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revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version.

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Erwin Coumans
2017-09-07 11:23:41 -07:00
parent b0e50d0d5a
commit c30e9aea92
4 changed files with 1941 additions and 54 deletions
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examples/pybullet/examples/quadruped.py
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@@ -41,7 +41,7 @@ p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0,0,0.4])
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
nJoints = p.getNumJoints(quadruped)