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

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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
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31
examples/pybullet/gym/pybullet_envs/data/racecar/racecar_differential.urdf
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@@ -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>