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Merge pull request #4167 from simjaecheol/master

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urdfEditor - handle joint limits
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erwincoumans 2022-03-05 13:50:58 -08:00 committed by GitHub
commit 0c40b73b0e
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1 changed files with 12 additions and 6 deletions
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18
examples/pybullet/gym/pybullet_utils/urdfEditor.py
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@ -64,6 +64,8 @@ class UrdfJoint(object):
self.joint_type = p.JOINT_REVOLUTE
self.joint_lower_limit = 0
self.joint_upper_limit = -1
self.joint_max_force = 0
self.joint_max_velocity = 0
self.parent_name = "parentName"
self.child_name = "childName"
self.joint_origin_xyz = [1, 2, 3]
@ -171,6 +173,8 @@ class UrdfEditor(object):
urdfJoint.joint_type = jointInfo[2]
urdfJoint.joint_lower_limit = jointInfo[8]
urdfJoint.joint_upper_limit = jointInfo[9]
urdfJoint.joint_max_force = jointInfo[10]
urdfJoint.joint_max_velocity = jointInfo[11]
urdfJoint.joint_axis_xyz = jointInfo[13]
orgParentIndex = jointInfo[16]
if (orgParentIndex < 0):
@ -326,12 +330,14 @@ class UrdfEditor(object):
str = '\t\t<child link=\"{}\"/>\n'.format(urdfJoint.child_name)
file.write(str)
if urdfJoint.joint_type == p.JOINT_PRISMATIC:
#todo: handle limits
lowerLimit = -0.5
upperLimit = 0.5
str = '<limit effort="1000.0" lower="{:.{prec}f}" upper="{:.{prec}f}" velocity="0.5"/>'.format(
lowerLimit, upperLimit, prec=precision)
if jointTypeStr == "prismatic" or jointTypeStr == "revolute":
lowerLimit = urdfJoint.joint_lower_limit
upperLimit = urdfJoint.joint_upper_limit
maxForce = urdfJoint.joint_max_force
maxVelocity = urdfJoint.joint_max_velocity
str = '\t\t<limit effort="{:.{prec}f}" lower="{:.{prec}f}" upper="{:.{prec}f}" velocity="{:.{prec}f}"/>\n'.format(
maxForce, lowerLimit, upperLimit, maxVelocity, prec=precision)
file.write(str)
file.write("\t\t<dynamics damping=\"1.0\" friction=\"0.0001\"/>\n")