Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

allow continuous control for MIT racecar gym environment, use differential drive version

Browse Source
This commit is contained in:
Erwin Coumans
2017-08-23 23:12:26 -07:00
parent 8a4f51baa4
commit f0c32b84c0
26 changed files with 374 additions and 130 deletions
Download Patch File Download Diff File Expand all files Collapse all files

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_arm.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_carrier.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_carrier_cover.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_leftshaft.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_motor_cover.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_pinion.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_rightshaft.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_ring.stl Normal file
View File

Binary file not shown.

198
examples/pybullet/gym/pybullet_envs/data/differential/diff_ring.urdf Normal file
View File

@@ -0,0 +1,198 @@
<?xml version="1.0" ?>
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="world"/>
<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="2.637"/>
<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_ring.stl"/>
</geometry>
<material name="DarkGrey"/>
</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="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
<geometry>
<cylinder length="0.01" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="diff_ring_world" type="continuous">
<parent link="world"/>
<child link="diff_ring"/>
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
<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="2.637"/>
<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="DarkGrey"/>
</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="2.637"/>
<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="DarkGrey"/>
</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="2.637"/>
<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="DarkGrey"/>
</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="2.637"/>
<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="DarkGrey"/>
</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>
</robot>

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_side.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_spider.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_spider_shaft.stl Normal file
View File

Binary file not shown.

BIN
examples/pybullet/gym/pybullet_envs/data/differential/diff_stand.stl Normal file
View File

Binary file not shown.

2
examples/pybullet/gym/pybullet_envs/data/differential/modelorigin.txt Normal file
View File

@@ -0,0 +1,2 @@
stl files were copied from http://www.otvinta.com/download09.html
URDF file was manually created, along with mimicJointConstraint.py

31
examples/pybullet/gym/pybullet_envs/data/racecar/racecar_differential.urdf
View File

@@ -35,7 +35,7 @@
<contact>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
@@ -68,7 +68,7 @@
<contact>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
@@ -165,7 +165,7 @@
<contact>
<lateral_friction value=".8"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
@@ -209,7 +209,7 @@
<contact>
<lateral_friction value="0.8"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
@@ -337,7 +337,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -377,7 +377,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -416,7 +416,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -456,7 +456,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -492,7 +492,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -528,7 +528,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -568,7 +568,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -607,7 +607,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -645,7 +645,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -681,7 +681,7 @@
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
@@ -736,8 +736,5 @@
<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>