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| author | jaecheol.sim <jaecheol.sim@samsung.com> | 2022-02-15 15:30:10 +0900 |
|---|---|---|
| committer | jaecheol.sim <jaecheol.sim@samsung.com> | 2022-02-15 15:30:10 +0900 |
| commit | 7d7fb1e291c014e80fd27e08ead9e8bd81ba16ca (patch) | |
| tree | c77c6ba3eb83499ed96643dd69e58eca81bc3ead | |
| parent | 2cad239c000814d12d62b2e8c2882f47b2a7a612 (diff) | |
| download | bullet3-7d7fb1e291c014e80fd27e08ead9e8bd81ba16ca.tar.gz | |
urdfEditor - handle joint limits
| -rw-r--r-- | examples/pybullet/gym/pybullet_utils/urdfEditor.py | 18 |
1 files changed, 12 insertions, 6 deletions
diff --git a/examples/pybullet/gym/pybullet_utils/urdfEditor.py b/examples/pybullet/gym/pybullet_utils/urdfEditor.py index a9d9c5fa1..3b6a9fcbc 100644 --- a/examples/pybullet/gym/pybullet_utils/urdfEditor.py +++ b/examples/pybullet/gym/pybullet_utils/urdfEditor.py @@ -64,6 +64,8 @@ class UrdfJoint(object): self.joint_type = p.JOINT_REVOLUTE self.joint_lower_limit = 0 self.joint_upper_limit = -1 + self.joint_max_force = 0 + self.joint_max_velocity = 0 self.parent_name = "parentName" self.child_name = "childName" self.joint_origin_xyz = [1, 2, 3] @@ -171,6 +173,8 @@ class UrdfEditor(object): urdfJoint.joint_type = jointInfo[2] urdfJoint.joint_lower_limit = jointInfo[8] urdfJoint.joint_upper_limit = jointInfo[9] + urdfJoint.joint_max_force = jointInfo[10] + urdfJoint.joint_max_velocity = jointInfo[11] urdfJoint.joint_axis_xyz = jointInfo[13] orgParentIndex = jointInfo[16] if (orgParentIndex < 0): @@ -326,12 +330,14 @@ class UrdfEditor(object): str = '\t\t<child link=\"{}\"/>\n'.format(urdfJoint.child_name) file.write(str) - if urdfJoint.joint_type == p.JOINT_PRISMATIC: - #todo: handle limits - lowerLimit = -0.5 - upperLimit = 0.5 - str = '<limit effort="1000.0" lower="{:.{prec}f}" upper="{:.{prec}f}" velocity="0.5"/>'.format( - lowerLimit, upperLimit, prec=precision) + if jointTypeStr == "prismatic" or jointTypeStr == "revolute": + lowerLimit = urdfJoint.joint_lower_limit + upperLimit = urdfJoint.joint_upper_limit + maxForce = urdfJoint.joint_max_force + maxVelocity = urdfJoint.joint_max_velocity + + str = '\t\t<limit effort="{:.{prec}f}" lower="{:.{prec}f}" upper="{:.{prec}f}" velocity="{:.{prec}f}"/>\n'.format( + maxForce, lowerLimit, upperLimit, maxVelocity, prec=precision) file.write(str) file.write("\t\t<dynamics damping=\"1.0\" friction=\"0.0001\"/>\n") |