Issue with minitaur example constraints

Official Python bindings with a focus on reinforcement learning and robotics.
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jcnorby
Posts: 1
Joined: Thu Aug 22, 2019 2:45 pm

Issue with minitaur example constraints

Post by jcnorby »

Hello,

I'm poking around at the simulation of the minitaur in bullet3/examples/pybullet/examples/minitaur.py, and noticing that the urdf is different than the example shown on page 2 of the PyBullet user manual (and in the publications). When I switch to minitaur_rainbow_dash.urdf it looks like the correct model, although the toe constraints don't align properly even though given my knowledge of p.JOINT_POINT2POINT it seems that they should. Is this example out of date, or does anyone know how to apply the correct constraints?

Thanks!
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