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| author | erwin coumans <erwin.coumans@gmail.com> | 2021-08-03 13:26:39 -0700 |
|---|---|---|
| committer | erwin coumans <erwin.coumans@gmail.com> | 2021-08-03 13:26:39 -0700 |
| commit | e39994498238d0dfc96db4dee87f34798d085f50 (patch) | |
| tree | 22a1469195016314b161d6da68fb68a1a691e1ce | |
| parent | 92fb2db0a36e5311b287d440116af3e1555bc2d5 (diff) | |
| download | bullet3-e39994498238d0dfc96db4dee87f34798d085f50.tar.gz | |
add simplified Laikago model for faster CPU rendering (getCameraImage in direct mode using TinyRenderer)
9 files changed, 6196 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj new file mode 100644 index 000000000..8170a550b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj @@ -0,0 +1,2525 @@ +# Blender v2.79 (sub 7) OBJ File: '' +# www.blender.org +mtllib chassis_zup.mtl +o EXP_OTL_-_EXP_OTL_BDYR1_median.002 +v 0.269217 0.044003 -0.011194 +v 0.258143 0.045697 -0.012888 +v 0.269217 0.049859 -0.022937 +v 0.258143 0.049859 -0.025331 +v 0.269217 0.045697 -0.035380 +v 0.258143 0.044003 -0.037074 +v 0.269217 0.033954 -0.041236 +v 0.258143 0.031560 -0.041236 +v 0.269217 0.021511 -0.037074 +v 0.258143 0.019817 -0.035380 +v 0.269217 0.015353 -0.018243 +v 0.258143 0.015655 -0.022937 +v 0.258143 0.026866 -0.006730 +v 0.269217 0.031560 -0.007032 +v 0.258143 -0.019839 -0.018243 +v 0.269217 -0.020141 -0.022937 +v 0.269217 -0.024303 -0.035380 +v 0.258143 -0.025997 -0.037074 +v 0.269217 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a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj new file mode 100644 index 000000000..233fe7c62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj @@ -0,0 +1,268 @@ +# Blender v2.79 (sub 7) OBJ File: '' +# www.blender.org +mtllib hip_motor_mirror.mtl +o Hip_Motor_Mirror +v -0.018642 0.011370 -0.039779 +v -0.025681 0.028894 -0.029469 +v -0.024123 -0.022564 -0.034618 +v -0.024854 0.001630 -0.040910 +v -0.017913 -0.012850 -0.039451 +v 0.007063 -0.011697 -0.039764 +v 0.054963 0.008930 -0.041667 +v 0.006332 0.012490 -0.039430 +v 0.006333 0.012457 0.040916 +v -0.018643 0.011323 0.041278 +v 0.055109 0.004065 0.042069 +v 0.007062 -0.011647 0.041259 +v 0.055909 -0.022407 0.035182 +v -0.017914 -0.012816 0.040944 +v -0.023759 -0.034644 0.027964 +v -0.024802 -0.000044 0.042424 +v 0.056471 -0.041022 0.002717 +v -0.023582 -0.040483 -0.013015 +v 0.056024 -0.026221 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+vn 0.0673 0.9937 0.0891 +vn -0.9844 0.1758 -0.0110 +vn -0.7306 0.6689 -0.1367 +vn -0.2217 -0.9751 0.0081 +usemtl None +s 1 +f 2/1/1 8/2/2 1/3/3 +f 3/4/4 4/5/5 5/6/6 +f 4/5/5 1/3/7 5/6/6 +f 4/5/5 2/1/8 1/3/7 +f 19/7/9 6/8/10 7/9/11 +f 6/8/10 8/2/2 7/9/11 +f 16/10/12 10/11/13 24/12/14 +f 23/13/15 9/14/16 11/15/17 +f 9/14/16 12/16/18 11/15/17 +f 12/16/18 13/17/19 11/15/17 +f 15/18/20 12/16/18 14/19/21 +f 16/10/12 15/18/20 14/19/21 +f 16/10/12 14/19/21 10/20/13 +f 12/16/18 15/18/20 13/17/19 +f 15/21/20 17/22/22 13/23/19 +f 15/21/20 18/24/23 17/22/22 +f 18/24/23 19/7/24 17/22/22 +f 18/24/23 3/4/4 19/7/24 +f 3/4/4 6/8/25 19/7/24 +f 3/4/4 5/6/6 6/8/25 +f 8/2/2 2/1/1 7/9/11 +f 2/1/1 20/25/26 7/9/11 +f 2/26/1 21/27/27 20/28/26 +f 21/27/27 22/29/28 20/28/26 +f 21/27/27 23/13/15 22/29/28 +f 21/27/27 24/12/14 23/13/15 +f 24/12/14 9/14/16 23/13/15 +f 24/12/14 10/11/13 9/14/16 +f 7/30/11 20/28/26 22/29/29 +f 7/30/11 22/29/29 23/13/29 +f 7/30/11 23/13/29 11/31/29 +f 13/32/29 7/30/11 11/31/29 +f 7/30/11 13/32/29 17/33/29 +f 7/30/11 17/33/29 19/34/9 +f 3/4/30 24/35/14 4/36/30 +f 24/35/14 3/4/30 18/24/30 +f 15/21/30 24/35/14 18/24/30 +f 24/35/14 15/21/30 16/37/12 +f 2/38/31 24/35/14 21/39/27 +f 24/35/14 2/38/31 4/36/30 +f 6/8/25 26/40/32 25/41/33 +f 6/8/25 5/42/6 26/40/32 +f 27/43/34 5/42/6 1/3/3 +f 27/43/34 26/40/32 5/42/6 +f 1/3/3 28/44/35 27/43/34 +f 1/3/3 8/45/2 28/44/35 +f 8/45/2 25/41/33 28/44/35 +f 8/45/2 6/8/25 25/41/33 +f 31/46/36 9/47/16 29/48/37 +f 10/20/13 14/49/21 30/50/38 +f 12/16/18 31/46/36 30/50/38 +f 12/16/18 9/47/16 31/46/36 +f 9/47/16 10/20/13 29/48/37 +f 10/20/13 32/51/39 29/48/37 +f 10/20/13 30/50/38 32/51/39 +f 14/49/21 12/16/18 30/50/38 +f 35/52/40 33/53/41 34/54/42 +f 36/55/43 33/53/41 35/52/40 +f 33/53/41 36/55/43 37/56/44 +f 31/57/45 34/58/42 33/59/41 +f 31/57/45 29/60/46 34/58/42 +f 29/60/46 32/61/47 34/58/42 +f 32/61/48 35/62/40 34/58/42 +f 32/61/48 30/63/49 35/62/40 +f 30/63/50 36/64/43 35/62/51 +f 30/63/50 37/65/44 36/64/43 +f 30/63/50 33/59/41 37/65/44 +f 30/63/50 31/57/45 33/59/41 +f 38/66/52 39/67/53 40/68/54 +f 41/69/55 38/66/52 40/68/54 +f 38/66/52 41/69/55 42/70/56 +f 38/71/52 42/72/56 25/73/57 +f 42/72/56 28/74/58 25/73/57 +f 42/72/56 41/75/55 28/74/58 +f 41/75/55 40/76/54 28/74/58 +f 40/76/54 27/77/59 28/74/60 +f 40/76/54 26/78/61 27/77/59 +f 40/76/54 39/79/53 26/78/61 +f 39/79/53 25/73/57 26/78/61 +f 39/79/53 38/71/52 25/73/57 diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf new file mode 100644 index 000000000..725e46ac3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf @@ -0,0 +1,598 @@ +<?xml version="1.0" ?> +<robot name="plane"> + <link name="chassis"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="13.715"/> + <inertia ixx="0.22" ixy="0" ixz="0" iyy="0.431" iyz="0" izz="0.565"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz=" 0 0 0"/> + <geometry> + <mesh filename="chassis_zup_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/> + </geometry> + </collision> + </link> + <link name="FR_hip_motor"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0.02 0 0"/> + <mass value="1.095"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy=".002" iyz="0" izz=".001"/> + </inertial> + + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/> + </geometry> + </collision> + </link> + + <joint name="FR_hip_motor_2_chassis_joint" type="continuous"> + <axis xyz="0 0 -1"/> + <parent link="chassis"/> + <child link="FR_hip_motor"/> + <origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="FR_upper_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/> + <mass value="1.527"/> + <inertia ixx="0.015" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.01"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="upper_leg_mirror_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="FR_hip_motor"/> + <child link="FR_upper_leg"/> + <origin rpy="0 0 0" xyz="-0.053565 0 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="FR_lower_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/> + <mass value="0.241"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/> + </inertial> + <visual> + <origin rpy="0 1.57079 0" xyz="0 0.0 0"/> + <geometry> + <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 1.57079 0" xyz="0 0.0 0"/> + <geometry> + <mesh filename="lower_leg_3.stl" scale="1 1 1"/> + </geometry> + </collision> + </link> + <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="FR_upper_leg"/> + <child link="FR_lower_leg"/> + + <origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + + <link name="FL_hip_motor"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="-.02 0 0"/> + <mass value="1.095"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + </material> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor.stl" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="FL_hip_motor_2_chassis_joint" type="continuous"> + <axis xyz="0 0 1"/> + <parent link="chassis"/> + <child link="FL_hip_motor"/> + <origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/> + + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="FL_upper_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/> + <mass value="1.527"/> + <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + + <mesh filename="upper_leg_left_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + </material> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + + <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="FL_hip_motor"/> + <child link="FL_upper_leg"/> + <origin rpy="0 0 0" xyz="0.055855 0 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + + <link name="FL_lower_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/> + <mass value="0.241"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/> + </inertial> + <visual> + <origin rpy="0 1.57079 0" xyz="0 0 0"/> + <geometry> + <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + </material> + </visual> + + <collision> + <origin rpy="0 1.57079 0" xyz="0 0 0"/> + <geometry> + <mesh filename="lower_leg_3.stl" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="FL_upper_leg"/> + <child link="FL_lower_leg"/> + <origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + + + + + + <link name="RR_hip_motor"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0.02 0 0"/> + <mass value="1.095"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/> + </inertial> + + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="RR_hip_motor_2_chassis_joint" type="continuous"> + <axis xyz="0 0 -1"/> + <parent link="chassis"/> + <child link="RR_hip_motor"/> + <origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/> + + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="RR_upper_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/> + <mass value="1.527"/> + <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="upper_leg_mirror2_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="RR_hip_motor"/> + <child link="RR_upper_leg"/> + <origin rpy="0 0 0" xyz="-0.053565 0 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="RR_lower_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/> + <mass value="0.241"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/> + </inertial> + <visual> + <origin rpy="0 1.57079 0" xyz="0 0 0"/> + <geometry> + <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 1.57079 0" xyz="0 0 0"/> + <geometry> + <mesh filename="lower_leg_3.stl" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="RR_upper_leg"/> + <child link="RR_lower_leg"/> + <origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + + <link name="RL_hip_motor"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="-.02 0 0"/> + <mass value="1.095"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="hip_motor.stl" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="RL_hip_motor_2_chassis_joint" type="continuous"> + <axis xyz="0 0 1"/> + <parent link="chassis"/> + <child link="RL_hip_motor"/> + + <origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="RL_upper_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/> + <mass value="1.527"/> + <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="upper_leg_left2_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + + <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="RL_hip_motor"/> + <child link="RL_upper_leg"/> + <origin rpy="0 0 0" xyz="0.055855 0 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + + <link name="RL_lower_leg"> + <contact> + <lateral_friction value="1"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/> + <mass value="0.241"/> + <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/> + </inertial> + <visual> + <origin rpy="0 1.57079 0" xyz="0 0 0"/> + <geometry> + <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/> + </geometry> + <material name="white"/> + </visual> + + <collision> + <origin rpy="0 1.57079 0" xyz="0 0 0"/> + <geometry> + <mesh filename="lower_leg_3.stl" scale="1 1 1"/> + </geometry> + </collision> + + </link> + + <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous"> + <axis xyz="1 0 0"/> + <parent link="RL_upper_leg"/> + <child link="RL_lower_leg"/> + <origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="toeRL"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.1"/> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.03"/> + </geometry> + </collision> + <inertial> + <mass value="0.1"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="jtoeRL" type="fixed"> + <parent link="RL_lower_leg"/> + <child link="toeRL"/> + <origin xyz="0 -0.25 -0.022"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + <link name="toeRR"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.1"/> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.03"/> + </geometry> + </collision> + <inertial> + <mass value="0.1"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="jtoeRR" type="fixed"> + <parent link="RR_lower_leg"/> + <child link="toeRR"/> + <origin xyz="0 -0.25 -0.022"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + <link name="toeFL"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.1"/> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.03"/> + </geometry> + </collision> + <inertial> + <mass value="0.1"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="jtoeFL" type="fixed"> + <parent link="FL_lower_leg"/> + <child link="toeFL"/> + <origin xyz="0 -0.25 -0.022"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + <link name="toeFR"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.1"/> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.03"/> + </geometry> + </collision> + <inertial> + <mass value="0.1"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="jtoeFR" type="fixed"> + <parent link="FR_lower_leg"/> + <child link="toeFR"/> + <origin xyz="0 -0.25 -0.022"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> +</robot> + diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj new file mode 100644 index 000000000..8999169c3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj @@ -0,0 +1,334 @@ +# Blender v2.79 (sub 7) OBJ File: '' +# www.blender.org +mtllib lower_leg3.mtl +o Lower_Leg_3.008 +v -0.002757 -0.258132 0.009073 +v -0.001650 -0.257823 -0.013254 +v 0.041518 -0.229745 0.000657 +v -0.004067 -0.250963 0.012122 +v 0.004722 -0.203119 -0.007561 +v 0.004328 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+vt 0.781587 0.879839 +vt 0.746940 0.877512 +vt 0.751230 0.870827 +vt 0.891300 0.822772 +vt 0.891300 0.823000 +vt 0.891200 0.823100 +vt 0.769178 0.872833 +vt 0.780800 0.878100 +vt 0.778600 0.873200 +vt 0.747043 0.884262 +vt 0.752232 0.889970 +vt 0.755457 0.869118 +vt 0.749171 0.873106 +vt 0.746452 0.877767 +vt 0.747740 0.872362 +vt 0.745049 0.879213 +vt 0.757643 0.867479 +vt 0.751671 0.891405 +vt 0.746934 0.887148 +vt 0.745080 0.879903 +vt 0.751988 0.868512 +vt 0.757577 0.869017 +vt 0.778200 0.872300 +vt 0.777800 0.871147 +vt 0.777900 0.871400 +vt 0.777989 0.871664 +vt 0.889043 0.826800 +vn -0.8690 -0.4362 0.2337 +vn -0.8631 -0.0429 0.5032 +vn -0.6621 -0.2858 -0.6928 +vn -0.7426 -0.0528 -0.6676 +vn -0.7191 -0.0480 0.6933 +vn -0.3703 0.8717 -0.3211 +vn -0.4124 0.8599 0.3008 +vn 0.8018 0.4084 0.4363 +vn 0.7174 -0.0340 0.6958 +vn -0.7131 -0.0654 -0.6980 +vn 0.7126 -0.0228 -0.7012 +vn 0.7816 0.4107 -0.4695 +vn -0.7218 0.3462 -0.5993 +vn -0.7161 0.3576 0.5994 +vn 0.1993 0.7897 -0.5802 +vn 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