR_joint,
+ motor_back_rightL_joint, motor_back_rightR_joint
+]
+
+for i in range(8):
+ print(legnumbering[i])
+#use the Minitaur leg numbering
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[0],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[0] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[1],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[1] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[2],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[2] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[3],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[3] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[4],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[4] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[5],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[5] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[6],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[6] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[7],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[7] * 1.57,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+#stand still
+p.setRealTimeSimulation(useRealTime)
+
+t = 0.0
+t_end = t + 115
+ref_time = time.time()
+while (t < t_end):
+ p.setGravity(0, 0, -10)
+ if (useRealTime):
+ t = time.time() - ref_time
+ else:
+ t = t + fixedTimeStep
+ if (useRealTime == 0):
+ p.stepSimulation()
+ time.sleep(fixedTimeStep)
+
+print("quadruped Id = ")
+print(quadruped)
+p.saveWorld("quadru.py")
+logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR, "quadrupedLog.bin", [quadruped])
+
+#jump
+t = 0.0
+t_end = t + 100
+i = 0
+ref_time = time.time()
+
+while (1):
+ if (useRealTime):
+ t = time.time() - ref_time
+ else:
+ t = t + fixedTimeStep
+ if (True):
+
+ target = math.sin(t * speed) * jump_amp + 1.57
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[0],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[0] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[1],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[1] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[2],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[2] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[3],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[3] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[4],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[4] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[5],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[5] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[6],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[6] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+ p.setJointMotorControl2(bodyIndex=quadruped,
+ jointIndex=legnumbering[7],
+ controlMode=p.POSITION_CONTROL,
+ targetPosition=motordir[7] * target,
+ positionGain=kp,
+ velocityGain=kd,
+ force=maxForce)
+
+ if (useRealTime == 0):
+ p.stepSimulation()
+ time.sleep(fixedTimeStep)
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 5b8ca6e5b..b884a155b 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -336,9 +336,10 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
struct b3ForwardDynamicsAnalyticsArgs analyticsData;
int numIslands = 0;
int i;
+ PyObject* pyAnalyticsData = PyTuple_New(numIslands);
+
numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData);
- PyObject* pyAnalyticsData = PyTuple_New(numIslands);
for (i=0;i