Merge branch 'master' of https://github.com/erwincoumans/bullet3
This commit is contained in:
Erwin Coumans
BIN
data/racecar/meshes/chassis_differential.STL
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BIN
data/racecar/meshes/chassis_differential.STL
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743
data/racecar/racecar_differential.urdf
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data/racecar/racecar_differential.urdf
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|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||||
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<!-- inertial parameter macros -->
|
||||||
|
<!-- geometry macros -->
|
||||||
|
<!-- transmission macros -->
|
||||||
|
<!-- Add chassis and it's inertia link -->
|
||||||
|
|
||||||
|
<link name="chassis">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="blue"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/chassis_differential.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="blue"/>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
|
||||||
|
<mass value="4.0"/>
|
||||||
|
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||||
|
<link name="left_rear_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<mass value="0.034055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="left_rear_wheel_joint" type="fixed">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||||
|
<parent link="diff_sideA"/>
|
||||||
|
<child link="left_rear_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||||
|
<link name="right_rear_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<mass value="0.034055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="right_rear_wheel_joint" type="fixed">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||||
|
<parent link="diff_sideB"/>
|
||||||
|
<child link="right_rear_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||||
|
<link name="left_steering_hinge">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.100"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="left_steering_hinge_joint" type="revolute">
|
||||||
|
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="left_steering_hinge"/>
|
||||||
|
<axis xyz="-1 0 0"/>
|
||||||
|
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="left_steering_hinge_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="left_steering_hinge_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||||
|
<link name="right_steering_hinge">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.100"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="right_steering_hinge_joint" type="continuous">
|
||||||
|
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="right_steering_hinge"/>
|
||||||
|
<axis xyz="-1 0 0"/>
|
||||||
|
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="right_steering_hinge_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="right_steering_hinge_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||||
|
<link name="left_front_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<mass value="0.034055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="left_front_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="left_steering_hinge"/>
|
||||||
|
<child link="left_front_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="left_front_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="left_front_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||||
|
<link name="right_front_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<mass value="0.034055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="right_front_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="right_steering_hinge"/>
|
||||||
|
<child link="right_front_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="right_front_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="right_front_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add Hokuyo laser scanner -->
|
||||||
|
<link name="laser">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.130"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.1"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/hokuyo.obj"/>
|
||||||
|
<material name="grey"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="hokuyo_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="laser"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<!-- zed camera -->
|
||||||
|
<link name="zed_camera_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.1"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.033 0.175 0.030"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.033 0.175 0.030"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="zed_camera_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="zed_camera_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||||
|
</joint>
|
||||||
|
<!-- zed camera lenses -->
|
||||||
|
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||||
|
<link name="camera_link">
|
||||||
|
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.01"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="zed_camera_right_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.01"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="zed_camera_left_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||||
|
<parent link="zed_camera_link"/>
|
||||||
|
<child link="camera_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="zed_camera_right_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||||
|
<parent link="zed_camera_link"/>
|
||||||
|
<child link="zed_camera_right_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<!-- Add the remaining xacros -->
|
||||||
|
<link name="diff_ring">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.0637"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.025"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="diff_ring_chassis" type="continuous">
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="diff_ring"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0."/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="diff_spiderA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_spiderA_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_spiderA"/>
|
||||||
|
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff_spiderB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="brown"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_spiderB_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_spiderB"/>
|
||||||
|
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<link name="diff_sideA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_sideA_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_sideA"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff_sideB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_sideB_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_sideB"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff2_ring">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.5637"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.025"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="diff2_ring_chassis" type="continuous">
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="diff2_ring"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="diff2_spiderA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.556"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_spiderA_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_spiderA"/>
|
||||||
|
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff2_spiderB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.556"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="brown"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_spiderB_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_spiderB"/>
|
||||||
|
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<link name="diff2_sideA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.556"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_sideA_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_sideA"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff2_sideB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.556"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_sideB_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_sideB"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1. 1. 1. 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="black">
|
||||||
|
<color rgba="0. 0. 0. 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="green">
|
||||||
|
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="orange">
|
||||||
|
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="brown">
|
||||||
|
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="red">
|
||||||
|
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
</robot>
|
||||||
|
|
||||||
@@ -1296,8 +1296,10 @@ void OpenGLExampleBrowser::update(float deltaTime)
|
|||||||
float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
|
float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
|
||||||
float yaw = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraYaw();
|
float yaw = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraYaw();
|
||||||
float camTarget[3];
|
float camTarget[3];
|
||||||
|
float camPos[3];
|
||||||
|
s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(camPos);
|
||||||
s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
|
s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
|
||||||
sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
|
sprintf(msg,"camPos=%f,%f,%f, dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camPos[0],camPos[1],camPos[2],camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
|
||||||
gui2->setStatusBarMessage(msg, true);
|
gui2->setStatusBarMessage(msg, true);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -3181,24 +3181,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
|||||||
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
|
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
|
||||||
} else
|
} else
|
||||||
{
|
{
|
||||||
SharedMemoryStatus tmpCmd = serverStatusOut;
|
b3OpenGLVisualizerCameraInfo tmpCamResult;
|
||||||
bool result = this->m_data->m_guiHelper->getCameraInfo(
|
bool result = this->m_data->m_guiHelper->getCameraInfo(
|
||||||
&tmpCmd.m_visualizerCameraResultArgs.m_width,
|
&tmpCamResult.m_width,
|
||||||
&tmpCmd.m_visualizerCameraResultArgs.m_height,
|
&tmpCamResult.m_height,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
|
tmpCamResult.m_viewMatrix,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix,
|
tmpCamResult.m_projectionMatrix,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_camUp,
|
tmpCamResult.m_camUp,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_camForward,
|
tmpCamResult.m_camForward,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_horizontal,
|
tmpCamResult.m_horizontal,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_vertical,
|
tmpCamResult.m_vertical,
|
||||||
&tmpCmd.m_visualizerCameraResultArgs.m_yaw,
|
&tmpCamResult.m_yaw,
|
||||||
&tmpCmd.m_visualizerCameraResultArgs.m_pitch,
|
&tmpCamResult.m_pitch,
|
||||||
&tmpCmd.m_visualizerCameraResultArgs.m_dist,
|
&tmpCamResult.m_dist,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_target);
|
tmpCamResult.m_target);
|
||||||
if (result)
|
if (result)
|
||||||
{
|
{
|
||||||
m_data->m_visualConverter.render(tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
|
m_data->m_visualConverter.render(tmpCamResult.m_viewMatrix,
|
||||||
tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix);
|
tmpCamResult.m_projectionMatrix);
|
||||||
} else
|
} else
|
||||||
{
|
{
|
||||||
m_data->m_visualConverter.render();
|
m_data->m_visualConverter.render();
|
||||||
|
|||||||
@@ -686,7 +686,8 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
|
|||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
if (start>=0)
|
||||||
|
{
|
||||||
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
|
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
|
||||||
TinyRendererObjectArray* visualArray = *visualArrayPtr;
|
TinyRendererObjectArray* visualArray = *visualArrayPtr;
|
||||||
|
|
||||||
@@ -699,6 +700,7 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
|
|||||||
visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
|
visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
void TinyRendererVisualShapeConverter::setUpAxis(int axis)
|
void TinyRendererVisualShapeConverter::setUpAxis(int axis)
|
||||||
{
|
{
|
||||||
|
|||||||
@@ -124,7 +124,7 @@ struct Shader : public IShader {
|
|||||||
m_projectionLightViewMat = m_projectionMat*m_lightModelView;
|
m_projectionLightViewMat = m_projectionMat*m_lightModelView;
|
||||||
}
|
}
|
||||||
virtual Vec4f vertex(int iface, int nthvert) {
|
virtual Vec4f vertex(int iface, int nthvert) {
|
||||||
B3_PROFILE("vertex");
|
//B3_PROFILE("vertex");
|
||||||
Vec2f uv = m_model->uv(iface, nthvert);
|
Vec2f uv = m_model->uv(iface, nthvert);
|
||||||
varying_uv.set_col(nthvert, uv);
|
varying_uv.set_col(nthvert, uv);
|
||||||
varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
|
varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
|
||||||
@@ -142,7 +142,7 @@ struct Shader : public IShader {
|
|||||||
}
|
}
|
||||||
|
|
||||||
virtual bool fragment(Vec3f bar, TGAColor &color) {
|
virtual bool fragment(Vec3f bar, TGAColor &color) {
|
||||||
B3_PROFILE("fragment");
|
//B3_PROFILE("fragment");
|
||||||
Vec4f p = m_viewportMat*(varying_tri_light_view*bar);
|
Vec4f p = m_viewportMat*(varying_tri_light_view*bar);
|
||||||
float depth = p[2];
|
float depth = p[2];
|
||||||
p = p/p[3];
|
p = p/p[3];
|
||||||
@@ -485,6 +485,7 @@ static bool clipTriangleAgainstNearplane(const mat<4,3,float>& triangleIn, b3Ali
|
|||||||
|
|
||||||
void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
|
void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
|
||||||
{
|
{
|
||||||
|
B3_PROFILE("renderObject");
|
||||||
int width = renderData.m_rgbColorBuffer.get_width();
|
int width = renderData.m_rgbColorBuffer.get_width();
|
||||||
int height = renderData.m_rgbColorBuffer.get_height();
|
int height = renderData.m_rgbColorBuffer.get_height();
|
||||||
|
|
||||||
@@ -517,10 +518,11 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
|
|||||||
|
|
||||||
Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr, renderData.m_lightAmbientCoeff, renderData.m_lightDiffuseCoeff, renderData.m_lightSpecularCoeff);
|
Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr, renderData.m_lightAmbientCoeff, renderData.m_lightDiffuseCoeff, renderData.m_lightSpecularCoeff);
|
||||||
|
|
||||||
|
{
|
||||||
|
B3_PROFILE("face");
|
||||||
|
|
||||||
for (int i=0; i<model->nfaces(); i++)
|
for (int i=0; i<model->nfaces(); i++)
|
||||||
{
|
{
|
||||||
B3_PROFILE("face");
|
|
||||||
for (int j=0; j<3; j++) {
|
for (int j=0; j<3; j++) {
|
||||||
shader.vertex(i, j);
|
shader.vertex(i, j);
|
||||||
}
|
}
|
||||||
@@ -553,6 +555,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
71
examples/pybullet/examples/racecar_differential.py
Normal file
71
examples/pybullet/examples/racecar_differential.py
Normal file
@@ -0,0 +1,71 @@
|
|||||||
|
import pybullet as p
|
||||||
|
import time
|
||||||
|
|
||||||
|
cid = p.connect(p.SHARED_MEMORY)
|
||||||
|
if (cid<0):
|
||||||
|
p.connect(p.GUI)
|
||||||
|
|
||||||
|
p.resetSimulation()
|
||||||
|
p.setGravity(0,0,-10)
|
||||||
|
p.setPhysicsEngineParameter(numSolverIterations=1000)
|
||||||
|
useRealTimeSim = 1
|
||||||
|
|
||||||
|
#for video recording (works best on Mac and Linux, not well on Windows)
|
||||||
|
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
|
||||||
|
p.setRealTimeSimulation(useRealTimeSim) # either this
|
||||||
|
#p.loadURDF("plane.urdf")
|
||||||
|
p.loadSDF("stadium.sdf")
|
||||||
|
|
||||||
|
car = p.loadURDF("racecar/racecar_differential.urdf")#, [0,0,2],useFixedBase=True)
|
||||||
|
for i in range (p.getNumJoints(car)):
|
||||||
|
print (p.getJointInfo(car,i))
|
||||||
|
for wheel in range(p.getNumJoints(car)):
|
||||||
|
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
|
||||||
|
p.getJointInfo(car,wheel)
|
||||||
|
|
||||||
|
wheels = [8,15]
|
||||||
|
print("----------------")
|
||||||
|
|
||||||
|
#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
steering = [0,2]
|
||||||
|
|
||||||
|
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-50,50,0)
|
||||||
|
maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
|
||||||
|
steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
|
||||||
|
while (True):
|
||||||
|
maxForce = p.readUserDebugParameter(maxForceSlider)
|
||||||
|
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
|
||||||
|
steeringAngle = p.readUserDebugParameter(steeringSlider)
|
||||||
|
#print(targetVelocity)
|
||||||
|
|
||||||
|
for wheel in wheels:
|
||||||
|
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
|
||||||
|
|
||||||
|
for steer in steering:
|
||||||
|
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=-steeringAngle)
|
||||||
|
|
||||||
|
steering
|
||||||
|
if (useRealTimeSim==0):
|
||||||
|
p.stepSimulation()
|
||||||
|
time.sleep(0.01)
|
||||||
@@ -43,3 +43,10 @@ register(
|
|||||||
timestep_limit=1000,
|
timestep_limit=1000,
|
||||||
reward_threshold=5.0,
|
reward_threshold=5.0,
|
||||||
)
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='KukaCamBulletEnv-v0',
|
||||||
|
entry_point='envs.bullet:KukaCamGymEnv',
|
||||||
|
timestep_limit=1000,
|
||||||
|
reward_threshold=5.0,
|
||||||
|
)
|
||||||
@@ -4,3 +4,4 @@ from envs.bullet.racecarGymEnv import RacecarGymEnv
|
|||||||
from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
|
from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
|
||||||
from envs.bullet.humanoidGymEnv import HumanoidGymEnv
|
from envs.bullet.humanoidGymEnv import HumanoidGymEnv
|
||||||
from envs.bullet.kukaGymEnv import KukaGymEnv
|
from envs.bullet.kukaGymEnv import KukaGymEnv
|
||||||
|
from envs.bullet.kukaCamGymEnv import KukaCamGymEnv
|
||||||
@@ -72,9 +72,10 @@ class Kuka:
|
|||||||
state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
|
state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
|
||||||
pos = state[0]
|
pos = state[0]
|
||||||
orn = state[1]
|
orn = state[1]
|
||||||
|
euler = p.getEulerFromQuaternion(orn)
|
||||||
|
|
||||||
observation.extend(list(pos))
|
observation.extend(list(pos))
|
||||||
observation.extend(list(orn))
|
observation.extend(list(euler))
|
||||||
|
|
||||||
return observation
|
return observation
|
||||||
|
|
||||||
|
|||||||
191
examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py
Normal file
191
examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py
Normal file
@@ -0,0 +1,191 @@
|
|||||||
|
import math
|
||||||
|
import gym
|
||||||
|
from gym import spaces
|
||||||
|
from gym.utils import seeding
|
||||||
|
import numpy as np
|
||||||
|
import time
|
||||||
|
import pybullet as p
|
||||||
|
from . import kuka
|
||||||
|
import random
|
||||||
|
|
||||||
|
class KukaCamGymEnv(gym.Env):
|
||||||
|
metadata = {
|
||||||
|
'render.modes': ['human', 'rgb_array'],
|
||||||
|
'video.frames_per_second' : 50
|
||||||
|
}
|
||||||
|
|
||||||
|
def __init__(self,
|
||||||
|
urdfRoot="",
|
||||||
|
actionRepeat=1,
|
||||||
|
isEnableSelfCollision=True,
|
||||||
|
renders=True):
|
||||||
|
print("init")
|
||||||
|
self._timeStep = 1./240.
|
||||||
|
self._urdfRoot = urdfRoot
|
||||||
|
self._actionRepeat = actionRepeat
|
||||||
|
self._isEnableSelfCollision = isEnableSelfCollision
|
||||||
|
self._observation = []
|
||||||
|
self._envStepCounter = 0
|
||||||
|
self._renders = renders
|
||||||
|
self._width = 341
|
||||||
|
self._height = 256
|
||||||
|
self.terminated = 0
|
||||||
|
self._p = p
|
||||||
|
if self._renders:
|
||||||
|
p.connect(p.GUI)
|
||||||
|
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
|
||||||
|
else:
|
||||||
|
p.connect(p.DIRECT)
|
||||||
|
#timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
|
||||||
|
self._seed()
|
||||||
|
self.reset()
|
||||||
|
observationDim = len(self.getExtendedObservation())
|
||||||
|
#print("observationDim")
|
||||||
|
#print(observationDim)
|
||||||
|
|
||||||
|
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
|
||||||
|
self.action_space = spaces.Discrete(7)
|
||||||
|
self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
|
||||||
|
self.viewer = None
|
||||||
|
|
||||||
|
def _reset(self):
|
||||||
|
print("reset")
|
||||||
|
self.terminated = 0
|
||||||
|
p.resetSimulation()
|
||||||
|
p.setPhysicsEngineParameter(numSolverIterations=150)
|
||||||
|
p.setTimeStep(self._timeStep)
|
||||||
|
p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
|
||||||
|
|
||||||
|
p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
|
||||||
|
|
||||||
|
xpos = 0.5 +0.05*random.random()
|
||||||
|
ypos = 0 +0.05*random.random()
|
||||||
|
ang = 3.1415925438*random.random()
|
||||||
|
orn = p.getQuaternionFromEuler([0,0,ang])
|
||||||
|
self.blockUid =p.loadURDF("block.urdf", xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
|
||||||
|
|
||||||
|
p.setGravity(0,0,-10)
|
||||||
|
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
|
||||||
|
self._envStepCounter = 0
|
||||||
|
p.stepSimulation()
|
||||||
|
self._observation = self.getExtendedObservation()
|
||||||
|
return np.array(self._observation)
|
||||||
|
|
||||||
|
def __del__(self):
|
||||||
|
p.disconnect()
|
||||||
|
|
||||||
|
def _seed(self, seed=None):
|
||||||
|
self.np_random, seed = seeding.np_random(seed)
|
||||||
|
return [seed]
|
||||||
|
|
||||||
|
def getExtendedObservation(self):
|
||||||
|
|
||||||
|
#camEyePos = [0.03,0.236,0.54]
|
||||||
|
#distance = 1.06
|
||||||
|
#pitch=-56
|
||||||
|
#yaw = 258
|
||||||
|
#roll=0
|
||||||
|
#upAxisIndex = 2
|
||||||
|
#camInfo = p.getDebugVisualizerCamera()
|
||||||
|
#print("width,height")
|
||||||
|
#print(camInfo[0])
|
||||||
|
#print(camInfo[1])
|
||||||
|
#print("viewMatrix")
|
||||||
|
#print(camInfo[2])
|
||||||
|
#print("projectionMatrix")
|
||||||
|
#print(camInfo[3])
|
||||||
|
#viewMat = camInfo[2]
|
||||||
|
#viewMat = p.computeViewMatrixFromYawPitchRoll(camEyePos,distance,yaw, pitch,roll,upAxisIndex)
|
||||||
|
viewMat = [-0.5120397806167603, 0.7171027660369873, -0.47284144163131714, 0.0, -0.8589617609977722, -0.42747554183006287, 0.28186774253845215, 0.0, 0.0, 0.5504802465438843, 0.8348482847213745, 0.0, 0.1925382763147354, -0.24935829639434814, -0.4401884973049164, 1.0]
|
||||||
|
#projMatrix = camInfo[3]#[0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
|
||||||
|
projMatrix = [0.75, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
|
||||||
|
|
||||||
|
img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
|
||||||
|
rgb=img_arr[2]
|
||||||
|
np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
|
||||||
|
self._observation = np_img_arr
|
||||||
|
return self._observation
|
||||||
|
|
||||||
|
def _step(self, action):
|
||||||
|
dv = 0.01
|
||||||
|
dx = [0,-dv,dv,0,0,0,0][action]
|
||||||
|
dy = [0,0,0,-dv,dv,0,0][action]
|
||||||
|
da = [0,0,0,0,0,-0.1,0.1][action]
|
||||||
|
f = 0.3
|
||||||
|
realAction = [dx,dy,-0.002,da,f]
|
||||||
|
return self.step2( realAction)
|
||||||
|
|
||||||
|
def step2(self, action):
|
||||||
|
self._kuka.applyAction(action)
|
||||||
|
for i in range(self._actionRepeat):
|
||||||
|
p.stepSimulation()
|
||||||
|
if self._renders:
|
||||||
|
time.sleep(self._timeStep)
|
||||||
|
self._observation = self.getExtendedObservation()
|
||||||
|
if self._termination():
|
||||||
|
break
|
||||||
|
self._envStepCounter += 1
|
||||||
|
#print("self._envStepCounter")
|
||||||
|
#print(self._envStepCounter)
|
||||||
|
|
||||||
|
done = self._termination()
|
||||||
|
reward = self._reward()
|
||||||
|
#print("len=%r" % len(self._observation))
|
||||||
|
|
||||||
|
return np.array(self._observation), reward, done, {}
|
||||||
|
|
||||||
|
def _render(self, mode='human', close=False):
|
||||||
|
return
|
||||||
|
|
||||||
|
def _termination(self):
|
||||||
|
#print (self._kuka.endEffectorPos[2])
|
||||||
|
state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
|
||||||
|
actualEndEffectorPos = state[0]
|
||||||
|
|
||||||
|
#print("self._envStepCounter")
|
||||||
|
#print(self._envStepCounter)
|
||||||
|
if (self.terminated or self._envStepCounter>1000):
|
||||||
|
self._observation = self.getExtendedObservation()
|
||||||
|
return True
|
||||||
|
|
||||||
|
if (actualEndEffectorPos[2] <= 0.10):
|
||||||
|
self.terminated = 1
|
||||||
|
|
||||||
|
#print("closing gripper, attempting grasp")
|
||||||
|
#start grasp and terminate
|
||||||
|
fingerAngle = 0.3
|
||||||
|
|
||||||
|
for i in range (1000):
|
||||||
|
graspAction = [0,0,0.001,0,fingerAngle]
|
||||||
|
self._kuka.applyAction(graspAction)
|
||||||
|
p.stepSimulation()
|
||||||
|
fingerAngle = fingerAngle-(0.3/100.)
|
||||||
|
if (fingerAngle<0):
|
||||||
|
fingerAngle=0
|
||||||
|
|
||||||
|
self._observation = self.getExtendedObservation()
|
||||||
|
return True
|
||||||
|
return False
|
||||||
|
|
||||||
|
def _reward(self):
|
||||||
|
|
||||||
|
#rewards is height of target object
|
||||||
|
blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
|
||||||
|
closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000)
|
||||||
|
|
||||||
|
reward = -1000
|
||||||
|
numPt = len(closestPoints)
|
||||||
|
#print(numPt)
|
||||||
|
if (numPt>0):
|
||||||
|
#print("reward:")
|
||||||
|
reward = -closestPoints[0][8]*10
|
||||||
|
|
||||||
|
if (blockPos[2] >0.2):
|
||||||
|
print("grasped a block!!!")
|
||||||
|
print("self._envStepCounter")
|
||||||
|
print(self._envStepCounter)
|
||||||
|
reward = reward+1000
|
||||||
|
|
||||||
|
#print("reward")
|
||||||
|
#print(reward)
|
||||||
|
return reward
|
||||||
@@ -31,6 +31,7 @@ class KukaGymEnv(gym.Env):
|
|||||||
self._p = p
|
self._p = p
|
||||||
if self._renders:
|
if self._renders:
|
||||||
p.connect(p.GUI)
|
p.connect(p.GUI)
|
||||||
|
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
|
||||||
else:
|
else:
|
||||||
p.connect(p.DIRECT)
|
p.connect(p.DIRECT)
|
||||||
#timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
|
#timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
|
||||||
@@ -52,8 +53,7 @@ class KukaGymEnv(gym.Env):
|
|||||||
p.setPhysicsEngineParameter(numSolverIterations=150)
|
p.setPhysicsEngineParameter(numSolverIterations=150)
|
||||||
p.setTimeStep(self._timeStep)
|
p.setTimeStep(self._timeStep)
|
||||||
p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
|
p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
|
||||||
if self._renders:
|
|
||||||
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
|
|
||||||
p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
|
p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
|
||||||
|
|
||||||
xpos = 0.5 +0.05*random.random()
|
xpos = 0.5 +0.05*random.random()
|
||||||
@@ -78,14 +78,21 @@ class KukaGymEnv(gym.Env):
|
|||||||
|
|
||||||
def getExtendedObservation(self):
|
def getExtendedObservation(self):
|
||||||
self._observation = self._kuka.getObservation()
|
self._observation = self._kuka.getObservation()
|
||||||
pos,orn = p.getBasePositionAndOrientation(self.blockUid)
|
eeState = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
|
||||||
self._observation.extend(list(pos))
|
endEffectorPos = eeState[0]
|
||||||
self._observation.extend(list(orn))
|
endEffectorOrn = eeState[1]
|
||||||
|
blockPos,blockOrn = p.getBasePositionAndOrientation(self.blockUid)
|
||||||
|
|
||||||
|
invEEPos,invEEOrn = p.invertTransform(endEffectorPos,endEffectorOrn)
|
||||||
|
blockPosInEE,blockOrnInEE = p.multiplyTransforms(invEEPos,invEEOrn,blockPos,blockOrn)
|
||||||
|
blockEulerInEE = p.getEulerFromQuaternion(blockOrnInEE)
|
||||||
|
self._observation.extend(list(blockPosInEE))
|
||||||
|
self._observation.extend(list(blockEulerInEE))
|
||||||
|
|
||||||
return self._observation
|
return self._observation
|
||||||
|
|
||||||
def _step(self, action):
|
def _step(self, action):
|
||||||
dv = 0.002
|
dv = 0.01
|
||||||
dx = [0,-dv,dv,0,0,0,0][action]
|
dx = [0,-dv,dv,0,0,0,0][action]
|
||||||
dy = [0,0,0,-dv,dv,0,0][action]
|
dy = [0,0,0,-dv,dv,0,0][action]
|
||||||
da = [0,0,0,0,0,-0.1,0.1][action]
|
da = [0,0,0,0,0,-0.1,0.1][action]
|
||||||
|
|||||||
44
examples/pybullet/gym/train_kuka_cam_grasping.py
Normal file
44
examples/pybullet/gym/train_kuka_cam_grasping.py
Normal file
@@ -0,0 +1,44 @@
|
|||||||
|
import gym
|
||||||
|
from envs.bullet.kukaCamGymEnv import KukaCamGymEnv
|
||||||
|
|
||||||
|
from baselines import deepq
|
||||||
|
|
||||||
|
import datetime
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
def callback(lcl, glb):
|
||||||
|
# stop training if reward exceeds 199
|
||||||
|
total = sum(lcl['episode_rewards'][-101:-1]) / 100
|
||||||
|
totalt = lcl['t']
|
||||||
|
#print("totalt")
|
||||||
|
#print(totalt)
|
||||||
|
is_solved = totalt > 2000 and total >= 10
|
||||||
|
return is_solved
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
|
||||||
|
env = KukaCamGymEnv(renders=True)
|
||||||
|
model = deepq.models.cnn_to_mlp(
|
||||||
|
convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
|
||||||
|
hiddens=[256],
|
||||||
|
dueling=False
|
||||||
|
)
|
||||||
|
act = deepq.learn(
|
||||||
|
env,
|
||||||
|
q_func=model,
|
||||||
|
lr=1e-3,
|
||||||
|
max_timesteps=10000000,
|
||||||
|
buffer_size=50000,
|
||||||
|
exploration_fraction=0.1,
|
||||||
|
exploration_final_eps=0.02,
|
||||||
|
print_freq=10,
|
||||||
|
callback=callback
|
||||||
|
)
|
||||||
|
print("Saving model to kuka_cam_model.pkl")
|
||||||
|
act.save("kuka_cam_model.pkl")
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
33
examples/pybullet/gym/train_pybullet_cartpole.py
Normal file
33
examples/pybullet/gym/train_pybullet_cartpole.py
Normal file
@@ -0,0 +1,33 @@
|
|||||||
|
import gym
|
||||||
|
from envs.bullet.cartpole_bullet import CartPoleBulletEnv
|
||||||
|
|
||||||
|
from baselines import deepq
|
||||||
|
|
||||||
|
|
||||||
|
def callback(lcl, glb):
|
||||||
|
# stop training if reward exceeds 199
|
||||||
|
is_solved = lcl['t'] > 100 and sum(lcl['episode_rewards'][-101:-1]) / 100 >= 199
|
||||||
|
return is_solved
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
|
||||||
|
env = gym.make('CartPoleBulletEnv-v0')
|
||||||
|
model = deepq.models.mlp([64])
|
||||||
|
act = deepq.learn(
|
||||||
|
env,
|
||||||
|
q_func=model,
|
||||||
|
lr=1e-3,
|
||||||
|
max_timesteps=100000,
|
||||||
|
buffer_size=50000,
|
||||||
|
exploration_fraction=0.1,
|
||||||
|
exploration_final_eps=0.02,
|
||||||
|
print_freq=10,
|
||||||
|
callback=callback
|
||||||
|
)
|
||||||
|
print("Saving model to cartpole_model.pkl")
|
||||||
|
act.save("cartpole_model.pkl")
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
Reference in New Issue
Block a user