Merge pull request #57 from WPI-MMR/goobta-v4-urdf

Update robot model to v4
WPI-MMR · Apr 14, 2021 · 6a2a6c4 · 6a2a6c4
2 parents f2c9b92 + c64e70c
commit 6a2a6c4
Show file tree

Hide file tree

Showing 3 changed files with 5 additions and 3 deletions.
diff --git a/examples/solo8_mmr/interactive_pos_control.py b/examples/solo8_mmr/interactive_pos_control.py
@@ -13,7 +13,7 @@
 
 if __name__ == '__main__':
   config = solo8v2vanilla.Solo8VanillaConfig()
-  config.urdf_path = 'assets/solo8_URDF_v3/solo8_URDF_v3.urdf'
+  config.urdf_path = 'assets/solo8_URDF_v4/solo8_URDF_v4.urdf'
   env: solo8v2vanilla.Solo8VanillaEnv = gym.make('solo8vanilla-v0', use_gui=True, 
                                                  realtime=True, config=config)
 

diff --git a/examples/solo8_mmr/realtime.py b/examples/solo8_mmr/realtime.py
@@ -14,11 +14,13 @@
 
 if __name__ == '__main__':
   config = solo8v2vanilla_realtime.RealtimeSolo8VanillaConfig()
-  config.urdf_path = 'assets/solo8_URDF_v3/solo8_URDF_v3.urdf'
+  config.urdf_path = 'assets/solo8_URDF_v4/solo8_URDF_v4.urdf'
 
   env = gym.make('solo8vanilla-realtime-v0', config=config)
   env.obs_factory.register_observation(obs.TorsoIMU(env.robot))
 
+  env.step(np.full(env.action_space.shape, 0))
+
   try:
     print("""\n
           =============================================

diff --git a/gym_solo/assets b/gym_solo/assets