5 Commits

Author	SHA1	Message	Date
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) ... 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 ... 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) ... 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