fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping)
fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates) modify quadruped.py to test maximal coordinates wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint add 'j' key to show body frames in wireframe/debug mode
This commit is contained in:
erwincoumans
@@ -267,6 +267,11 @@
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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@@ -427,8 +432,10 @@
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<link name="lower_leg_front_rightR_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -448,11 +455,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_front_rightR_link" type="revolute">
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<joint name="knee_front_rightR_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_rightR_link"/>
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<child link="lower_leg_front_rightR_link"/>
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@@ -495,8 +503,10 @@
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<link name="lower_leg_front_rightL_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -516,11 +526,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_front_rightL_link" type="revolute">
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<joint name="knee_front_rightL_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_rightL_link"/>
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<child link="lower_leg_front_rightL_link"/>
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@@ -561,8 +572,10 @@
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<link name="lower_leg_front_leftR_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -582,11 +595,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_front_leftR_link" type="revolute">
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<joint name="knee_front_leftR_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_leftR_link"/>
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<child link="lower_leg_front_leftR_link"/>
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@@ -628,8 +642,10 @@
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<link name="lower_leg_front_leftL_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -649,11 +665,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_front_leftL_link" type="revolute">
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<joint name="knee_front_leftL_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_leftL_link"/>
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<child link="lower_leg_front_leftL_link"/>
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@@ -692,8 +709,10 @@
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<link name="lower_leg_back_rightR_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -713,11 +732,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_back_rightR_link" type="revolute">
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<joint name="knee_back_rightR_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_rightR_link"/>
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<child link="lower_leg_back_rightR_link"/>
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@@ -760,8 +780,10 @@
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<link name="lower_leg_back_rightL_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -781,11 +803,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_back_rightL_link" type="revolute">
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<joint name="knee_back_rightL_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_rightL_link"/>
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<child link="lower_leg_back_rightL_link"/>
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@@ -826,8 +849,10 @@
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<link name="lower_leg_back_leftR_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -847,11 +872,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_back_leftR_link" type="revolute">
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<joint name="knee_back_leftR_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftR_link"/>
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<child link="lower_leg_back_leftR_link"/>
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@@ -891,8 +917,10 @@
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<link name="lower_leg_back_leftL_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -912,11 +940,12 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_back_leftL_link" type="revolute">
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<joint name="knee_back_leftL_link" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftL_link"/>
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<child link="lower_leg_back_leftL_link"/>
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