Merge pull request #154 from cmower/fix-142

Fix #142
cmower · Aug 11, 2023 · d844ec1 · d844ec1
2 parents 3e7608f + d9048af
commit d844ec1
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Showing 30 changed files with 21,791 additions and 13 deletions.
diff --git a/example/pybullet_api.py b/example/pybullet_api.py
@@ -123,7 +123,6 @@ def reset(self, base_position, base_orientation=[0, 0, 0, 1]):
             base_orientation,
         )
 
-
 class FixedBaseRobot:
     def __init__(self, urdf_filename, base_position=[0.0] * 3):
         self._id = p.loadURDF(
@@ -172,6 +171,11 @@ def __init__(self, base_position=[0.0] * 3):
         self.urdf_filename = f
         super().__init__(f, base_position=base_position)
 
+class Nextage(FixedBaseRobot):
+    def __init__(self, base_position=[0.0, 0.0, 0.85]):
+        f = os.path.join(cwd, "robots", "nextage", "nextage.urdf")
+        self.urdf_file_name = f
+        super().__init__(f, base_position=base_position)
 
 class KukaLWR(FixedBaseRobot):
     def __init__(self, base_position=[0.0] * 3):
@@ -213,7 +217,8 @@ def main(gui=True):
     pb = PyBullet(dt, gui=gui)
     # robot = KukaLWR()
     # robot = KukaLBR()
-    robot = R2D2([0, 0, 0.5])
+    # robot = R2D2([0, 0, 0.5])
+    robot = Nextage()
 
     q0 = np.zeros(robot.ndof)
     qF = np.random.uniform(-np.pi, np.pi, size=(robot.ndof,))

diff --git a/example/robots/nextage/meshes/BASE_Link_mesh.dae b/example/robots/nextage/meshes/BASE_Link_mesh.dae