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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/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -396,7 +396,7 @@ template <typename T, typename U> void addJointInfoFromConstraint(int linkIndex,
info.m_linkName = 0;
info.m_flags = 0;
info.m_jointIndex = linkIndex;
info.m_qIndex = linkIndex+6;
info.m_qIndex = linkIndex+7;
info.m_uIndex = linkIndex+6;
//derive type from limits