D1 arm assets added and ocp example updated.
This commit is contained in:
Rooholla-KhorramBakht
parent
4aca24c569
commit
b6bdcda7e3
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@ -43,16 +43,17 @@ SHELL ["conda", "run", "-n", "base", "/bin/bash", "-c"]
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ENV CONDA_PREFIX /opt/conda
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ENV CONDA_PREFIX /opt/conda
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# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
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# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
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RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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# RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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# git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
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# cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
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# Install Python dependencies
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# Install Python dependencies
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RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
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RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
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RUN pip install matplotlib opencv-python proxsuite scipy isort black
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RUN pip install matplotlib opencv-python proxsuite scipy isort black
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RUN pip install warp-lang scikit-learn casadi
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RUN pip install warp-lang scikit-learn casadi
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RUN pip install onnx onnxruntime
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RUN pip install cyclonedds pygame pynput onnx onnxruntime jupyter ipykernel meshcat mujoco
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# RUN pip install cyclonedds pygame pynput jupyter ipykernel
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RUN pip install meshcat mujoco
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RUN conda install -y -c conda-forge \
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RUN conda install -y -c conda-forge \
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pinocchio \
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pinocchio \
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crocoddyl \
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crocoddyl \
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@ -0,0 +1,59 @@
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<mujoco model="d1_description">
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<compiler angle="radian" meshdir="../" autolimits="true"/>
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<asset>
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<mesh name="base_link" file="d1_assets/stl/base_link.STL"/>
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<mesh name="Link1" file="d1_assets/stl/Link1.STL"/>
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<mesh name="Link2" file="d1_assets/stl/Link2.STL"/>
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<mesh name="Link3" file="d1_assets/stl/Link3.STL"/>
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<mesh name="Link4" file="d1_assets/stl/Link4.STL"/>
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<mesh name="Link5" file="d1_assets/stl/Link5.STL"/>
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<mesh name="Link6" file="d1_assets/stl/Link6.STL"/>
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<mesh name="Link7_1" file="d1_assets/stl/Link7_1.STL"/>
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<mesh name="Link7_2" file="d1_assets/stl/Link7_2.STL"/>
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</asset>
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<worldbody>
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<geom type="mesh" rgba="1 1 1 1" mesh="base_link"/>
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<body name="Link1" pos="0 0 0.0533" quat="-3.67321e-06 0 0 -1">
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<inertial pos="0.0024649 0.00010517 0.032696" quat="0.999717 -0.0236435 -0.00169588 -0.00221682" mass="0.13174" diaginertia="6.72365e-05 5.41766e-05 4.66199e-05"/>
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<joint name="Joint1" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link1"/>
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<body name="Link2" pos="0 0.028 0.0563" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
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<inertial pos="0.0002018 0.19201 -0.027007" quat="0.706347 0.707865 -0.00093681 0.00051949" mass="0.20213" diaginertia="0.00025682 0.000229681 6.33062e-05"/>
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<joint name="Joint2" pos="0 0 0" axis="0 0 -1" range="-1.57 1.57"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link2"/>
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<body name="Link3" pos="0 0.2693 0.0009">
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<inertial pos="0.015164 0.044482 -0.027461" quat="0.690744 0.690771 -0.151176 -0.151179" mass="0.0629" diaginertia="1.84718e-05 1.4964e-05 1.13662e-05"/>
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<joint name="Joint3" pos="0 0 0" axis="0 0 -1" range="-1.57 1.57"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link3"/>
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<body name="Link4" pos="0.0577 0.042 -0.0275" quat="0.499998 -0.5 0.500002 -0.5">
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<inertial pos="-0.00029556 -0.00016104 0.091339" quat="0.999998 -3.46195e-05 0.00170171 0.00102754" mass="0.083332" diaginertia="3.93083e-05 3.4378e-05 1.15967e-05"/>
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<joint name="Joint4" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link4"/>
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<body name="Link5" pos="-0.0001 -0.0237 0.14018" quat="0.499998 0.5 -0.5 0.500002">
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<inertial pos="0.040573 0.0062891 -0.023838" quat="0.706153 0.706691 -0.0310982 -0.0311281" mass="0.053817" diaginertia="1.31069e-05 1.1049e-05 8.59523e-06"/>
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<joint name="Joint5" pos="0 0 0" axis="0 0 -1" range="-1.57 1.57"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link5"/>
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<body name="Link6" pos="0.0825 -0.0010782 -0.023822" quat="0.499998 -0.5 0.500002 -0.5">
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<inertial pos="-0.0068528 -3.9973e-06 0.039705" quat="0.494949 0.495288 -0.504676 0.504992" mass="0.077892" diaginertia="4.8843e-05 3.8232e-05 1.7707e-05"/>
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<joint name="Joint6" pos="0 0 0" axis="0 0 -1" range="-2.35 2.35"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link6"/>
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<body name="Link7_1" pos="-0.0056012 -0.029636 0.0706" quat="0.499848 -0.50015 -0.49985 -0.500152">
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<inertial pos="0.018927 0.006 0.012082" quat="0 0.677073 0 0.735916" mass="0.015046" diaginertia="2.62715e-06 2.0229e-06 1.25975e-06"/>
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<joint name="Joint7_1" pos="0 0 0" axis="0 0 -1" type="slide" range="0 0.03"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link7_1"/>
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</body>
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<body name="Link7_2" pos="-0.0056388 0.02964 0.0706" quat="0.500148 0.49985 -0.50015 0.499852">
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<inertial pos="0.018927 -0.006 0.012082" quat="0 0.677073 0 0.735916" mass="0.015046" diaginertia="2.62715e-06 2.0229e-06 1.25975e-06"/>
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<joint name="Joint7_2" pos="0 0 0" axis="0 0 1" type="slide" range="-0.03 0"/>
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<geom type="mesh" rgba="1 1 1 1" mesh="Link7_2"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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@ -1,5 +1,5 @@
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<mujoco model="go2">
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<mujoco model="go2">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<compiler angle="radian" meshdir="../" autolimits="true"/>
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<option cone="elliptic" impratio="100"/>
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<option cone="elliptic" impratio="100"/>
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@ -46,22 +46,22 @@
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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<mesh file="base_0.obj"/>
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<mesh file="go2_assets/obj/base_0.obj"/>
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<mesh file="base_1.obj"/>
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<mesh file="go2_assets/obj/base_1.obj"/>
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<mesh file="base_2.obj"/>
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<mesh file="go2_assets/obj/base_2.obj"/>
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<mesh file="base_3.obj"/>
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<mesh file="go2_assets/obj/base_3.obj"/>
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<mesh file="base_4.obj"/>
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<mesh file="go2_assets/obj/base_4.obj"/>
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<mesh file="hip_0.obj"/>
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<mesh file="go2_assets/obj/hip_0.obj"/>
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<mesh file="hip_1.obj"/>
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<mesh file="go2_assets/obj/hip_1.obj"/>
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<mesh file="thigh_0.obj"/>
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<mesh file="go2_assets/obj/thigh_0.obj"/>
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<mesh file="thigh_1.obj"/>
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<mesh file="go2_assets/obj/thigh_1.obj"/>
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<mesh file="thigh_mirror_0.obj"/>
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<mesh file="go2_assets/obj/thigh_mirror_0.obj"/>
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<mesh file="thigh_mirror_1.obj"/>
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<mesh file="go2_assets/obj/thigh_mirror_1.obj"/>
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<mesh file="calf_0.obj"/>
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<mesh file="go2_assets/obj/calf_0.obj"/>
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<mesh file="calf_1.obj"/>
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<mesh file="go2_assets/obj/calf_1.obj"/>
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<mesh file="calf_mirror_0.obj"/>
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<mesh file="go2_assets/obj/calf_mirror_0.obj"/>
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<mesh file="calf_mirror_1.obj"/>
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<mesh file="go2_assets/obj/calf_mirror_1.obj"/>
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<mesh file="foot.obj"/>
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<mesh file="go2_assets/obj/foot.obj"/>
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</asset>
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</asset>
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<worldbody>
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<worldbody>
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@ -0,0 +1,306 @@
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<mujoco model="go2">
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<compiler angle="radian" meshdir="../" autolimits="true"/>
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<option cone="elliptic" impratio="100"/>
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<default>
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<default class="go2">
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<geom friction="0.6" margin="0.001" condim="1"/>
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<joint axis="0 1 0" damping="0" armature="0.01" frictionloss="0.2"/>
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<motor ctrlrange="-23.7 23.7"/>
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<default class="abduction">
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<joint axis="1 0 0" range="-1.0472 1.0472"/>
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</default>
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<default class="hip">
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<default class="front_hip">
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<joint range="-1.5708 3.4907"/>
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</default>
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<default class="back_hip">
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<joint range="-0.5236 4.5379"/>
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</default>
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</default>
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<default class="knee">
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<joint range="-2.7227 -0.83776"/>
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<motor ctrlrange="-45.43 45.43"/>
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</default>
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<default class="arm">
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<joint range="-2.7227 -0.83776"/>
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<motor ctrlrange="-45.43 45.43"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom group="3"/>
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<default class="foot">
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<geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.031" condim="6"
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friction="0.8 0.02 0.01"/>
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</default>
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</default>
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</default>
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</default>
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<asset>
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<hfield name="terrain" nrow="300" ncol="300" size="5 5 1. 0.1"/>
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<material name="metal" rgba=".9 .95 .95 1"/>
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<material name="black" rgba="0 0 0 1"/>
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<material name="white" rgba="1 1 1 1"/>
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<material name="gray" rgba="0.671705 0.692426 0.774270 1"/>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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<mesh file="go2_assets/obj/base_0.obj"/>
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<mesh file="go2_assets/obj/base_1.obj"/>
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<mesh file="go2_assets/obj/base_2.obj"/>
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<mesh file="go2_assets/obj/base_3.obj"/>
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<mesh file="go2_assets/obj/base_4.obj"/>
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<mesh file="go2_assets/obj/hip_0.obj"/>
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<mesh file="go2_assets/obj/hip_1.obj"/>
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<mesh file="go2_assets/obj/thigh_0.obj"/>
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<mesh file="go2_assets/obj/thigh_1.obj"/>
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<mesh file="go2_assets/obj/thigh_mirror_0.obj"/>
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<mesh file="go2_assets/obj/thigh_mirror_1.obj"/>
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<mesh file="go2_assets/obj/calf_0.obj"/>
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<mesh file="go2_assets/obj/calf_1.obj"/>
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<mesh file="go2_assets/obj/calf_mirror_0.obj"/>
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<mesh file="go2_assets/obj/calf_mirror_1.obj"/>
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<mesh file="go2_assets/obj/foot.obj"/>
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<mesh name="base_link" file="d1_assets/stl/base_link.STL"/>
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<mesh name="Link1" file="d1_assets/stl/Link1.STL"/>
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<mesh name="Link2" file="d1_assets/stl/Link2.STL"/>
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<mesh name="Link3" file="d1_assets/stl/Link3.STL"/>
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<mesh name="Link4" file="d1_assets/stl/Link4.STL"/>
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<mesh name="Link5" file="d1_assets/stl/Link5.STL"/>
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<mesh name="Link6" file="d1_assets/stl/Link6.STL"/>
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<mesh name="Link7_1" file="d1_assets/stl/Link7_1.STL"/>
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<mesh name="Link7_2" file="d1_assets/stl/Link7_2.STL"/>
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</asset>
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<worldbody>
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<geom name="heightfield" pos="0.0 0.0 -0.1" type="hfield" hfield="terrain"/>
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
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<body name="base" pos="0 0 0.445" childclass="go2">
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<light pos="0.0 0.0 2.5" />
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<camera name="front_camera" mode="fixed" pos="0.321618 0.033305 0.081622" euler="1.57079632679 0. 0." resolution="640 480" fovy="45."/>
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<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921"
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diaginertia="0.107027 0.0980771 0.0244531"/>
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<freejoint/>
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<geom mesh="base_0" material="black" class="visual"/>
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<geom mesh="base_1" material="black" class="visual"/>
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<geom mesh="base_2" material="black" class="visual"/>
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<geom mesh="base_3" material="white" class="visual"/>
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<geom mesh="base_4" material="gray" class="visual"/>
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<geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
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<geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
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<geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
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<site name="imu" pos="-0.02557 0 0.04232"/>
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<body name="FR_hip" pos="0.1934 -0.0465 0">
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<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="FR_hip_joint" class="abduction"/>
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<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0"/>
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<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
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<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
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<body name="FR_thigh" pos="0 -0.0955 0">
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<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="FR_thigh_joint" class="front_hip"/>
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<geom mesh="thigh_mirror_0" material="metal" class="visual"/>
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<geom mesh="thigh_mirror_1" material="gray" class="visual"/>
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision"/>
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<body name="FR_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
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mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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||||||
|
<joint name="FR_calf_joint" class="knee"/>
|
||||||
|
<geom mesh="calf_mirror_0" material="gray" class="visual"/>
|
||||||
|
<geom mesh="calf_mirror_1" material="black" class="visual"/>
|
||||||
|
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision"/>
|
||||||
|
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision"/>
|
||||||
|
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
|
||||||
|
<geom name="FR" class="foot"/>
|
||||||
|
<site name="FR_foot" pos="0 0 -0.213" size="0.02"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="FL_hip" pos="0.1934 0.0465 0">
|
||||||
|
<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678"
|
||||||
|
diaginertia="0.00088403 0.000596003 0.000479967"/>
|
||||||
|
<joint name="FL_hip_joint" class="abduction"/>
|
||||||
|
<geom mesh="hip_0" material="metal" class="visual"/>
|
||||||
|
<geom mesh="hip_1" material="gray" class="visual"/>
|
||||||
|
<geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision"/>
|
||||||
|
<body name="FL_thigh" pos="0 0.0955 0">
|
||||||
|
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
|
||||||
|
diaginertia="0.00594973 0.00584149 0.000878787"/>
|
||||||
|
<joint name="FL_thigh_joint" class="front_hip"/>
|
||||||
|
<geom mesh="thigh_0" material="metal" class="visual"/>
|
||||||
|
<geom mesh="thigh_1" material="gray" class="visual"/>
|
||||||
|
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision"/>
|
||||||
|
<body name="FL_calf" pos="0 0 -0.213">
|
||||||
|
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
|
||||||
|
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
|
||||||
|
<joint name="FL_calf_joint" class="knee"/>
|
||||||
|
<geom mesh="calf_0" material="gray" class="visual"/>
|
||||||
|
<geom mesh="calf_1" material="black" class="visual"/>
|
||||||
|
<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision"/>
|
||||||
|
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision"/>
|
||||||
|
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
|
||||||
|
<geom name="FL" class="foot"/>
|
||||||
|
<site name="FL_foot" pos="0 0 -0.213" size="0.02"/>
|
||||||
|
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="RR_hip" pos="-0.1934 -0.0465 0">
|
||||||
|
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678"
|
||||||
|
diaginertia="0.00088403 0.000596003 0.000479967"/>
|
||||||
|
<joint name="RR_hip_joint" class="abduction"/>
|
||||||
|
<geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
|
||||||
|
<geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
|
||||||
|
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
|
||||||
|
<body name="RR_thigh" pos="0 -0.0955 0">
|
||||||
|
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
|
||||||
|
diaginertia="0.00594973 0.00584149 0.000878787"/>
|
||||||
|
<joint name="RR_thigh_joint" class="back_hip"/>
|
||||||
|
<geom mesh="thigh_mirror_0" material="metal" class="visual"/>
|
||||||
|
<geom mesh="thigh_mirror_1" material="gray" class="visual"/>
|
||||||
|
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision"/>
|
||||||
|
<body name="RR_calf" pos="0 0 -0.213">
|
||||||
|
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
|
||||||
|
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
|
||||||
|
<joint name="RR_calf_joint" class="knee"/>
|
||||||
|
<geom mesh="calf_mirror_0" material="gray" class="visual"/>
|
||||||
|
<geom mesh="calf_mirror_1" material="black" class="visual"/>
|
||||||
|
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision"/>
|
||||||
|
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision"/>
|
||||||
|
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
|
||||||
|
<geom name="RR" class="foot"/>
|
||||||
|
<site name="RR_foot" pos="0 0 -0.213" size="0.02"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="RL_hip" pos="-0.1934 0.0465 0">
|
||||||
|
<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678"
|
||||||
|
diaginertia="0.00088403 0.000596003 0.000479967"/>
|
||||||
|
<joint name="RL_hip_joint" class="abduction"/>
|
||||||
|
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0"/>
|
||||||
|
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
|
||||||
|
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
|
||||||
|
<body name="RL_thigh" pos="0 0.0955 0">
|
||||||
|
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
|
||||||
|
diaginertia="0.00594973 0.00584149 0.000878787"/>
|
||||||
|
<joint name="RL_thigh_joint" class="back_hip"/>
|
||||||
|
<geom mesh="thigh_0" material="metal" class="visual"/>
|
||||||
|
<geom mesh="thigh_1" material="gray" class="visual"/>
|
||||||
|
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision"/>
|
||||||
|
<body name="RL_calf" pos="0 0 -0.213">
|
||||||
|
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
|
||||||
|
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
|
||||||
|
<joint name="RL_calf_joint" class="knee"/>
|
||||||
|
<geom mesh="calf_0" material="gray" class="visual"/>
|
||||||
|
<geom mesh="calf_1" material="black" class="visual"/>
|
||||||
|
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision"/>
|
||||||
|
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision"/>
|
||||||
|
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
|
||||||
|
<geom name="RL" class="foot"/>
|
||||||
|
<site name="RL_foot" pos="0 0 -0.213" size="0.02"/>
|
||||||
|
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="d1_base" pos="0 0 0.0533" quat="1. 0. 0. 0.">
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="base_link"/>
|
||||||
|
<body name="Link1" pos="0 0 0.0533" quat="-3.67321e-06 0 0 -1">
|
||||||
|
<inertial pos="0.0024649 0.00010517 0.032696" quat="0.999717 -0.0236435 -0.00169588 -0.00221682" mass="0.13174" diaginertia="6.72365e-05 5.41766e-05 4.66199e-05"/>
|
||||||
|
<joint name="Joint1" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link1"/>
|
||||||
|
<body name="Link2" pos="0 0.028 0.0563" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
|
||||||
|
<inertial pos="0.0002018 0.19201 -0.027007" quat="0.706347 0.707865 -0.00093681 0.00051949" mass="0.20213" diaginertia="0.00025682 0.000229681 6.33062e-05"/>
|
||||||
|
<joint name="Joint2" pos="0 0 0" axis="0 0 -1" range="-1.57 1.57"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link2"/>
|
||||||
|
<body name="Link3" pos="0 0.2693 0.0009">
|
||||||
|
<inertial pos="0.015164 0.044482 -0.027461" quat="0.690744 0.690771 -0.151176 -0.151179" mass="0.0629" diaginertia="1.84718e-05 1.4964e-05 1.13662e-05"/>
|
||||||
|
<joint name="Joint3" pos="0 0 0" axis="0 0 -1" range="-1.57 1.57"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link3"/>
|
||||||
|
<body name="Link4" pos="0.0577 0.042 -0.0275" quat="0.499998 -0.5 0.500002 -0.5">
|
||||||
|
<inertial pos="-0.00029556 -0.00016104 0.091339" quat="0.999998 -3.46195e-05 0.00170171 0.00102754" mass="0.083332" diaginertia="3.93083e-05 3.4378e-05 1.15967e-05"/>
|
||||||
|
<joint name="Joint4" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link4"/>
|
||||||
|
<body name="Link5" pos="-0.0001 -0.0237 0.14018" quat="0.499998 0.5 -0.5 0.500002">
|
||||||
|
<inertial pos="0.040573 0.0062891 -0.023838" quat="0.706153 0.706691 -0.0310982 -0.0311281" mass="0.053817" diaginertia="1.31069e-05 1.1049e-05 8.59523e-06"/>
|
||||||
|
<joint name="Joint5" pos="0 0 0" axis="0 0 -1" range="-1.57 1.57"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link5"/>
|
||||||
|
<body name="Link6" pos="0.0825 -0.0010782 -0.023822" quat="0.499998 -0.5 0.500002 -0.5">
|
||||||
|
<inertial pos="-0.0068528 -3.9973e-06 0.039705" quat="0.494949 0.495288 -0.504676 0.504992" mass="0.077892" diaginertia="4.8843e-05 3.8232e-05 1.7707e-05"/>
|
||||||
|
<joint name="Joint6" pos="0 0 0" axis="0 0 -1" range="-2.35 2.35"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link6"/>
|
||||||
|
<body name="Link7_1" pos="-0.0056012 -0.029636 0.0706" quat="0.499848 -0.50015 -0.49985 -0.500152">
|
||||||
|
<inertial pos="0.018927 0.006 0.012082" quat="0 0.677073 0 0.735916" mass="0.015046" diaginertia="2.62715e-06 2.0229e-06 1.25975e-06"/>
|
||||||
|
<joint name="Joint7_1" pos="0 0 0" axis="0 0 -1" type="slide" range="0 0.03"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link7_1"/>
|
||||||
|
</body>
|
||||||
|
<body name="Link7_2" pos="-0.0056388 0.02964 0.0706" quat="0.500148 0.49985 -0.50015 0.499852">
|
||||||
|
<inertial pos="0.018927 -0.006 0.012082" quat="0 0.677073 0 0.735916" mass="0.015046" diaginertia="2.62715e-06 2.0229e-06 1.25975e-06"/>
|
||||||
|
<joint name="Joint7_2" pos="0 0 0" axis="0 0 1" type="slide" range="-0.03 0"/>
|
||||||
|
<geom type="mesh" rgba="1 1 1 1" mesh="Link7_2"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</body>
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor class="abduction" name="FR_hip" joint="FR_hip_joint"/>
|
||||||
|
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
|
||||||
|
<motor class="knee" name="FR_calf" joint="FR_calf_joint"/>
|
||||||
|
<motor class="abduction" name="FL_hip" joint="FL_hip_joint"/>
|
||||||
|
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
|
||||||
|
<motor class="knee" name="FL_calf" joint="FL_calf_joint"/>
|
||||||
|
<motor class="abduction" name="RR_hip" joint="RR_hip_joint"/>
|
||||||
|
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
|
||||||
|
<motor class="knee" name="RR_calf" joint="RR_calf_joint"/>
|
||||||
|
<motor class="abduction" name="RL_hip" joint="RL_hip_joint"/>
|
||||||
|
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
|
||||||
|
<motor class="knee" name="RL_calf" joint="RL_calf_joint"/>
|
||||||
|
|
||||||
|
<motor class="arm" name="Link1" joint="Joint1"/>
|
||||||
|
<motor class="arm" name="Link2" joint="Joint2"/>
|
||||||
|
<motor class="arm" name="Link3" joint="Joint3"/>
|
||||||
|
<motor class="arm" name="Link4" joint="Joint4"/>
|
||||||
|
<motor class="arm" name="Link5" joint="Joint5"/>
|
||||||
|
<motor class="arm" name="Link6" joint="Joint6"/>
|
||||||
|
<motor class="arm" name="Link7_1" joint="Joint7_1"/>
|
||||||
|
<motor class="arm" name="Link7_2" joint="Joint7_2"/>
|
||||||
|
|
||||||
|
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<sensor>
|
||||||
|
<!-- IMU -->
|
||||||
|
<accelerometer name="imu_accel" site="imu"/>
|
||||||
|
<gyro name="imu_gyro" site="imu"/>
|
||||||
|
<!-- Contact sensors for the feet -->
|
||||||
|
<touch name="FR_foot_contact" site="FR_foot"/>
|
||||||
|
<touch name="FL_foot_contact" site="RL_foot"/>
|
||||||
|
<touch name="RR_foot_contact" site="RR_foot"/>
|
||||||
|
<touch name="RL_foot_contact" site="RL_foot"/>
|
||||||
|
</sensor>
|
||||||
|
|
||||||
|
<keyframe>
|
||||||
|
<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0 0 0 0 0 0 0"
|
||||||
|
ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0 0 0 0 0 0 0"/>
|
||||||
|
</keyframe>
|
||||||
|
</mujoco>
|
||||||
Binary file not shown.
|
|
@ -0,0 +1,511 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||||
|
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||||
|
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||||
|
<robot
|
||||||
|
name="d1_description">
|
||||||
|
<link
|
||||||
|
name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-0.00048697 -2.9605E-12 0.017142"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.077233" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00010316"
|
||||||
|
ixy="-1.0285E-14"
|
||||||
|
ixz="2.0449E-07"
|
||||||
|
iyy="0.00011888"
|
||||||
|
iyz="7.3026E-15"
|
||||||
|
izz="0.00018362" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/base_link.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/base_link.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<link
|
||||||
|
name="Link1">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.0024649 0.00010517 0.032696"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.13174" />
|
||||||
|
<inertia
|
||||||
|
ixx="6.7236E-05"
|
||||||
|
ixy="-5.5664E-08"
|
||||||
|
ixz="7.0454E-08"
|
||||||
|
iyy="5.416E-05"
|
||||||
|
iyz="-3.5709E-07"
|
||||||
|
izz="4.6637E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link1.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link1.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint1"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.0533"
|
||||||
|
rpy="0 0 -3.1416" />
|
||||||
|
<parent
|
||||||
|
link="base_link" />
|
||||||
|
<child
|
||||||
|
link="Link1" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
<limit
|
||||||
|
lower="-2.35"
|
||||||
|
upper="2.35"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link2">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.0002018 0.19201 -0.027007"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.20213" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00025682"
|
||||||
|
ixy="-1.139E-07"
|
||||||
|
ixz="5.5667E-08"
|
||||||
|
iyy="6.3307E-05"
|
||||||
|
iyz="-3.5717E-07"
|
||||||
|
izz="0.00022968" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link2.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="stl/Link2.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint2"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0.028 0.0563"
|
||||||
|
rpy="1.5708 0 -3.1416" />
|
||||||
|
<parent
|
||||||
|
link="Link1" />
|
||||||
|
<child
|
||||||
|
link="Link2" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 -1" />
|
||||||
|
<limit
|
||||||
|
lower="-1.57"
|
||||||
|
upper="1.57"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link3">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.015164 0.044482 -0.027461"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.0629" />
|
||||||
|
<inertia
|
||||||
|
ixx="1.7232E-05"
|
||||||
|
ixy="-2.6967E-06"
|
||||||
|
ixz="-9.4911E-11"
|
||||||
|
iyy="1.2606E-05"
|
||||||
|
iyz="-9.9169E-11"
|
||||||
|
izz="1.4964E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link3.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link3.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint3"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0.2693 0.0009"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link2" />
|
||||||
|
<child
|
||||||
|
link="Link3" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 -1" />
|
||||||
|
<limit
|
||||||
|
lower="-1.57"
|
||||||
|
upper="1.57"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link4">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-0.00029556 -0.00016104 0.091339"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.083332" />
|
||||||
|
<inertia
|
||||||
|
ixx="3.9308E-05"
|
||||||
|
ixy="1.0126E-08"
|
||||||
|
ixz="-9.4316E-08"
|
||||||
|
iyy="3.4378E-05"
|
||||||
|
iyz="-1.6915E-09"
|
||||||
|
izz="1.1597E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link4.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link4.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint4"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0.0577 0.042 -0.0275"
|
||||||
|
rpy="-1.5708 0 -1.5708" />
|
||||||
|
<parent
|
||||||
|
link="Link3" />
|
||||||
|
<child
|
||||||
|
link="Link4" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
<limit
|
||||||
|
lower="-2.35"
|
||||||
|
upper="2.35"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link5">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.040573 0.0062891 -0.023838"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.053817" />
|
||||||
|
<inertia
|
||||||
|
ixx="1.3072E-05"
|
||||||
|
ixy="-3.9511E-07"
|
||||||
|
ixz="-3.1889E-10"
|
||||||
|
iyy="8.6301E-06"
|
||||||
|
iyz="-1.8416E-09"
|
||||||
|
izz="1.1049E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link5.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link5.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint5"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="-0.0001 -0.0237 0.14018"
|
||||||
|
rpy="1.5708 -1.5708 0" />
|
||||||
|
<parent
|
||||||
|
link="Link4" />
|
||||||
|
<child
|
||||||
|
link="Link5" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 -1" />
|
||||||
|
<limit
|
||||||
|
lower="-1.57"
|
||||||
|
upper="1.57"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link6">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-0.0068528 -3.9973E-06 0.039705"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.077892" />
|
||||||
|
<inertia
|
||||||
|
ixx="3.8236E-05"
|
||||||
|
ixy="1.3465E-08"
|
||||||
|
ixz="-2.0614E-07"
|
||||||
|
iyy="1.7707E-05"
|
||||||
|
iyz="-6.7117E-10"
|
||||||
|
izz="4.8839E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link6.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link6.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint6"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0.0825 -0.0010782 -0.023822"
|
||||||
|
rpy="-1.5708 0 -1.5708" />
|
||||||
|
<parent
|
||||||
|
link="Link5" />
|
||||||
|
<child
|
||||||
|
link="Link6" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 -1" />
|
||||||
|
<limit
|
||||||
|
lower="-2.35"
|
||||||
|
upper="2.35"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link7_1">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.018927 0.006 0.012082"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.015046" />
|
||||||
|
<inertia
|
||||||
|
ixx="1.2692E-06"
|
||||||
|
ixy="7.7441E-20"
|
||||||
|
ixz="-1.133E-07"
|
||||||
|
iyy="2.0229E-06"
|
||||||
|
iyz="1.2044E-20"
|
||||||
|
izz="2.6177E-06" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link7_1.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link7_1.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint7_1"
|
||||||
|
type="prismatic">
|
||||||
|
<origin
|
||||||
|
xyz="-0.0056012 -0.029636 0.0706"
|
||||||
|
rpy="-1.5714 -1.5708 0" />
|
||||||
|
<parent
|
||||||
|
link="Link6" />
|
||||||
|
<child
|
||||||
|
link="Link7_1" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 -1" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0.03"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link7_2">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.018927 -0.006 0.012082"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.015046" />
|
||||||
|
<inertia
|
||||||
|
ixx="1.2692E-06"
|
||||||
|
ixy="-7.8273E-20"
|
||||||
|
ixz="-1.133E-07"
|
||||||
|
iyy="2.0229E-06"
|
||||||
|
iyz="-1.2122E-20"
|
||||||
|
izz="2.6177E-06" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link7_2.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="../stl/Link7_2.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="Joint7_2"
|
||||||
|
type="prismatic">
|
||||||
|
<origin
|
||||||
|
xyz="-0.0056388 0.02964 0.0706"
|
||||||
|
rpy="1.5702 -1.5708 0" />
|
||||||
|
<parent
|
||||||
|
link="Link6" />
|
||||||
|
<child
|
||||||
|
link="Link7_2" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
<limit
|
||||||
|
lower="-0.03"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
|
|
@ -69,7 +69,7 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
<child link="Head_lower"/>
|
<child link="Head_lower"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FL_hip">
|
<link name="FL_HAA">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="-0.0054 0.00194 -0.000105"/>
|
<origin rpy="0 0 0" xyz="-0.0054 0.00194 -0.000105"/>
|
||||||
<mass value="0.678"/>
|
<mass value="0.678"/>
|
||||||
|
|
@ -91,15 +91,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision> -->
|
</collision> -->
|
||||||
</link>
|
</link>
|
||||||
<joint name="FL_hip_joint" type="revolute">
|
<joint name="FL_HAA_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0.1934 0.0465 0"/>
|
<origin rpy="0 0 0" xyz="0.1934 0.0465 0"/>
|
||||||
<parent link="base_link"/>
|
<parent link="base_link"/>
|
||||||
<child link="FL_hip"/>
|
<child link="FL_HAA"/>
|
||||||
<axis xyz="1 0 0"/>
|
<axis xyz="1 0 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FL_thigh">
|
<link name="FL_HFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
||||||
<mass value="1.152"/>
|
<mass value="1.152"/>
|
||||||
|
|
@ -121,15 +121,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FL_thigh_joint" type="revolute">
|
<joint name="FL_HFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
||||||
<parent link="FL_hip"/>
|
<parent link="FL_HAA"/>
|
||||||
<child link="FL_thigh"/>
|
<child link="FL_HFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FL_calf">
|
<link name="FL_KFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
||||||
<mass value="0.154"/>
|
<mass value="0.154"/>
|
||||||
|
|
@ -151,15 +151,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FL_calf_joint" type="revolute">
|
<joint name="FL_KFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="FL_thigh"/>
|
<parent link="FL_HFE"/>
|
||||||
<child link="FL_calf"/>
|
<child link="FL_KFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FL_calflower">
|
<link name="FL_KFElower">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -167,13 +167,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FL_calflower_joint" type="fixed">
|
<joint name="FL_KFElower_joint" type="fixed">
|
||||||
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
||||||
<parent link="FL_calf"/>
|
<parent link="FL_KFE"/>
|
||||||
<child link="FL_calflower"/>
|
<child link="FL_KFElower"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FL_calflower1">
|
<link name="FL_KFElower1">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -181,13 +181,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FL_calflower1_joint" type="fixed">
|
<joint name="FL_KFElower1_joint" type="fixed">
|
||||||
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
||||||
<parent link="FL_calflower"/>
|
<parent link="FL_KFElower"/>
|
||||||
<child link="FL_calflower1"/>
|
<child link="FL_KFElower1"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FL_foot">
|
<link name="FL_FOOT">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<mass value="0.04"/>
|
<mass value="0.04"/>
|
||||||
|
|
@ -209,13 +209,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint dont_collapse="true" name="FL_foot_joint" type="fixed">
|
<joint dont_collapse="true" name="FL_FOOT_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="FL_calf"/>
|
<parent link="FL_KFE"/>
|
||||||
<child link="FL_foot"/>
|
<child link="FL_FOOT"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FR_hip">
|
<link name="FR_HAA">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="-0.0054 -0.00194 -0.000105"/>
|
<origin rpy="0 0 0" xyz="-0.0054 -0.00194 -0.000105"/>
|
||||||
<mass value="0.678"/>
|
<mass value="0.678"/>
|
||||||
|
|
@ -237,15 +237,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision> -->
|
</collision> -->
|
||||||
</link>
|
</link>
|
||||||
<joint name="FR_hip_joint" type="revolute">
|
<joint name="FR_HAA_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0.1934 -0.0465 0"/>
|
<origin rpy="0 0 0" xyz="0.1934 -0.0465 0"/>
|
||||||
<parent link="base_link"/>
|
<parent link="base_link"/>
|
||||||
<child link="FR_hip"/>
|
<child link="FR_HAA"/>
|
||||||
<axis xyz="1 0 0"/>
|
<axis xyz="1 0 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FR_thigh">
|
<link name="FR_HFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
|
<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
|
||||||
<mass value="1.152"/>
|
<mass value="1.152"/>
|
||||||
|
|
@ -267,15 +267,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FR_thigh_joint" type="revolute">
|
<joint name="FR_HFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
|
<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
|
||||||
<parent link="FR_hip"/>
|
<parent link="FR_HAA"/>
|
||||||
<child link="FR_thigh"/>
|
<child link="FR_HFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FR_calf">
|
<link name="FR_KFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
|
<origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
|
||||||
<mass value="0.154"/>
|
<mass value="0.154"/>
|
||||||
|
|
@ -297,15 +297,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FR_calf_joint" type="revolute">
|
<joint name="FR_KFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="FR_thigh"/>
|
<parent link="FR_HFE"/>
|
||||||
<child link="FR_calf"/>
|
<child link="FR_KFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FR_calflower">
|
<link name="FR_KFElower">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -313,13 +313,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FR_calflower_joint" type="fixed">
|
<joint name="FR_KFElower_joint" type="fixed">
|
||||||
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
||||||
<parent link="FR_calf"/>
|
<parent link="FR_KFE"/>
|
||||||
<child link="FR_calflower"/>
|
<child link="FR_KFElower"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FR_calflower1">
|
<link name="FR_KFElower1">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -327,13 +327,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FR_calflower1_joint" type="fixed">
|
<joint name="FR_KFElower1_joint" type="fixed">
|
||||||
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
||||||
<parent link="FR_calflower"/>
|
<parent link="FR_KFElower"/>
|
||||||
<child link="FR_calflower1"/>
|
<child link="FR_KFElower1"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="FR_foot">
|
<link name="FR_FOOT">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<mass value="0.04"/>
|
<mass value="0.04"/>
|
||||||
|
|
@ -355,13 +355,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint dont_collapse="true" name="FR_foot_joint" type="fixed">
|
<joint dont_collapse="true" name="FR_FOOT_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="FR_calf"/>
|
<parent link="FR_KFE"/>
|
||||||
<child link="FR_foot"/>
|
<child link="FR_FOOT"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RL_hip">
|
<link name="HL_HAA">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0054 0.00194 -0.000105"/>
|
<origin rpy="0 0 0" xyz="0.0054 0.00194 -0.000105"/>
|
||||||
<mass value="0.678"/>
|
<mass value="0.678"/>
|
||||||
|
|
@ -383,15 +383,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision> -->
|
</collision> -->
|
||||||
</link>
|
</link>
|
||||||
<joint name="RL_hip_joint" type="revolute">
|
<joint name="HL_HAA_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="-0.1934 0.0465 0"/>
|
<origin rpy="0 0 0" xyz="-0.1934 0.0465 0"/>
|
||||||
<parent link="base_link"/>
|
<parent link="base_link"/>
|
||||||
<child link="RL_hip"/>
|
<child link="HL_HAA"/>
|
||||||
<axis xyz="1 0 0"/>
|
<axis xyz="1 0 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RL_thigh">
|
<link name="HL_HFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
||||||
<mass value="1.152"/>
|
<mass value="1.152"/>
|
||||||
|
|
@ -413,15 +413,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RL_thigh_joint" type="revolute">
|
<joint name="HL_HFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
||||||
<parent link="RL_hip"/>
|
<parent link="HL_HAA"/>
|
||||||
<child link="RL_thigh"/>
|
<child link="HL_HFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
|
<limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RL_calf">
|
<link name="HL_KFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
||||||
<mass value="0.154"/>
|
<mass value="0.154"/>
|
||||||
|
|
@ -443,15 +443,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RL_calf_joint" type="revolute">
|
<joint name="HL_KFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="RL_thigh"/>
|
<parent link="HL_HFE"/>
|
||||||
<child link="RL_calf"/>
|
<child link="HL_KFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RL_calflower">
|
<link name="HL_KFElower">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -459,13 +459,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RL_calflower_joint" type="fixed">
|
<joint name="HL_KFElower_joint" type="fixed">
|
||||||
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
||||||
<parent link="RL_calf"/>
|
<parent link="HL_KFE"/>
|
||||||
<child link="RL_calflower"/>
|
<child link="HL_KFElower"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RL_calflower1">
|
<link name="HL_KFElower1">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -473,13 +473,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RL_calflower1_joint" type="fixed">
|
<joint name="HL_KFElower1_joint" type="fixed">
|
||||||
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
||||||
<parent link="RL_calflower"/>
|
<parent link="HL_KFElower"/>
|
||||||
<child link="RL_calflower1"/>
|
<child link="HL_KFElower1"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RL_foot">
|
<link name="HL_FOOT">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<mass value="0.04"/>
|
<mass value="0.04"/>
|
||||||
|
|
@ -501,13 +501,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint dont_collapse="true" name="RL_foot_joint" type="fixed">
|
<joint dont_collapse="true" name="HL_FOOT_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="RL_calf"/>
|
<parent link="HL_KFE"/>
|
||||||
<child link="RL_foot"/>
|
<child link="HL_FOOT"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RR_hip">
|
<link name="HR_HAA">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0054 -0.00194 -0.000105"/>
|
<origin rpy="0 0 0" xyz="0.0054 -0.00194 -0.000105"/>
|
||||||
<mass value="0.678"/>
|
<mass value="0.678"/>
|
||||||
|
|
@ -529,15 +529,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision> -->
|
</collision> -->
|
||||||
</link>
|
</link>
|
||||||
<joint name="RR_hip_joint" type="revolute">
|
<joint name="HR_HAA_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="-0.1934 -0.0465 0"/>
|
<origin rpy="0 0 0" xyz="-0.1934 -0.0465 0"/>
|
||||||
<parent link="base_link"/>
|
<parent link="base_link"/>
|
||||||
<child link="RR_hip"/>
|
<child link="HR_HAA"/>
|
||||||
<axis xyz="1 0 0"/>
|
<axis xyz="1 0 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RR_thigh">
|
<link name="HR_HFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
|
<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
|
||||||
<mass value="1.152"/>
|
<mass value="1.152"/>
|
||||||
|
|
@ -559,15 +559,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RR_thigh_joint" type="revolute">
|
<joint name="HR_HFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
|
<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
|
||||||
<parent link="RR_hip"/>
|
<parent link="HR_HAA"/>
|
||||||
<child link="RR_thigh"/>
|
<child link="HR_HFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
|
<limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RR_calf">
|
<link name="HR_KFE">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
|
<origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
|
||||||
<mass value="0.154"/>
|
<mass value="0.154"/>
|
||||||
|
|
@ -589,15 +589,15 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RR_calf_joint" type="revolute">
|
<joint name="HR_KFE_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="RR_thigh"/>
|
<parent link="HR_HFE"/>
|
||||||
<child link="RR_calf"/>
|
<child link="HR_KFE"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="0" friction="0"/>
|
<dynamics damping="0" friction="0"/>
|
||||||
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RR_calflower">
|
<link name="HR_KFElower">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -605,13 +605,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RR_calflower_joint" type="fixed">
|
<joint name="HR_KFElower_joint" type="fixed">
|
||||||
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
||||||
<parent link="RR_calf"/>
|
<parent link="HR_KFE"/>
|
||||||
<child link="RR_calflower"/>
|
<child link="HR_KFElower"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RR_calflower1">
|
<link name="HR_KFElower1">
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
@ -619,13 +619,13 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RR_calflower1_joint" type="fixed">
|
<joint name="HR_KFElower1_joint" type="fixed">
|
||||||
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
||||||
<parent link="RR_calflower"/>
|
<parent link="HR_KFElower"/>
|
||||||
<child link="RR_calflower1"/>
|
<child link="HR_KFElower1"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="RR_foot">
|
<link name="HR_FOOT">
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<mass value="0.04"/>
|
<mass value="0.04"/>
|
||||||
|
|
@ -647,10 +647,10 @@ Stephen Brawner (brawner@gmail.com)
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
<joint dont_collapse="true" name="RR_foot_joint" type="fixed">
|
<joint dont_collapse="true" name="HR_FOOT_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||||
<parent link="RR_calf"/>
|
<parent link="HR_KFE"/>
|
||||||
<child link="RR_foot"/>
|
<child link="HR_FOOT"/>
|
||||||
<axis xyz="0 0 0"/>
|
<axis xyz="0 0 0"/>
|
||||||
</joint>
|
</joint>
|
||||||
<link name="imu_link">
|
<link name="imu_link">
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -349,15 +349,22 @@ class Go2Sim:
|
||||||
except:
|
except:
|
||||||
raise Exception(f'Could not load heightmap. Make sure the heigh_map is a 2D numpy array')
|
raise Exception(f'Could not load heightmap. Make sure the heigh_map is a 2D numpy array')
|
||||||
|
|
||||||
def reset(self):
|
def reset(self, q0=None):
|
||||||
self.q_nominal = np.hstack(
|
if q0 is None:
|
||||||
[self.pos0.squeeze(), self.rot0.squeeze(), self.q0.squeeze()]
|
self.q_nominal = np.hstack(
|
||||||
)
|
[self.pos0.squeeze(), self.rot0.squeeze(), self.q0.squeeze()]
|
||||||
|
)
|
||||||
|
else:
|
||||||
|
assert q0.shape == (19,), 'Invalid q0 shape. The shape should be (19,)'
|
||||||
|
self.q_nominal = q0
|
||||||
self.data.qpos = self.q_nominal
|
self.data.qpos = self.q_nominal
|
||||||
self.data.qvel = np.zeros(18)
|
self.data.qvel = np.zeros(18)
|
||||||
self.ex_sum=0
|
self.ex_sum=0
|
||||||
self.ey_sum=0
|
self.ey_sum=0
|
||||||
self.e_omega_sum=0
|
self.e_omega_sum=0
|
||||||
|
mujoco.mj_step(self.model, self.data)
|
||||||
|
if self.render:
|
||||||
|
self.viewer.sync()
|
||||||
|
|
||||||
def standUpReset(self):
|
def standUpReset(self):
|
||||||
self.q0 = self.standing_q
|
self.q0 = self.standing_q
|
||||||
|
|
|
||||||
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,6 @@
|
||||||
|
Tue Dec 3 15:37:57 2024
|
||||||
|
WARNING: Nan, Inf or huge value in QACC at DOF 3. The simulation is unstable. Time = 0.8500.
|
||||||
|
|
||||||
|
Tue Dec 3 15:45:56 2024
|
||||||
|
WARNING: Nan, Inf or huge value in QACC at DOF 20. The simulation is unstable. Time = 0.7940.
|
||||||
|
|
||||||
Binary file not shown.
Loading…
Reference in New Issue