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Go2Py_SIM
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Gripper removed and force sensors xmls added.

This commit is contained in:
Rooholla-KhorramBakht 2025-02-20 00:40:25 +00:00
parent 4ccda75410
commit 7ed925c48a
3 changed files with 11785 additions and 12289 deletions
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42
Go2Py/assets/mujoco/go2_with_arm_no_ef.xml
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@ -120,6 +120,12 @@
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/> <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
<geom name="FR" class="foot"/> <geom name="FR" class="foot"/>
<site name="FR_foot" pos="0 0 -0.213" size="0.02"/> <site name="FR_foot" pos="0 0 -0.213" size="0.02"/>
<body name="FR_dummy" pos="-0.002 0 -0.213">
<!-- <inertial pos="0 0 0" mass="0.0001" diaginertia="0.0 0.0 0.0"/> -->
<inertial pos="0 0 0" mass="0.04" diaginertia="9.6e-06 9.6e-06 9.6e-06"/>
<geom size="0.022" rgba="0 1 0 1"/>
<site name="FR_force_site" size="0.022" pos="0 0 0" rgba="0 1 0 1"/>
</body>
</body> </body>
</body> </body>
</body> </body>
@ -149,7 +155,12 @@
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/> <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
<geom name="FL" class="foot"/> <geom name="FL" class="foot"/>
<site name="FL_foot" pos="0 0 -0.213" size="0.02"/> <site name="FL_foot" pos="0 0 -0.213" size="0.02"/>
<body name="FL_dummy" pos="-0.002 0 -0.213">
<!-- <inertial pos="0 0 0" mass="0.0001" diaginertia="0.0 0.0 0.0"/> -->
<inertial pos="0 0 0" mass="0.04" diaginertia="9.6e-06 9.6e-06 9.6e-06"/>
<geom size="0.022" rgba="0 1 0 1"/>
<site name="FL_force_site" size="0.022" pos="0 0 0" rgba="0 1 0 1"/>
</body>
</body> </body>
</body> </body>
</body> </body>
@ -179,6 +190,12 @@
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/> <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
<geom name="RR" class="foot"/> <geom name="RR" class="foot"/>
<site name="RR_foot" pos="0 0 -0.213" size="0.02"/> <site name="RR_foot" pos="0 0 -0.213" size="0.02"/>
<body name="RR_dummy" pos="-0.002 0 -0.213">
<!-- <inertial pos="0 0 0" mass="0.0001" diaginertia="0.0 0.0 0.0"/> -->
<inertial pos="0 0 0" mass="0.04" diaginertia="9.6e-06 9.6e-06 9.6e-06"/>
<geom size="0.022" rgba="0 1 0 1"/>
<site name="RR_force_site" size="0.022" pos="0 0 0" rgba="0 1 0 1"/>
</body>
</body> </body>
</body> </body>
</body> </body>
@ -208,7 +225,12 @@
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/> <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
<geom name="RL" class="foot"/> <geom name="RL" class="foot"/>
<site name="RL_foot" pos="0 0 -0.213" size="0.02"/> <site name="RL_foot" pos="0 0 -0.213" size="0.02"/>
<body name="RL_dummy" pos="-0.002 0 -0.213">
<!-- <inertial pos="0 0 0" mass="0.0001" diaginertia="0.0 0.0 0.0"/> -->
<inertial pos="0 0 0" mass="0.04" diaginertia="9.6e-06 9.6e-06 9.6e-06"/>
<geom size="0.022" rgba="0 1 0 1"/>
<site name="RL_force_site" size="0.022" pos="0 0 0" rgba="0 1 0 1"/>
</body>
</body> </body>
</body> </body>
</body> </body>
@ -239,6 +261,12 @@
<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"/> <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"/> <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"/> <geom type="mesh" rgba="1 1 1 1" mesh="Link6"/>
<body name="EF_dummy" pos="0.0 0 0.0405">
<!-- <inertial pos="0 0 0" mass="0.0001" diaginertia="0.0 0.0 0.0"/> -->
<inertial pos="0 0 0" mass="0.04" diaginertia="9.6e-06 9.6e-06 9.6e-06"/>
<geom size="0.015" rgba="0 1 0 1"/>
<site name="EF_force_site" size="0.025" pos="0 0 0" rgba="0 1 0 1"/>
</body>
</body> </body>
</body> </body>
</body> </body>
@ -283,8 +311,18 @@
<touch name="FL_foot_contact" site="RL_foot"/> <touch name="FL_foot_contact" site="RL_foot"/>
<touch name="RR_foot_contact" site="RR_foot"/> <touch name="RR_foot_contact" site="RR_foot"/>
<touch name="RL_foot_contact" site="RL_foot"/> <touch name="RL_foot_contact" site="RL_foot"/>
<force name="FL_force" site="FL_force_site"/>
<force name="FR_force" site="FR_force_site"/>
<force name="RL_force" site="RL_force_site"/>
<force name="RR_force" site="RR_force_site"/>
<force name="EF_force" site="EF_force_site"/>
</sensor> </sensor>
<keyframe> <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" <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"
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"/> 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"/>

124
Go2Py/assets/urdf/go2_with_arm.urdf
View File

@ -985,7 +985,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="d1_assets/stl/Link6.STL" /> filename="d1_assets/stl/Link6-new.stl" />
</geometry> </geometry>
<material <material
name=""> name="">
@ -1013,136 +1013,20 @@ Stephen Brawner (brawner@gmail.com)
effort="0" effort="0"
velocity="0" /> velocity="0" />
</joint> </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="d1_assets/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="d1_assets/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="d1_assets/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="d1_assets/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>
<link <link
name="Link6_tip"> name="ef_tip">
</link> </link>
<joint <joint
name="tip_joint" name="tip_joint"
type="fixed"> type="fixed">
<origin <origin
xyz="0.0 0.0 0.0" xyz="0.0 0.0 0.053"
rpy="0.0 0.0 0.0" /> rpy="0.0 0.0 0.0" />
<parent <parent
link="Link6" /> link="Link6" />
<child <child
link="Link6_tip" /> link="ef_tip" />
</joint> </joint>
</robot> </robot>

23908
examples/09-crododdyl.ipynb
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