From e74f86d14842c567569209d32276708ffb60294e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 11 Jun 2018 07:44:05 -0700 Subject: [PATCH] remove ANYmal meshes --- .../quadruped/ANYmal/anymal_base_2.mtl | 12 - .../quadruped/ANYmal/anymal_base_2.obj | 65494 ---------------- .../quadruped/ANYmal/anymal_hip.mtl | 12 - .../quadruped/ANYmal/anymal_hip.obj | 30205 ------- .../quadruped/ANYmal/anymal_optoforce.mtl | 10 - .../quadruped/ANYmal/anymal_optoforce.obj | 735 - .../quadruped/ANYmal/anymal_shank_2_LF.mtl | 10 - .../quadruped/ANYmal/anymal_shank_2_LF.obj | 10408 --- .../quadruped/ANYmal/anymal_shank_2_LH.mtl | 10 - .../quadruped/ANYmal/anymal_shank_2_LH.obj | 10381 --- .../quadruped/ANYmal/anymal_shank_2_RF.mtl | 10 - .../quadruped/ANYmal/anymal_shank_2_RF.obj | 10381 --- .../quadruped/ANYmal/anymal_shank_2_RH.mtl | 10 - .../quadruped/ANYmal/anymal_shank_2_RH.obj | 10408 --- .../quadruped/ANYmal/anymal_thigh.mtl | 12 - .../quadruped/ANYmal/anymal_thigh.obj | 23272 ------ .../pybullet_data/quadruped/ANYmal/base.mtl | 10 - .../pybullet_data/quadruped/ANYmal/hip.mtl | 10 - .../pybullet_data/quadruped/ANYmal/robot.urdf | 731 - .../gym/pybullet_envs/examples/ANYmal.py | 51 - 20 files changed, 162172 deletions(-) delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_hip.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_hip.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_optoforce.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_optoforce.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LF.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LF.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LH.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LH.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RH.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RH.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_thigh.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_thigh.obj delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/base.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/hip.mtl delete mode 100644 examples/pybullet/gym/pybullet_data/quadruped/ANYmal/robot.urdf delete mode 100644 examples/pybullet/gym/pybullet_envs/examples/ANYmal.py diff --git a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl b/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl deleted file mode 100644 index ca0c0fad9..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl +++ /dev/null @@ -1,12 +0,0 @@ -# Blender MTL File: 'None' -# Material Count: 1 - -newmtl None.001 -Ns 0.000000 -Ka 0.000000 0.000000 0.000000 -Kd 0.800000 0.800000 0.800000 -Ks 0.800000 0.800000 0.800000 -Ke 0.000000 0.000000 0.000000 -Ni 1.000000 -d 1.000000 -illum 2 diff --git a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.obj b/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.obj deleted file mode 100644 index 953d46b06..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.obj +++ /dev/null @@ -1,65494 +0,0 @@ -# Blender v2.78 (sub 0) OBJ File: '' -# www.blender.org -mtllib 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-f 34//22 29//22 25//22 diff --git a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.mtl b/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.mtl deleted file mode 100644 index 70d3ba1da..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.mtl +++ /dev/null @@ -1,10 +0,0 @@ -# Blender MTL File: 'None' -# Material Count: 1 - -newmtl None -Ns 0 -Ka 0.000000 0.000000 0.000000 -Kd 0.8 0.8 0.8 -Ks 0.8 0.8 0.8 -d 1 -illum 2 diff --git a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.obj b/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.obj deleted file mode 100644 index b4970d305..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.obj +++ /dev/null @@ -1,10381 +0,0 @@ -# Blender v2.78 (sub 0) OBJ File: '' -# www.blender.org -mtllib anymal_shank_2_RF.mtl -o anymal_shank_2_RF_anymal_shank_2_RF.002 -v 2.605455 17.071819 -306.195496 -v 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deleted file mode 100644 index 70d3ba1da..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/base.mtl +++ /dev/null @@ -1,10 +0,0 @@ -# Blender MTL File: 'None' -# Material Count: 1 - -newmtl None -Ns 0 -Ka 0.000000 0.000000 0.000000 -Kd 0.8 0.8 0.8 -Ks 0.8 0.8 0.8 -d 1 -illum 2 diff --git a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/hip.mtl b/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/hip.mtl deleted file mode 100644 index 70d3ba1da..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/hip.mtl +++ /dev/null @@ -1,10 +0,0 @@ -# Blender MTL File: 'None' -# Material Count: 1 - -newmtl None -Ns 0 -Ka 0.000000 0.000000 0.000000 -Kd 0.8 0.8 0.8 -Ks 0.8 0.8 0.8 -d 1 -illum 2 diff --git a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/robot.urdf b/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/robot.urdf deleted file mode 100644 index 5e8072210..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/robot.urdf +++ /dev/null @@ -1,731 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - anymal - - quadruped_description - base - 400.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1000000.0 - 100.0 - 0.8 - 0.8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1000000.0 - 100.0 - 0.8 - 0.8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1000000.0 - 100.0 - 0.8 - 0.8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1000000.0 - 100.0 - 0.8 - 0.8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Orange - 0.8 - 0.8 - - - - - - sensors - imu_link - /imu_link - imu - imu/bias - imu/calibrate - 400 - - - - - - - - - - - - - - - - - - - diff --git a/examples/pybullet/gym/pybullet_envs/examples/ANYmal.py b/examples/pybullet/gym/pybullet_envs/examples/ANYmal.py deleted file mode 100644 index 90f80a754..000000000 --- a/examples/pybullet/gym/pybullet_envs/examples/ANYmal.py +++ /dev/null @@ -1,51 +0,0 @@ -import pybullet as p -import pybullet_data - -import time -p.connect(p.GUI) -p.setAdditionalSearchPath(pybullet_data.getDataPath()) - -p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) -p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0) - -ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES) - -p.changeVisualShape(ground,-1,rgbaColor=[1,1,1,0.8]) -#p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1) - -print("hasNumpy = ",p.isNumpyEnabled()) - - -anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[3,3,3], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False) -p.resetSimulation() -ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES) - -#todo, tweak this value to trade solver quality versus performance -p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) - -index = 0 -numX = 10 -numY = 10 - -for i in range (numX): - for j in range (numY): - print("loading animal ", index) - index+=1 - - #anymal = p.loadURDF("atlas/atlas_v4_with_multisense.urdf",[i*3,j*3,1], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES) - anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[(i-numX/2)*2,(j-numY/2)*2,0.6], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False) - - for j in range(p.getNumJoints(anymal)): - p.setJointMotorControl2(anymal,j,p.POSITION_CONTROL,targetPosition=0, force=500) - -p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) - - -p.setGravity(0,0,-10) -#p.setRealTimeSimulation(1) - -while (1): - p.stepSimulation() - time.sleep(1./240.) - -