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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)

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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
2017-09-02 01:05:42 -07:00
parent ee30479a28
commit eb97e06280
9 changed files with 281 additions and 108 deletions
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2
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -140,7 +140,7 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,-1));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,1));
}
};