Cleanup (#37)

* remove "old stompy" folder * create some old robot urdf and xml for better iterations * update base urdf and xml for legs only * cleanup print statement * add fixed urdf and xml for legs * updates to full robot
kscalelabs · Jul 25, 2024 · 6388e86 · 6388e86
1 parent 3549b97
commit 6388e86
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diff --git a/sim/old_stompy/joints.py b/sim/old_stompy/joints.py
diff --git a/sim/scripts/create_mjcf.py b/sim/scripts/create_mjcf.py
@@ -20,7 +20,7 @@
 from typing import List, Union
 
 from sim import mjcf
-from sim.stompy.joints import Stompy
+from sim.stompy_legs.joints import Stompy
 
 logger = logging.getLogger(__name__)
 
@@ -242,7 +242,6 @@ def adapt_world(self, add_floor: bool = True, remove_frc_range: bool = True) ->
         for body in root.findall(".//body"):
             joints = list(body.findall("joint"))
             for join in joints:
-                print(join)
                 if "actuatorfrcrange" in join.attrib:
                     join.attrib.pop("actuatorfrcrange")
 

diff --git a/sim/stompy/robot.urdf b/sim/stompy/robot.urdf
diff --git a/sim/stompy/robot.xml b/sim/stompy/robot.xml