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Merge pull request #1747 from erwincoumans/master

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remove ANYmal meshes
This commit is contained in:
erwincoumans 2018-06-11 14:47:40 +00:00 committed by GitHub
commit cb0e98c0a9
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GPG Key ID: 4AEE18F83AFDEB23
20 changed files with 0 additions and 162172 deletions
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl
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@ -1,12 +0,0 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None.001
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

65494
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.obj
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_hip.mtl
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@ -1,12 +0,0 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None.003
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_hip.obj
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10
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_optoforce.mtl
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@ -1,10 +0,0 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

735
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_optoforce.obj
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@ -1,735 +0,0 @@
# Blender v2.78 (sub 0) OBJ File: ''
# www.blender.org
mtllib anymal_optoforce.mtl
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10
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LF.mtl
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@ -1,10 +0,0 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

10408
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LF.obj
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10
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LH.mtl
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@ -1,10 +0,0 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

10381
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_LH.obj
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.mtl
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@ -1,10 +0,0 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

10381
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RF.obj
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RH.mtl
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

10408
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_shank_2_RH.obj
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_thigh.mtl
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None.002
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_thigh.obj
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examples/pybullet/gym/pybullet_data/quadruped/ANYmal/base.mtl
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

10
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/hip.mtl
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

731
examples/pybullet/gym/pybullet_data/quadruped/ANYmal/robot.urdf
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@ -1,731 +0,0 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/dbellicoso/catkin_ws/src/anymal_beth/anymal_beth_description/urdf/anymal_beth.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--Copyright (C) 2015 by Dario Bellicoso -->
<!--bellicosodario@gmail.com -->
<!-- -->
<!--This program is free software; you can redistribute it and/or modify -->
<!--it under the terms of the Lesser GNU General Public License as published -->
<!--by the Free Software Foundation; either version 3 of the License, or -->
<!--(at your option) any later version. -->
<!-- -->
<!--This program is distributed in the hope that it will be useful, -->
<!--but WITHOUT ANY WARRANTY; without even the implied warranty of -->
<!--MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -->
<!--Lesser GNU General Public License for more details. -->
<!-- -->
<!--You should have received a copy of the Lesser GNU General Public License -->
<!--along with this program. If not, see <http://www.gnu.org/licenses/>. -->
<!-- This file contains the description of the ANYmal Beth robot. -->
<robot name="anymal" 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="light_grey">
<color rgba="0.4 0.4 0.4 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>
<gazebo>
<plugin filename="libanymal_gazebo.so" name="gazebo_ros_control">
<robotNamespace>anymal</robotNamespace>
<!-- Currently unused -->
<robotDescription>quadruped_description</robotDescription>
<robotBaseLink>base</robotBaseLink>
<statePublisherRate>400.0</statePublisherRate>
</plugin>
</gazebo>
<!-- Material for the visual primitives -->
<material name="anymal_black_material">
<color rgba="0.3 0.3 0.3 1"/>
</material>
<material name="anymal_material">
<color rgba="0.7 0.7 0.7 1"/>
</material>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_base_2.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_black_material"/>
</visual>
<collision>
<!-- Main Body -->
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<box size="0.531 0.232 0.26"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.022 -0.01 0.01"/>
<mass value="21.39"/>
<inertia ixx="0.268388530624" ixy="0.000775392455422" ixz="-0.0151848534451" iyy="0.884235660795" iyz="-0.000989297489507" izz="0.829158678306"/>
</inertial>
</link>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LF_HIP">
<visual>
<origin rpy="3.14159265359 1.5707963268 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0585 0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0542 -0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="-6.4285329973e-05" ixz="6.9990104e-08" iyy="0.000993231183395" iyz="2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LF_HAA" type="revolute">
<parent link="base"/>
<child link="LF_HIP"/>
<origin xyz="0.2629 0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LF_THIGH">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0.145 0 0" xyz="0 0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0008 0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="-1.7996507882e-05" ixz="0.000205877679383" iyy="0.0144188925719" iyz="-0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HIP"/>
<child link="LF_THIGH"/>
<origin xyz="0.0585 0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_LF.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 -0.9 -0.2" xyz="0.04 -0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="-0.0 0.34 0" xyz="0.06 -0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.016355414056 -0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="-7.7334500762e-05" ixz="-0.000152069372983" iyy="0.00400446467635" iyz="-0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_THIGH"/>
<child link="LF_SHANK"/>
<origin xyz="0.0 0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="LF_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-5.552058e-06 7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="4.16901601e-07" ixz="3.99054799e-07" iyy="8.2860209667e-05" iyz="-3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="LF_ANKLE_JOINT" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_FOOT_MOUNT"/>
<origin rpy="0.323 0.549 0" xyz="0.0 -0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="LF_MOUNT_TO_SENSOR"/>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RF_HIP">
<visual>
<origin rpy="0 -1.57079632679 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0585 -0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0542 0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="6.4285329973e-05" ixz="6.9990104e-08" iyy="0.000993231183395" iyz="-2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RF_HAA" type="revolute">
<parent link="base"/>
<child link="RF_HIP"/>
<origin xyz="0.2629 -0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RF_THIGH">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="-0.145 0 0" xyz="0 -0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0008 -0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="1.7996507882e-05" ixz="0.000205877679383" iyy="0.0144188925719" iyz="0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HIP"/>
<child link="RF_THIGH"/>
<origin xyz="0.0585 -0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RF_SHANK">
<visual>
<origin rpy="3.14159265359 3.14159265359 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_RF.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 -0.9 0.2" xyz="0.04 0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="0.0 0.34 0" xyz="0.06 0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.016355414056 0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="7.7334500762e-05" ixz="-0.000152069372983" iyy="0.00400446467635" iyz="0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_THIGH"/>
<child link="RF_SHANK"/>
<origin xyz="0.0 -0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="RF_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-5.552058e-06 -7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="-4.16901601e-07" ixz="3.99054799e-07" iyy="8.2860209667e-05" iyz="3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="RF_ANKLE_JOINT" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_FOOT_MOUNT"/>
<origin rpy="-0.323 0.549 0" xyz="0.0 0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="RF_MOUNT_TO_SENSOR"/>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LH_HIP">
<visual>
<origin rpy="0 -1.5707963268 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="-0.0585 0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0542 -0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="6.4285329973e-05" ixz="-6.9990104e-08" iyy="0.000993231183395" iyz="2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LH_HAA" type="revolute">
<parent link="base"/>
<child link="LH_HIP"/>
<origin xyz="-0.2629 0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LH_THIGH">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0.145 0 0" xyz="0 0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0008 0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="1.7996507882e-05" ixz="-0.000205877679383" iyy="0.0144188925719" iyz="-0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HIP"/>
<child link="LH_THIGH"/>
<origin xyz="-0.0585 0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="LH_SHANK">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_LH.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 0.9 0.2" xyz="-0.04 -0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="-0.0 -0.34 0" xyz="-0.06 -0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.016355414056 -0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="7.7334500762e-05" ixz="0.000152069372983" iyy="0.00400446467635" iyz="-0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_THIGH"/>
<child link="LH_SHANK"/>
<origin xyz="-0.0 0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="LH_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="5.552058e-06 7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="-4.16901601e-07" ixz="-3.99054799e-07" iyy="8.2860209667e-05" iyz="-3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="LH_ANKLE_JOINT" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_FOOT_MOUNT"/>
<origin rpy="0.323 -0.549 0" xyz="-0.0 -0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="LH_MOUNT_TO_SENSOR"/>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RH_HIP">
<visual>
<origin rpy="1.5707963268 1.5707963268 -1.5707963268" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="-0.0585 -0.0315 0.0"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0542 0.0136 0.0"/>
<mass value="1.1064"/>
<inertia ixx="0.00123301508523" ixy="-6.4285329973e-05" ixz="-6.9990104e-08" iyy="0.000993231183395" iyz="-2.327401345e-06" izz="0.00142160349098"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RH_HAA" type="revolute">
<parent link="base"/>
<child link="RH_HIP"/>
<origin xyz="-0.2629 -0.115 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RH_THIGH">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="-0.145 0 0" xyz="0 -0.02 -0.1"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
</collision-->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.07 -0.25"/>
<geometry>
<cylinder length="0.08" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0008 -0.0545 -0.1975"/>
<mass value="1.51"/>
<inertia ixx="0.0147571628275" ixy="-1.7996507882e-05" ixz="-0.000205877679383" iyy="0.0144188925719" iyz="0.00181291342366" izz="0.00178449075964"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HIP"/>
<child link="RH_THIGH"/>
<origin xyz="-0.0585 -0.0315 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [Nm] -->
<link name="RH_SHANK">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_shank_2_RH.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<!--collision>
<origin rpy="0 0.9 -0.2" xyz="-0.04 0.02 -0.04"/>
<geometry>
<cylinder length="0.13" radius="0.015"/>
</geometry>
</collision-->
<collision>
<origin rpy="0.0 -0.34 0" xyz="-0.06 0.03 -0.18"/>
<geometry>
<cylinder length="0.19" radius="0.015"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.016355414056 0.00562219106 -0.064350437219"/>
<mass value="0.318"/>
<inertia ixx="0.0037693717909" ixy="-7.7334500762e-05" ixz="0.000152069372983" iyy="0.00400446467635" iyz="0.0003218356083" izz="0.000418471691904"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_THIGH"/>
<child link="RH_SHANK"/>
<origin xyz="-0.0 -0.111 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Foot mount link -->
<link name="RH_FOOT_MOUNT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="5.552058e-06 -7.1133124e-05 -0.021388647779"/>
<mass value="0.1922685"/>
<inertia ixx="8.3086410294e-05" ixy="4.16901601e-07" ixz="-3.99054799e-07" iyy="8.2860209667e-05" iyz="3.45712252e-07" izz="8.1948124086e-05"/>
</inertial>
</link>
<!-- Foot mount joint / ankle -->
<joint name="RH_ANKLE_JOINT" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_FOOT_MOUNT"/>
<origin rpy="-0.323 -0.549 0" xyz="-0.0 0.016 -0.31"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT_SENSOR">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="RH_MOUNT_TO_SENSOR"/>
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.011"/>
<geometry>
<box size="0.058 0.058 0.022"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.011"/>
<geometry>
<box size="0.058 0.058 0.022"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin xyz="0 0 0"/>
<inertia ixx="1.60333333333e-05" ixy="0.0" ixz="0.0" iyy="2.80333333333e-05" iyz="0.0" izz="1.60333333333e-05"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="3.14159265359 0 0" xyz="0.0245 -0.04255 0.1857"/>
</joint>
<gazebo reference="imu_link">
<material>Gazebo/Orange</material>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<gazebo reference="imu_joint">
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_plugin">
<robotNamespace>sensors</robotNamespace>
<bodyName>imu_link</bodyName>
<frameId>/imu_link</frameId>
<topicName>imu</topicName>
<biasTopicName>imu/bias</biasTopicName>
<serviceName>imu/calibrate</serviceName>
<updateRate>400</updateRate>
</plugin>
</gazebo>
<!-- Omniview -->
<!-- <xacro:include filename="$(find anymal_beth_description)/urdf/omniview/anymal_beth_omniview_macro.urdf.xacro"/> -->
<!-- <xacro:anymal_beth_omniview_mesh link_name="omniview_mesh_front" parent_name="base" joint_name="omniview_mesh_front_joint"> -->
<!-- <origin xyz="0.3312 0.0 0.025" rpy="-1.57079632679 0.0 0.0"/> -->
<!-- </xacro:anymal_beth_omniview_mesh> -->
<!-- <xacro:anymal_beth_omniview_mesh link_name="omniview_mesh_back" parent_name="base" joint_name="omniview_mesh_back_joint"> -->
<!-- <origin xyz="-0.3312 0.0 0.025" rpy="-1.57079632679 0.0 3.14159265359"/> -->
<!-- </xacro:anymal_beth_omniview_mesh> -->
<!--<link name="static_lidar_front"/>-->
<!--<joint name="base_to_static_lidar_front" type="fixed">-->
<!--<origin rpy="1.57079632679 0.0 1.57079632679" xyz="0.2 0.0 0.1415"/>-->
<!--<parent link="base"/>-->
<!--<child link="static_lidar_front"/>-->
<!--<origin rpy="0 0 0" xyz="0 0 0"/>-->
<!--</joint>-->
<!-- <xacro:anymal_lidar_fix name="static_lidar_back" parent="base" dynamixel_lidar_offset="0.1515">
<origin xyz="-0.2 0.0 0.1415" rpy="1.57079632679 0.0 -1.57079632679"/>
</xacro:anymal_lidar_fix> -->
</robot>

51
examples/pybullet/gym/pybullet_envs/examples/ANYmal.py
View File

@ -1,51 +0,0 @@
import pybullet as p
import pybullet_data
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
p.changeVisualShape(ground,-1,rgbaColor=[1,1,1,0.8])
#p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
print("hasNumpy = ",p.isNumpyEnabled())
anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[3,3,3], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False)
p.resetSimulation()
ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
#todo, tweak this value to trade solver quality versus performance
p.setPhysicsEngineParameter(solverResidualThreshold=1e-2)
index = 0
numX = 10
numY = 10
for i in range (numX):
for j in range (numY):
print("loading animal ", index)
index+=1
#anymal = p.loadURDF("atlas/atlas_v4_with_multisense.urdf",[i*3,j*3,1], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[(i-numX/2)*2,(j-numY/2)*2,0.6], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False)
for j in range(p.getNumJoints(anymal)):
p.setJointMotorControl2(anymal,j,p.POSITION_CONTROL,targetPosition=0, force=500)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.setGravity(0,0,-10)
#p.setRealTimeSimulation(1)
while (1):
p.stepSimulation()
time.sleep(1./240.)