Commit Graph

14 Commits

Author SHA1 Message Date
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)
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
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
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