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update microtaur URDF and example, to be compatible with minitaur_rainbow_dash

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This commit is contained in:
Erwin Coumans
2019-05-22 10:59:20 -04:00
parent af5bfb4089
commit d7e863e51a
2 changed files with 689 additions and 763 deletions
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480
examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
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@@ -1,4 +1,4 @@
<?xml version="0.0" ?> <?xml version="1.0"?>
<!-- ======================================================================= --> <!-- ======================================================================= -->
<!--LICENSE: --> <!--LICENSE: -->
<!--Copyright (c) 2019, Erwin Coumans --> <!--Copyright (c) 2019, Erwin Coumans -->
@@ -196,8 +196,6 @@
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="chassis_right"> <link name="chassis_right">
<contact> <contact>
<lateral_friction value="0.3"/> <lateral_friction value="0.3"/>
@@ -233,7 +231,6 @@
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="chassis_front"> <link name="chassis_front">
<contact> <contact>
<lateral_friction value="0.3"/> <lateral_friction value="0.3"/>
@@ -658,7 +655,6 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="chassis_left"> <link name="chassis_left">
<contact> <contact>
<lateral_friction value="0.3"/> <lateral_friction value="0.3"/>
@@ -694,59 +690,43 @@
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="motor_front_rightR_link"> <link name="motor_front_rightR_link">
<visual>
<geometry>
<cylinder length="0.003" radius="0.0134"/>
</geometry>
<material name="grey1">
<color rgba="0. 1. 0. 1"/>
</material>
</visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.003" radius="0.0134"/> <cylinder length="0.003" radius="0.0134"/>
</geometry> </geometry> </collision>
</collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_rightR_joint" type="continuous"> <joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_front_rightR_link"/> <child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.1335 -0.035 -0.08"/> <origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="motor_front_rightL_link"> <link name="motor_front_rightL_link">
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.003" radius="0.0134"/> <cylinder length="0.003" radius="0.0134"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_rightL_joint" type="continuous"> <joint name="motor_front_rightL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_front_rightL_link"/> <child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.1335 0.03 -0.08"/> <origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="motor_front_leftL_link"> <link name="motor_front_leftL_link">
<collision> <collision>
<geometry> <geometry>
@@ -754,20 +734,18 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_leftL_joint" type="continuous"> <joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_front_leftL_link"/> <child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.1335 0.035 -0.08"/> <origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="motor_front_leftR_link"> <link name="motor_front_leftR_link">
<collision> <collision>
<geometry> <geometry>
@@ -775,20 +753,18 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_leftR_joint" type="continuous"> <joint name="motor_front_leftR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_front_leftR_link"/> <child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="0.1335 -0.03 -0.08"/> <origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="motor_back_rightR_link"> <link name="motor_back_rightR_link">
<collision> <collision>
<geometry> <geometry>
@@ -796,20 +772,18 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_rightR_joint" type="continuous"> <joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_back_rightR_link"/> <child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.1335 -0.035 -0.08"/> <origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="motor_back_rightL_link"> <link name="motor_back_rightL_link">
<collision> <collision>
<geometry> <geometry>
@@ -817,20 +791,18 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_rightL_joint" type="continuous"> <joint name="motor_back_rightL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_back_rightL_link"/> <child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 0.03 -0.08"/> <origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="motor_back_leftL_link"> <link name="motor_back_leftL_link">
<collision> <collision>
<geometry> <geometry>
@@ -838,20 +810,18 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_leftL_joint" type="continuous"> <joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_back_leftL_link"/> <child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 0.035 -0.08"/> <origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="motor_back_leftR_link"> <link name="motor_back_leftR_link">
<collision> <collision>
<geometry> <geometry>
@@ -859,570 +829,528 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.01"/> <mass value=".002"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_leftR_joint" type="continuous"> <joint name="motor_back_leftR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_back_leftR_link"/> <child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.1335 -0.03 -0.08"/> <origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_front_rightR_link"> <link name="upper_leg_front_rightR_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="hip_front_rightR_link" type="fixed"> <joint name="hip_front_rightR_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/> <parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/> <child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_front_rightR_link"> <link name="lower_leg_front_rightR_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value="0.05"/> <mass value=".086"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_front_rightR_link" type="continuous"> <joint name="knee_front_rightR_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightR_link"/> <parent link="upper_leg_front_rightR_link"/>
<child link="lower_leg_front_rightR_link"/> <child link="lower_leg_front_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_front_rightL_link"> <link name="upper_leg_front_rightL_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_rightL_link" type="fixed"> <joint name="hip_front_rightL_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/> <parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/> <child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_front_rightL_link"> <link name="lower_leg_front_rightL_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .198"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .198"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/> <mass value=".072"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_front_rightL_link" type="continuous"> <joint name="knee_front_rightL_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightL_link"/> <parent link="upper_leg_front_rightL_link"/>
<child link="lower_leg_front_rightL_link"/> <child link="lower_leg_front_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_front_leftR_link"> <link name="upper_leg_front_leftR_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="hip_front_leftR_link" type="fixed"> <joint name="hip_front_leftR_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/> <parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/> <child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_front_leftR_link"> <link name="lower_leg_front_leftR_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/> <mass value=".072"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_front_leftR_link" type="continuous"> <joint name="knee_front_leftR_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftR_link"/> <parent link="upper_leg_front_leftR_link"/>
<child link="lower_leg_front_leftR_link"/> <child link="lower_leg_front_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_front_leftL_link"> <link name="upper_leg_front_leftL_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_leftL_link" type="fixed"> <joint name="hip_front_leftL_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/> <parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/> <child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_front_leftL_link"> <link name="lower_leg_front_leftL_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .198"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .198"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value="0.05"/> <mass value=".086"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_front_leftL_link" type="continuous"> <joint name="knee_front_leftL_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftL_link"/> <parent link="upper_leg_front_leftL_link"/>
<child link="lower_leg_front_leftL_link"/> <child link="lower_leg_front_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_back_rightR_link"> <link name="upper_leg_back_rightR_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="hip_rightR_link" type="fixed"> <joint name="hip_back_rightR_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/> <parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/> <child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_back_rightR_link"> <link name="lower_leg_back_rightR_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .2032"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .2032"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value="0.05"/> <mass value=".086"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_back_rightR_link" type="continuous"> <joint name="knee_back_rightR_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightR_link"/> <parent link="upper_leg_back_rightR_link"/>
<child link="lower_leg_back_rightR_link"/> <child link="lower_leg_back_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_back_rightL_link"> <link name="upper_leg_back_rightL_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_rightL_link" type="fixed"> <joint name="hip_back_rightL_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/> <parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/> <child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_back_rightL_link"> <link name="lower_leg_back_rightL_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/> <mass value=".072"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_back_rightL_link" type="continuous"> <joint name="knee_back_rightL_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightL_link"/> <parent link="upper_leg_back_rightL_link"/>
<child link="lower_leg_back_rightL_link"/> <child link="lower_leg_back_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_back_leftR_link"> <link name="upper_leg_back_leftR_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="hip_leftR_link" type="fixed"> <joint name="hip_back_leftR_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/> <parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/> <child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_back_leftR_link">
<link name="lower_leg_back_leftR_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .2032"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry> <geometry>
<box size=".01 0.01 .2032"/> <box size=".017 .009 .216"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/> <mass value=".072"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_back_leftR_link" type="continuous"> <joint name="knee_back_leftR_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftR_link"/> <parent link="upper_leg_back_leftR_link"/>
<child link="lower_leg_back_leftR_link"/> <child link="lower_leg_back_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="upper_leg_back_leftL_link"> <link name="upper_leg_back_leftL_link">
<visual> <visual>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size=".01 0.01 .11"/> <box size=".039 .008 .129"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value=".034"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_leftL_link" type="fixed"> <joint name="hip_back_leftL_joint" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/> <parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/> <child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_back_leftL_link"> <link name="lower_leg_back_leftL_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
<stiffness value="30000.0"/> <stiffness value="3000.0"/>
<damping value="1000.0"/> <damping value="100.0"/>
<spinning_friction value=".3"/> <spinning_friction value=".3"/>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<visual> <visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba=".65 .65 .75 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry> <geometry>
<box size=".01 0.01 .2"/> <box size=".017 .009 .240"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/> <origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value="0.05"/> <mass value=".086"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial> </inertial>
</link> </link>
<joint name="knee_back_leftL_link" type="continuous"> <joint name="knee_back_leftL_joint" type="continuous">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftL_link"/> <parent link="upper_leg_back_leftL_link"/>
<child link="lower_leg_back_leftL_link"/> <child link="lower_leg_back_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/> <origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
</robot> </robot>

92
examples/pybullet/gym/pybullet_envs/examples/microtaur.py
View File

@@ -161,28 +161,26 @@ for i in range(nJoints):
motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint'] motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint'] motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
knee_front_rightL_link = jointNameToId['knee_front_rightL_link'] knee_front_rightL_joint = jointNameToId['knee_front_rightL_joint']
hip_front_rightR_link = jointNameToId['hip_front_rightR_link'] hip_front_rightR_joint = jointNameToId['hip_front_rightR_joint']
knee_front_rightR_link = jointNameToId['knee_front_rightR_link'] knee_front_rightR_joint = jointNameToId['knee_front_rightR_joint']
motor_front_rightL_link = jointNameToId['motor_front_rightL_link'] motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint'] motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint']
hip_front_leftR_link = jointNameToId['hip_front_leftR_link'] hip_front_leftR_joint = jointNameToId['hip_front_leftR_joint']
knee_front_leftR_link = jointNameToId['knee_front_leftR_link'] knee_front_leftR_joint = jointNameToId['knee_front_leftR_joint']
motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint'] motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
motor_front_leftL_link = jointNameToId['motor_front_leftL_link'] motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
knee_front_leftL_link = jointNameToId['knee_front_leftL_link'] knee_front_leftL_joint = jointNameToId['knee_front_leftL_joint']
motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint'] motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint']
hip_rightR_link = jointNameToId['hip_rightR_link'] knee_back_rightR_joint = jointNameToId['knee_back_rightR_joint']
knee_back_rightR_link = jointNameToId['knee_back_rightR_link']
motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint'] motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
motor_back_rightL_link = jointNameToId['motor_back_rightL_link'] motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
knee_back_rightL_link = jointNameToId['knee_back_rightL_link'] knee_back_rightL_joint = jointNameToId['knee_back_rightL_joint']
motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint'] motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint']
hip_leftR_link = jointNameToId['hip_leftR_link'] knee_back_leftR_joint = jointNameToId['knee_back_leftR_joint']
knee_back_leftR_link = jointNameToId['knee_back_leftR_link']
motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint'] motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
motor_back_leftL_link = jointNameToId['motor_back_leftL_link'] motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
knee_back_leftL_link = jointNameToId['knee_back_leftL_link'] knee_back_leftL_joint = jointNameToId['knee_back_leftL_joint']
#fixtorso = p.createConstraint(-1,-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,0]) #fixtorso = p.createConstraint(-1,-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,0])
@@ -230,21 +228,21 @@ if (useMaximalCoordinates):
p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL,
motordir[7] * halfpi * float(aa) / steps) motordir[7] * halfpi * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_leftL_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_front_leftL_joint, p.POSITION_CONTROL,
motordir[0] * (kneeangle + twopi) * float(aa) / steps) motordir[0] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_leftR_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_front_leftR_joint, p.POSITION_CONTROL,
motordir[1] * kneeangle * float(aa) / steps) motordir[1] * kneeangle * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_leftL_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_back_leftL_joint, p.POSITION_CONTROL,
motordir[2] * kneeangle * float(aa) / steps) motordir[2] * kneeangle * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_leftR_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_back_leftR_joint, p.POSITION_CONTROL,
motordir[3] * (kneeangle + twopi) * float(aa) / steps) motordir[3] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_rightL_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_front_rightL_joint, p.POSITION_CONTROL,
motordir[4] * (kneeangle) * float(aa) / steps) motordir[4] * (kneeangle) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_front_rightR_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_front_rightR_joint, p.POSITION_CONTROL,
motordir[5] * (kneeangle + twopi) * float(aa) / steps) motordir[5] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_rightL_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_back_rightL_joint, p.POSITION_CONTROL,
motordir[6] * (kneeangle + twopi) * float(aa) / steps) motordir[6] * (kneeangle + twopi) * float(aa) / steps)
p.setJointMotorControl2(quadruped, knee_back_rightR_link, p.POSITION_CONTROL, p.setJointMotorControl2(quadruped, knee_back_rightR_joint, p.POSITION_CONTROL,
motordir[7] * kneeangle * float(aa) / steps) motordir[7] * kneeangle * float(aa) / steps)
p.stepSimulation() p.stepSimulation()
@@ -252,57 +250,57 @@ if (useMaximalCoordinates):
else: else:
p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi) p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi)
p.resetJointState(quadruped, knee_front_leftL_link, motordir[0] * kneeangle) p.resetJointState(quadruped, knee_front_leftL_joint, motordir[0] * kneeangle)
p.resetJointState(quadruped, motor_front_leftR_joint, motordir[1] * halfpi) p.resetJointState(quadruped, motor_front_leftR_joint, motordir[1] * halfpi)
p.resetJointState(quadruped, knee_front_leftR_link, motordir[1] * kneeangle) p.resetJointState(quadruped, knee_front_leftR_joint, motordir[1] * kneeangle)
p.resetJointState(quadruped, motor_back_leftL_joint, motordir[2] * halfpi) p.resetJointState(quadruped, motor_back_leftL_joint, motordir[2] * halfpi)
p.resetJointState(quadruped, knee_back_leftL_link, motordir[2] * kneeangle) p.resetJointState(quadruped, knee_back_leftL_joint, motordir[2] * kneeangle)
p.resetJointState(quadruped, motor_back_leftR_joint, motordir[3] * halfpi) p.resetJointState(quadruped, motor_back_leftR_joint, motordir[3] * halfpi)
p.resetJointState(quadruped, knee_back_leftR_link, motordir[3] * kneeangle) p.resetJointState(quadruped, knee_back_leftR_joint, motordir[3] * kneeangle)
p.resetJointState(quadruped, motor_front_rightL_joint, motordir[4] * halfpi) p.resetJointState(quadruped, motor_front_rightL_joint, motordir[4] * halfpi)
p.resetJointState(quadruped, knee_front_rightL_link, motordir[4] * kneeangle) p.resetJointState(quadruped, knee_front_rightL_joint, motordir[4] * kneeangle)
p.resetJointState(quadruped, motor_front_rightR_joint, motordir[5] * halfpi) p.resetJointState(quadruped, motor_front_rightR_joint, motordir[5] * halfpi)
p.resetJointState(quadruped, knee_front_rightR_link, motordir[5] * kneeangle) p.resetJointState(quadruped, knee_front_rightR_joint, motordir[5] * kneeangle)
p.resetJointState(quadruped, motor_back_rightL_joint, motordir[6] * halfpi) p.resetJointState(quadruped, motor_back_rightL_joint, motordir[6] * halfpi)
p.resetJointState(quadruped, knee_back_rightL_link, motordir[6] * kneeangle) p.resetJointState(quadruped, knee_back_rightL_joint, motordir[6] * kneeangle)
p.resetJointState(quadruped, motor_back_rightR_joint, motordir[7] * halfpi) p.resetJointState(quadruped, motor_back_rightR_joint, motordir[7] * halfpi)
p.resetJointState(quadruped, knee_back_rightR_link, motordir[7] * kneeangle) p.resetJointState(quadruped, knee_back_rightR_joint, motordir[7] * kneeangle)
#p.getNumJoints(1) #p.getNumJoints(1)
if (toeConstraint): if (toeConstraint):
cid = p.createConstraint(quadruped, knee_front_leftR_link, quadruped, knee_front_leftL_link, cid = p.createConstraint(quadruped, knee_front_leftR_joint, quadruped, knee_front_leftL_joint,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce) p.changeConstraint(cid, maxForce=maxKneeForce)
cid = p.createConstraint(quadruped, knee_front_rightR_link, quadruped, knee_front_rightL_link, cid = p.createConstraint(quadruped, knee_front_rightR_joint, quadruped, knee_front_rightL_joint,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce) p.changeConstraint(cid, maxForce=maxKneeForce)
cid = p.createConstraint(quadruped, knee_back_leftR_link, quadruped, knee_back_leftL_link, cid = p.createConstraint(quadruped, knee_back_leftR_joint, quadruped, knee_back_leftL_joint,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce) p.changeConstraint(cid, maxForce=maxKneeForce)
cid = p.createConstraint(quadruped, knee_back_rightR_link, quadruped, knee_back_rightL_link, cid = p.createConstraint(quadruped, knee_back_rightR_joint, quadruped, knee_back_rightL_joint,
p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
p.changeConstraint(cid, maxForce=maxKneeForce) p.changeConstraint(cid, maxForce=maxKneeForce)
if (1): if (1):
p.setJointMotorControl(quadruped, knee_front_leftL_link, p.VELOCITY_CONTROL, 0, p.setJointMotorControl(quadruped, knee_front_leftL_joint, p.VELOCITY_CONTROL, 0,
kneeFrictionForce) kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_front_leftR_link, p.VELOCITY_CONTROL, 0, p.setJointMotorControl(quadruped, knee_front_leftR_joint, p.VELOCITY_CONTROL, 0,
kneeFrictionForce) kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_front_rightL_link, p.VELOCITY_CONTROL, 0, p.setJointMotorControl(quadruped, knee_front_rightL_joint, p.VELOCITY_CONTROL, 0,
kneeFrictionForce) kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_front_rightR_link, p.VELOCITY_CONTROL, 0, p.setJointMotorControl(quadruped, knee_front_rightR_joint, p.VELOCITY_CONTROL, 0,
kneeFrictionForce) kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce) p.setJointMotorControl(quadruped, knee_back_leftL_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce) p.setJointMotorControl(quadruped, knee_back_leftR_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce) p.setJointMotorControl(quadruped, knee_back_leftL_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce) p.setJointMotorControl(quadruped, knee_back_leftR_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_rightL_link, p.VELOCITY_CONTROL, 0, p.setJointMotorControl(quadruped, knee_back_rightL_joint, p.VELOCITY_CONTROL, 0,
kneeFrictionForce) kneeFrictionForce)
p.setJointMotorControl(quadruped, knee_back_rightR_link, p.VELOCITY_CONTROL, 0, p.setJointMotorControl(quadruped, knee_back_rightR_joint, p.VELOCITY_CONTROL, 0,
kneeFrictionForce) kneeFrictionForce)
p.setGravity(0, 0, -10) p.setGravity(0, 0, -10)
@@ -376,7 +374,7 @@ p.setJointMotorControl2(bodyIndex=quadruped,
p.setRealTimeSimulation(useRealTime) p.setRealTimeSimulation(useRealTime)
t = 0.0 t = 0.0
t_end = t + 115 t_end = t + 5
ref_time = time.time() ref_time = time.time()
while (t < t_end): while (t < t_end):
p.setGravity(0, 0, -10) p.setGravity(0, 0, -10)