mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 12:50:08 +00:00
Import Aliengo URDF
from github.com/unitreerobotics/unitree_pybullet. Reduced all meshes by 50% due to concerns about the size of pybullet_data. Also renamed some links and joints in the URDF to match conventions and added an example script.
This commit is contained in:
Chase Kew
parent
946d500c8e
commit
adf75169d8
373
examples/pybullet/gym/pybullet_data/aliengo/LICENSE
Normal file
373
examples/pybullet/gym/pybullet_data/aliengo/LICENSE
Normal file
@ -0,0 +1,373 @@
|
|||||||
|
Mozilla Public License Version 2.0
|
||||||
|
==================================
|
||||||
|
|
||||||
|
1. Definitions
|
||||||
|
--------------
|
||||||
|
|
||||||
|
1.1. "Contributor"
|
||||||
|
means each individual or legal entity that creates, contributes to
|
||||||
|
the creation of, or owns Covered Software.
|
||||||
|
|
||||||
|
1.2. "Contributor Version"
|
||||||
|
means the combination of the Contributions of others (if any) used
|
||||||
|
by a Contributor and that particular Contributor's Contribution.
|
||||||
|
|
||||||
|
1.3. "Contribution"
|
||||||
|
means Covered Software of a particular Contributor.
|
||||||
|
|
||||||
|
1.4. "Covered Software"
|
||||||
|
means Source Code Form to which the initial Contributor has attached
|
||||||
|
the notice in Exhibit A, the Executable Form of such Source Code
|
||||||
|
Form, and Modifications of such Source Code Form, in each case
|
||||||
|
including portions thereof.
|
||||||
|
|
||||||
|
1.5. "Incompatible With Secondary Licenses"
|
||||||
|
means
|
||||||
|
|
||||||
|
(a) that the initial Contributor has attached the notice described
|
||||||
|
in Exhibit B to the Covered Software; or
|
||||||
|
|
||||||
|
(b) that the Covered Software was made available under the terms of
|
||||||
|
version 1.1 or earlier of the License, but not also under the
|
||||||
|
terms of a Secondary License.
|
||||||
|
|
||||||
|
1.6. "Executable Form"
|
||||||
|
means any form of the work other than Source Code Form.
|
||||||
|
|
||||||
|
1.7. "Larger Work"
|
||||||
|
means a work that combines Covered Software with other material, in
|
||||||
|
a separate file or files, that is not Covered Software.
|
||||||
|
|
||||||
|
1.8. "License"
|
||||||
|
means this document.
|
||||||
|
|
||||||
|
1.9. "Licensable"
|
||||||
|
means having the right to grant, to the maximum extent possible,
|
||||||
|
whether at the time of the initial grant or subsequently, any and
|
||||||
|
all of the rights conveyed by this License.
|
||||||
|
|
||||||
|
1.10. "Modifications"
|
||||||
|
means any of the following:
|
||||||
|
|
||||||
|
(a) any file in Source Code Form that results from an addition to,
|
||||||
|
deletion from, or modification of the contents of Covered
|
||||||
|
Software; or
|
||||||
|
|
||||||
|
(b) any new file in Source Code Form that contains any Covered
|
||||||
|
Software.
|
||||||
|
|
||||||
|
1.11. "Patent Claims" of a Contributor
|
||||||
|
means any patent claim(s), including without limitation, method,
|
||||||
|
process, and apparatus claims, in any patent Licensable by such
|
||||||
|
Contributor that would be infringed, but for the grant of the
|
||||||
|
License, by the making, using, selling, offering for sale, having
|
||||||
|
made, import, or transfer of either its Contributions or its
|
||||||
|
Contributor Version.
|
||||||
|
|
||||||
|
1.12. "Secondary License"
|
||||||
|
means either the GNU General Public License, Version 2.0, the GNU
|
||||||
|
Lesser General Public License, Version 2.1, the GNU Affero General
|
||||||
|
Public License, Version 3.0, or any later versions of those
|
||||||
|
licenses.
|
||||||
|
|
||||||
|
1.13. "Source Code Form"
|
||||||
|
means the form of the work preferred for making modifications.
|
||||||
|
|
||||||
|
1.14. "You" (or "Your")
|
||||||
|
means an individual or a legal entity exercising rights under this
|
||||||
|
License. For legal entities, "You" includes any entity that
|
||||||
|
controls, is controlled by, or is under common control with You. For
|
||||||
|
purposes of this definition, "control" means (a) the power, direct
|
||||||
|
or indirect, to cause the direction or management of such entity,
|
||||||
|
whether by contract or otherwise, or (b) ownership of more than
|
||||||
|
fifty percent (50%) of the outstanding shares or beneficial
|
||||||
|
ownership of such entity.
|
||||||
|
|
||||||
|
2. License Grants and Conditions
|
||||||
|
--------------------------------
|
||||||
|
|
||||||
|
2.1. Grants
|
||||||
|
|
||||||
|
Each Contributor hereby grants You a world-wide, royalty-free,
|
||||||
|
non-exclusive license:
|
||||||
|
|
||||||
|
(a) under intellectual property rights (other than patent or trademark)
|
||||||
|
Licensable by such Contributor to use, reproduce, make available,
|
||||||
|
modify, display, perform, distribute, and otherwise exploit its
|
||||||
|
Contributions, either on an unmodified basis, with Modifications, or
|
||||||
|
as part of a Larger Work; and
|
||||||
|
|
||||||
|
(b) under Patent Claims of such Contributor to make, use, sell, offer
|
||||||
|
for sale, have made, import, and otherwise transfer either its
|
||||||
|
Contributions or its Contributor Version.
|
||||||
|
|
||||||
|
2.2. Effective Date
|
||||||
|
|
||||||
|
The licenses granted in Section 2.1 with respect to any Contribution
|
||||||
|
become effective for each Contribution on the date the Contributor first
|
||||||
|
distributes such Contribution.
|
||||||
|
|
||||||
|
2.3. Limitations on Grant Scope
|
||||||
|
|
||||||
|
The licenses granted in this Section 2 are the only rights granted under
|
||||||
|
this License. No additional rights or licenses will be implied from the
|
||||||
|
distribution or licensing of Covered Software under this License.
|
||||||
|
Notwithstanding Section 2.1(b) above, no patent license is granted by a
|
||||||
|
Contributor:
|
||||||
|
|
||||||
|
(a) for any code that a Contributor has removed from Covered Software;
|
||||||
|
or
|
||||||
|
|
||||||
|
(b) for infringements caused by: (i) Your and any other third party's
|
||||||
|
modifications of Covered Software, or (ii) the combination of its
|
||||||
|
Contributions with other software (except as part of its Contributor
|
||||||
|
Version); or
|
||||||
|
|
||||||
|
(c) under Patent Claims infringed by Covered Software in the absence of
|
||||||
|
its Contributions.
|
||||||
|
|
||||||
|
This License does not grant any rights in the trademarks, service marks,
|
||||||
|
or logos of any Contributor (except as may be necessary to comply with
|
||||||
|
the notice requirements in Section 3.4).
|
||||||
|
|
||||||
|
2.4. Subsequent Licenses
|
||||||
|
|
||||||
|
No Contributor makes additional grants as a result of Your choice to
|
||||||
|
distribute the Covered Software under a subsequent version of this
|
||||||
|
License (see Section 10.2) or under the terms of a Secondary License (if
|
||||||
|
permitted under the terms of Section 3.3).
|
||||||
|
|
||||||
|
2.5. Representation
|
||||||
|
|
||||||
|
Each Contributor represents that the Contributor believes its
|
||||||
|
Contributions are its original creation(s) or it has sufficient rights
|
||||||
|
to grant the rights to its Contributions conveyed by this License.
|
||||||
|
|
||||||
|
2.6. Fair Use
|
||||||
|
|
||||||
|
This License is not intended to limit any rights You have under
|
||||||
|
applicable copyright doctrines of fair use, fair dealing, or other
|
||||||
|
equivalents.
|
||||||
|
|
||||||
|
2.7. Conditions
|
||||||
|
|
||||||
|
Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
|
||||||
|
in Section 2.1.
|
||||||
|
|
||||||
|
3. Responsibilities
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
3.1. Distribution of Source Form
|
||||||
|
|
||||||
|
All distribution of Covered Software in Source Code Form, including any
|
||||||
|
Modifications that You create or to which You contribute, must be under
|
||||||
|
the terms of this License. You must inform recipients that the Source
|
||||||
|
Code Form of the Covered Software is governed by the terms of this
|
||||||
|
License, and how they can obtain a copy of this License. You may not
|
||||||
|
attempt to alter or restrict the recipients' rights in the Source Code
|
||||||
|
Form.
|
||||||
|
|
||||||
|
3.2. Distribution of Executable Form
|
||||||
|
|
||||||
|
If You distribute Covered Software in Executable Form then:
|
||||||
|
|
||||||
|
(a) such Covered Software must also be made available in Source Code
|
||||||
|
Form, as described in Section 3.1, and You must inform recipients of
|
||||||
|
the Executable Form how they can obtain a copy of such Source Code
|
||||||
|
Form by reasonable means in a timely manner, at a charge no more
|
||||||
|
than the cost of distribution to the recipient; and
|
||||||
|
|
||||||
|
(b) You may distribute such Executable Form under the terms of this
|
||||||
|
License, or sublicense it under different terms, provided that the
|
||||||
|
license for the Executable Form does not attempt to limit or alter
|
||||||
|
the recipients' rights in the Source Code Form under this License.
|
||||||
|
|
||||||
|
3.3. Distribution of a Larger Work
|
||||||
|
|
||||||
|
You may create and distribute a Larger Work under terms of Your choice,
|
||||||
|
provided that You also comply with the requirements of this License for
|
||||||
|
the Covered Software. If the Larger Work is a combination of Covered
|
||||||
|
Software with a work governed by one or more Secondary Licenses, and the
|
||||||
|
Covered Software is not Incompatible With Secondary Licenses, this
|
||||||
|
License permits You to additionally distribute such Covered Software
|
||||||
|
under the terms of such Secondary License(s), so that the recipient of
|
||||||
|
the Larger Work may, at their option, further distribute the Covered
|
||||||
|
Software under the terms of either this License or such Secondary
|
||||||
|
License(s).
|
||||||
|
|
||||||
|
3.4. Notices
|
||||||
|
|
||||||
|
You may not remove or alter the substance of any license notices
|
||||||
|
(including copyright notices, patent notices, disclaimers of warranty,
|
||||||
|
or limitations of liability) contained within the Source Code Form of
|
||||||
|
the Covered Software, except that You may alter any license notices to
|
||||||
|
the extent required to remedy known factual inaccuracies.
|
||||||
|
|
||||||
|
3.5. Application of Additional Terms
|
||||||
|
|
||||||
|
You may choose to offer, and to charge a fee for, warranty, support,
|
||||||
|
indemnity or liability obligations to one or more recipients of Covered
|
||||||
|
Software. However, You may do so only on Your own behalf, and not on
|
||||||
|
behalf of any Contributor. You must make it absolutely clear that any
|
||||||
|
such warranty, support, indemnity, or liability obligation is offered by
|
||||||
|
You alone, and You hereby agree to indemnify every Contributor for any
|
||||||
|
liability incurred by such Contributor as a result of warranty, support,
|
||||||
|
indemnity or liability terms You offer. You may include additional
|
||||||
|
disclaimers of warranty and limitations of liability specific to any
|
||||||
|
jurisdiction.
|
||||||
|
|
||||||
|
4. Inability to Comply Due to Statute or Regulation
|
||||||
|
---------------------------------------------------
|
||||||
|
|
||||||
|
If it is impossible for You to comply with any of the terms of this
|
||||||
|
License with respect to some or all of the Covered Software due to
|
||||||
|
statute, judicial order, or regulation then You must: (a) comply with
|
||||||
|
the terms of this License to the maximum extent possible; and (b)
|
||||||
|
describe the limitations and the code they affect. Such description must
|
||||||
|
be placed in a text file included with all distributions of the Covered
|
||||||
|
Software under this License. Except to the extent prohibited by statute
|
||||||
|
or regulation, such description must be sufficiently detailed for a
|
||||||
|
recipient of ordinary skill to be able to understand it.
|
||||||
|
|
||||||
|
5. Termination
|
||||||
|
--------------
|
||||||
|
|
||||||
|
5.1. The rights granted under this License will terminate automatically
|
||||||
|
if You fail to comply with any of its terms. However, if You become
|
||||||
|
compliant, then the rights granted under this License from a particular
|
||||||
|
Contributor are reinstated (a) provisionally, unless and until such
|
||||||
|
Contributor explicitly and finally terminates Your grants, and (b) on an
|
||||||
|
ongoing basis, if such Contributor fails to notify You of the
|
||||||
|
non-compliance by some reasonable means prior to 60 days after You have
|
||||||
|
come back into compliance. Moreover, Your grants from a particular
|
||||||
|
Contributor are reinstated on an ongoing basis if such Contributor
|
||||||
|
notifies You of the non-compliance by some reasonable means, this is the
|
||||||
|
first time You have received notice of non-compliance with this License
|
||||||
|
from such Contributor, and You become compliant prior to 30 days after
|
||||||
|
Your receipt of the notice.
|
||||||
|
|
||||||
|
5.2. If You initiate litigation against any entity by asserting a patent
|
||||||
|
infringement claim (excluding declaratory judgment actions,
|
||||||
|
counter-claims, and cross-claims) alleging that a Contributor Version
|
||||||
|
directly or indirectly infringes any patent, then the rights granted to
|
||||||
|
You by any and all Contributors for the Covered Software under Section
|
||||||
|
2.1 of this License shall terminate.
|
||||||
|
|
||||||
|
5.3. In the event of termination under Sections 5.1 or 5.2 above, all
|
||||||
|
end user license agreements (excluding distributors and resellers) which
|
||||||
|
have been validly granted by You or Your distributors under this License
|
||||||
|
prior to termination shall survive termination.
|
||||||
|
|
||||||
|
************************************************************************
|
||||||
|
* *
|
||||||
|
* 6. Disclaimer of Warranty *
|
||||||
|
* ------------------------- *
|
||||||
|
* *
|
||||||
|
* Covered Software is provided under this License on an "as is" *
|
||||||
|
* basis, without warranty of any kind, either expressed, implied, or *
|
||||||
|
* statutory, including, without limitation, warranties that the *
|
||||||
|
* Covered Software is free of defects, merchantable, fit for a *
|
||||||
|
* particular purpose or non-infringing. The entire risk as to the *
|
||||||
|
* quality and performance of the Covered Software is with You. *
|
||||||
|
* Should any Covered Software prove defective in any respect, You *
|
||||||
|
* (not any Contributor) assume the cost of any necessary servicing, *
|
||||||
|
* repair, or correction. This disclaimer of warranty constitutes an *
|
||||||
|
* essential part of this License. No use of any Covered Software is *
|
||||||
|
* authorized under this License except under this disclaimer. *
|
||||||
|
* *
|
||||||
|
************************************************************************
|
||||||
|
|
||||||
|
************************************************************************
|
||||||
|
* *
|
||||||
|
* 7. Limitation of Liability *
|
||||||
|
* -------------------------- *
|
||||||
|
* *
|
||||||
|
* Under no circumstances and under no legal theory, whether tort *
|
||||||
|
* (including negligence), contract, or otherwise, shall any *
|
||||||
|
* Contributor, or anyone who distributes Covered Software as *
|
||||||
|
* permitted above, be liable to You for any direct, indirect, *
|
||||||
|
* special, incidental, or consequential damages of any character *
|
||||||
|
* including, without limitation, damages for lost profits, loss of *
|
||||||
|
* goodwill, work stoppage, computer failure or malfunction, or any *
|
||||||
|
* and all other commercial damages or losses, even if such party *
|
||||||
|
* shall have been informed of the possibility of such damages. This *
|
||||||
|
* limitation of liability shall not apply to liability for death or *
|
||||||
|
* personal injury resulting from such party's negligence to the *
|
||||||
|
* extent applicable law prohibits such limitation. Some *
|
||||||
|
* jurisdictions do not allow the exclusion or limitation of *
|
||||||
|
* incidental or consequential damages, so this exclusion and *
|
||||||
|
* limitation may not apply to You. *
|
||||||
|
* *
|
||||||
|
************************************************************************
|
||||||
|
|
||||||
|
8. Litigation
|
||||||
|
-------------
|
||||||
|
|
||||||
|
Any litigation relating to this License may be brought only in the
|
||||||
|
courts of a jurisdiction where the defendant maintains its principal
|
||||||
|
place of business and such litigation shall be governed by laws of that
|
||||||
|
jurisdiction, without reference to its conflict-of-law provisions.
|
||||||
|
Nothing in this Section shall prevent a party's ability to bring
|
||||||
|
cross-claims or counter-claims.
|
||||||
|
|
||||||
|
9. Miscellaneous
|
||||||
|
----------------
|
||||||
|
|
||||||
|
This License represents the complete agreement concerning the subject
|
||||||
|
matter hereof. If any provision of this License is held to be
|
||||||
|
unenforceable, such provision shall be reformed only to the extent
|
||||||
|
necessary to make it enforceable. Any law or regulation which provides
|
||||||
|
that the language of a contract shall be construed against the drafter
|
||||||
|
shall not be used to construe this License against a Contributor.
|
||||||
|
|
||||||
|
10. Versions of the License
|
||||||
|
---------------------------
|
||||||
|
|
||||||
|
10.1. New Versions
|
||||||
|
|
||||||
|
Mozilla Foundation is the license steward. Except as provided in Section
|
||||||
|
10.3, no one other than the license steward has the right to modify or
|
||||||
|
publish new versions of this License. Each version will be given a
|
||||||
|
distinguishing version number.
|
||||||
|
|
||||||
|
10.2. Effect of New Versions
|
||||||
|
|
||||||
|
You may distribute the Covered Software under the terms of the version
|
||||||
|
of the License under which You originally received the Covered Software,
|
||||||
|
or under the terms of any subsequent version published by the license
|
||||||
|
steward.
|
||||||
|
|
||||||
|
10.3. Modified Versions
|
||||||
|
|
||||||
|
If you create software not governed by this License, and you want to
|
||||||
|
create a new license for such software, you may create and use a
|
||||||
|
modified version of this License if you rename the license and remove
|
||||||
|
any references to the name of the license steward (except to note that
|
||||||
|
such modified license differs from this License).
|
||||||
|
|
||||||
|
10.4. Distributing Source Code Form that is Incompatible With Secondary
|
||||||
|
Licenses
|
||||||
|
|
||||||
|
If You choose to distribute Source Code Form that is Incompatible With
|
||||||
|
Secondary Licenses under the terms of this version of the License, the
|
||||||
|
notice described in Exhibit B of this License must be attached.
|
||||||
|
|
||||||
|
Exhibit A - Source Code Form License Notice
|
||||||
|
-------------------------------------------
|
||||||
|
|
||||||
|
This Source Code Form is subject to the terms of the Mozilla Public
|
||||||
|
License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||||
|
file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
||||||
|
|
||||||
|
If it is not possible or desirable to put the notice in a particular
|
||||||
|
file, then You may include the notice in a location (such as a LICENSE
|
||||||
|
file in a relevant directory) where a recipient would be likely to look
|
||||||
|
for such a notice.
|
||||||
|
|
||||||
|
You may add additional accurate notices of copyright ownership.
|
||||||
|
|
||||||
|
Exhibit B - "Incompatible With Secondary Licenses" Notice
|
||||||
|
---------------------------------------------------------
|
||||||
|
|
||||||
|
This Source Code Form is "Incompatible With Secondary Licenses", as
|
||||||
|
defined by the Mozilla Public License, v. 2.0.
|
||||||
58
examples/pybullet/gym/pybullet_data/aliengo/aliengo.py
Normal file
58
examples/pybullet/gym/pybullet_data/aliengo/aliengo.py
Normal file
@ -0,0 +1,58 @@
|
|||||||
|
import pybullet as p
|
||||||
|
import time
|
||||||
|
import pybullet_data as pd
|
||||||
|
import numpy as np
|
||||||
|
p.connect(p.GUI)
|
||||||
|
p.setAdditionalSearchPath(pd.getDataPath())
|
||||||
|
dt = 1./240.
|
||||||
|
|
||||||
|
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
|
||||||
|
p.loadURDF("plane.urdf")
|
||||||
|
robot = p.loadURDF("aliengo/aliengo.urdf",[0,0,0.5])
|
||||||
|
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
|
||||||
|
p.setGravity(0,0,-9.8)
|
||||||
|
|
||||||
|
ALIENGO_DEFAULT_ABDUCTION_ANGLE = 0
|
||||||
|
ALIENGO_DEFAULT_HIP_ANGLE = 1.2
|
||||||
|
ALIENGO_DEFAULT_KNEE_ANGLE = -2.0
|
||||||
|
NUM_LEGS = 4
|
||||||
|
INIT_MOTOR_ANGLES = np.array([
|
||||||
|
ALIENGO_DEFAULT_ABDUCTION_ANGLE,
|
||||||
|
ALIENGO_DEFAULT_HIP_ANGLE,
|
||||||
|
ALIENGO_DEFAULT_KNEE_ANGLE
|
||||||
|
] * NUM_LEGS)
|
||||||
|
|
||||||
|
MOTOR_NAMES = [
|
||||||
|
"FR_hip_joint",
|
||||||
|
"FR_upper_joint",
|
||||||
|
"FR_lower_joint",
|
||||||
|
"FL_hip_joint",
|
||||||
|
"FL_upper_joint",
|
||||||
|
"FL_lower_joint",
|
||||||
|
"RR_hip_joint",
|
||||||
|
"RR_upper_joint",
|
||||||
|
"RR_lower_joint",
|
||||||
|
"RL_hip_joint",
|
||||||
|
"RL_upper_joint",
|
||||||
|
"RL_lower_joint",
|
||||||
|
]
|
||||||
|
motor_ids = []
|
||||||
|
|
||||||
|
for j in range (p.getNumJoints(robot)):
|
||||||
|
joint_info = p.getJointInfo(robot,j)
|
||||||
|
name = joint_info[1].decode('utf-8')
|
||||||
|
print("joint_info[1]=",name)
|
||||||
|
if name in MOTOR_NAMES:
|
||||||
|
motor_ids.append(j)
|
||||||
|
|
||||||
|
for index in range (12):
|
||||||
|
joint_id = motor_ids[index]
|
||||||
|
p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index])
|
||||||
|
p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index])
|
||||||
|
|
||||||
|
print("motor_ids=",motor_ids)
|
||||||
|
while p.isConnected():
|
||||||
|
p.stepSimulation()
|
||||||
|
time.sleep(dt)
|
||||||
|
|
||||||
|
|
||||||
632
examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf
Normal file
632
examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf
Normal file
@ -0,0 +1,632 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<!-- | This document was autogenerated by xacro from robot.xacro | -->
|
||||||
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<material name="black">
|
||||||
|
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="green">
|
||||||
|
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="silver">
|
||||||
|
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="orange">
|
||||||
|
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="brown">
|
||||||
|
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="red">
|
||||||
|
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<link name="trunk">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/trunk.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.647 0.15 0.112"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
|
||||||
|
<mass value="9.041"/>
|
||||||
|
<inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="imu_joint" type="fixed">
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="imu_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="imu_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.001"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".001 .001 .001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="FR_hip_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.2399 -0.051 0"/>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="FR_hip"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FR_hip">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/hip.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.0418" radius="0.046"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
|
||||||
|
<mass value="1.993"/>
|
||||||
|
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="FR_upper_joint" type="continuous">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
|
||||||
|
<parent link="FR_hip"/>
|
||||||
|
<child link="FR_upper"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FR_upper">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0374 0.043"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
||||||
|
<mass value="0.639"/>
|
||||||
|
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="FR_lower_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="FR_upper"/>
|
||||||
|
<child link="FR_lower"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FR_lower">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/calf.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0208 0.016"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||||
|
<mass value="0.207"/>
|
||||||
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="FR_toe_fixed" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="FR_lower"/>
|
||||||
|
<child link="FR_toe"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FR_toe">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0165"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0265"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.06"/>
|
||||||
|
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<transmission name="FR_hip_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="FR_hip_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="FR_hip_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="FR_upper_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="FR_upper_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="FR_upper_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="FR_lower_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="FR_lower_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="FR_lower_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<joint name="FL_hip_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="FL_hip"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FL_hip">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/hip.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.0418" radius="0.046"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
|
||||||
|
<mass value="1.993"/>
|
||||||
|
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="FL_upper_joint" type="continuous">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.083 0"/>
|
||||||
|
<parent link="FL_hip"/>
|
||||||
|
<child link="FL_upper"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FL_upper">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/thigh.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0374 0.043"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
||||||
|
<mass value="0.639"/>
|
||||||
|
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="FL_lower_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="FL_upper"/>
|
||||||
|
<child link="FL_lower"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FL_lower">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/calf.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0208 0.016"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||||
|
<mass value="0.207"/>
|
||||||
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="FL_toe_fixed" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="FL_lower"/>
|
||||||
|
<child link="FL_toe"/>
|
||||||
|
</joint>
|
||||||
|
<link name="FL_toe">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0165"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0265"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.06"/>
|
||||||
|
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<transmission name="FL_hip_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="FL_hip_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="FL_hip_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="FL_upper_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="FL_upper_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="FL_upper_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="FL_lower_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="FL_lower_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="FL_lower_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<joint name="RR_hip_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="RR_hip"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RR_hip">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/hip.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.0418" radius="0.046"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
|
||||||
|
<mass value="1.993"/>
|
||||||
|
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="RR_upper_joint" type="continuous">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
|
||||||
|
<parent link="RR_hip"/>
|
||||||
|
<child link="RR_upper"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RR_upper">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0374 0.043"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
||||||
|
<mass value="0.639"/>
|
||||||
|
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="RR_lower_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="RR_upper"/>
|
||||||
|
<child link="RR_lower"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RR_lower">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/calf.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0208 0.016"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||||
|
<mass value="0.207"/>
|
||||||
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="RR_toe_fixed" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="RR_lower"/>
|
||||||
|
<child link="RR_toe"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RR_toe">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0165"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0265"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.06"/>
|
||||||
|
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<transmission name="RR_hip_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="RR_hip_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="RR_hip_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="RR_upper_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="RR_upper_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="RR_upper_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="RR_lower_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="RR_lower_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="RR_lower_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<joint name="RL_hip_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.2399 0.051 0"/>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="RL_hip"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RL_hip">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/hip.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.0418" radius="0.046"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
|
||||||
|
<mass value="1.993"/>
|
||||||
|
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="RL_upper_joint" type="continuous">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.083 0"/>
|
||||||
|
<parent link="RL_hip"/>
|
||||||
|
<child link="RL_upper"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RL_upper">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/thigh.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0374 0.043"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
||||||
|
<mass value="0.639"/>
|
||||||
|
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="RL_lower_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="RL_upper"/>
|
||||||
|
<child link="RL_lower"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RL_lower">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/calf.stl" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="orange"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.25 0.0208 0.016"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||||
|
<mass value="0.207"/>
|
||||||
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="RL_toe_fixed" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||||
|
<parent link="RL_lower"/>
|
||||||
|
<child link="RL_toe"/>
|
||||||
|
</joint>
|
||||||
|
<link name="RL_toe">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0165"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.0265"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.06"/>
|
||||||
|
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<transmission name="RL_hip_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="RL_hip_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="RL_hip_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="RL_upper_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="RL_upper_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="RL_upper_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="RL_lower_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="RL_lower_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="RL_lower_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
</robot>
|
||||||
|
|
||||||
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl
Normal file
Binary file not shown.
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl
Normal file
Binary file not shown.
Loading…
Reference in New Issue
Block a user