Garrett Johnson
711b37bea9
Change URDF xml version from "0.0" to "1.0"
2018-08-16 12:44:43 -07:00
Erwin Coumans
1e559feb8f
add preliminary vision60 urdf model (no real sizes, no real masses etc)
2018-06-15 10:26:42 -07:00
Jie
85bd1ce2b4
Merge remote-tracking branch 'bp/master' into pullRequest
2018-01-02 18:54:07 -08:00
Jie
de11d71246
use the right mass for the rotational part of motors.
2018-01-02 18:53:38 -08:00
Erwin Coumans
ecba966890
add minitaur rainbow dash (carbon fiber) simulating flexibility in
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outside brackets using prismatic joints
2017-12-19 14:44:39 -08:00
Jie
b35f6300a4
add system id for rainbow dash (second generation minitaur with TX2 installed)
2017-12-13 16:19:42 -08:00
Erwin Coumans
f5493a6d64
add minitaur with single motor test asset
2017-11-02 18:28:46 +00:00
Jie
a9600a8c91
adjust the minitaur_derpy urdf. Seperate the motor controller and the moving part of the motor.
2017-10-27 14:56:45 -07:00
erwincoumans
e21aaca836
created a pretty Vatican museum table top, also a marble cube
2017-10-25 08:23:29 -07:00
Jie
a1e260f9f1
add tingnan's new minitaur urdf for derpy.
2017-10-06 13:14:23 -07:00
Jie Tan
d0a14743c1
add the urdf from system id from tingnan
2017-10-02 15:58:26 -07:00
Erwin Coumans
c30e9aea92
revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version.
2017-09-07 11:23:41 -07:00
erwincoumans
eb97e06280
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
2017-09-02 01:05:42 -07:00
Jie Tan
1cd513024a
make the URDF and the minitaur.py consistent with the real robot
2017-04-05 11:54:54 -07:00
Erwin Coumans
4db6fa9e29
update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware
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added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
2017-03-15 15:38:50 -07:00
erwincoumans
00361afea5
allow user to specify the maximum number of dofs to log in GenericRobotStateLogger (default = 12)
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add minitaur quadruped playback of minitaur log files (real robot and simulated create the same log files)
add improved minitaur.urdf file, see https://youtu.be/lv7lybtOzeo for a preview.
2017-03-05 21:49:20 -08:00
Jie Tan
4df8b27626
make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf.
2017-02-08 17:26:36 -08:00
Erwin Coumans
17570c4700
tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo
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allow VR physics server to run with or without 'realTimeSimulation'
2016-12-11 09:28:36 -08:00
erwincoumans
0d47d61007
pybullet getClosestPoints
2016-11-09 21:01:04 -08:00
