diff options
| author | Erwin Coumans <erwincoumans@google.com> | 2019-05-30 14:55:47 -0700 |
|---|---|---|
| committer | Erwin Coumans <erwincoumans@google.com> | 2019-05-30 14:55:47 -0700 |
| commit | 19336611242a9cfed658b16b5679c3beecf4554a (patch) | |
| tree | a1c01b5ca332ea64b0ee5dd7f974fd4048cbdb0c | |
| parent | 63e13d32cbaa0caefc6221703ead36a56dab01b7 (diff) | |
| download | bullet3-19336611242a9cfed658b16b5679c3beecf4554a.tar.gz | |
change quadruped, remove old files
13 files changed, 0 insertions, 2297 deletions
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl Binary files differdeleted file mode 100644 index 5bdce60d6..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl +++ /dev/null diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf deleted file mode 100644 index 7fa546941..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf +++ /dev/null @@ -1,29 +0,0 @@ -<?xml version="0.0" ?> -<robot name="cube.urdf"> - <link name="baseLink"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.13"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="-0.019 -0.019 -0.1502"/> - <geometry> - <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.038 0.038 0.305"/> - </geometry> - </collision> - </link> -</robot> - diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl Binary files differdeleted file mode 100644 index a00d3d25f..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl +++ /dev/null diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf deleted file mode 100644 index d519e1d3a..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf +++ /dev/null @@ -1,29 +0,0 @@ -<?xml version="0.0" ?> -<robot name="cube.urdf"> - <link name="baseLink"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.081"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0 0.0125"/> - <geometry> - <mesh filename="d435i.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.09 0.025 0.025"/> - </geometry> - </collision> - </link> -</robot> - diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf deleted file mode 100644 index d111046ed..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf +++ /dev/null @@ -1,1663 +0,0 @@ -<?xml version="1.0"?> -<!-- ======================================================================= --> -<!--LICENSE: --> -<!--Copyright (c) 2019, Erwin Coumans --> -<!--Google Inc. --> -<!--All rights reserved. --> -<!-- --> -<!--Redistribution and use in source and binary forms, with or without --> -<!--modification, are permitted provided that the following conditions are --> -<!--met: --> -<!-- --> -<!--1. Redistributions or derived work must retain this copyright notice, --> -<!-- this list of conditions and the following disclaimer. --> -<!-- --> -<!--2. Redistributions in binary form must reproduce the above copyright --> -<!-- notice, this list of conditions and the following disclaimer in the --> -<!-- documentation and/or other materials provided with the distribution. --> -<!-- --> -<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS --> -<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,--> -<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR --> -<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR --> -<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, --> -<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, --> -<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR --> -<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF --> -<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING --> -<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS --> -<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --> - -<robot name="microtaur"> - <link name="base_chassis_link"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 -1.57079" xyz="0 0 0.036"/> - <mass value="0.64"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 -1.57079" xyz="-0.045 0.045 0.018"/> - <geometry> - <mesh filename="xavier.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba="0.3 0.3 0.3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 -1.57079" xyz="0 0 0.033"/> - <geometry> - <box size="0.092 0.105 0.045"/> - </geometry> - </collision> - </link> - - <link name="plate0"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.08"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> - <geometry> - <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black1"> - <color rgba="0.1 0.1 0.1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.074 0.009 0.138"/> - </geometry> - </collision> - </link> - - <joint name="plate0_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="plate0"/> - <origin rpy="-1.57079 0 -1.57079" xyz="0.063 0.028 0.005"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="plate1"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.08"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> - <geometry> - <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black1"> - <color rgba="0.1 0.1 0.1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.074 0.009 0.138"/> - </geometry> - </collision> - </link> - - <joint name="plate1_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="plate1"/> - <origin rpy="-1.57079 0 -1.57079" xyz="-0.063 0.028 0.005"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="plate2"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.08"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> - <geometry> - <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black1"> - <color rgba="0.1 0.1 0.1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.074 0.009 0.138"/> - </geometry> - </collision> - </link> - - <joint name="plate2_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="plate2"/> - <origin rpy="-1.57079 0 1.57079" xyz="0.063 -0.028 0.005"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="plate3"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.08"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> - <geometry> - <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black1"> - <color rgba="0.1 0.1 0.1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.074 0.009 0.138"/> - </geometry> - </collision> - </link> - - <joint name="plate3_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="plate3"/> - <origin rpy="-1.57079 0 1.57079" xyz="-0.063 -0.028 0.005"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="chassis_right"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> - <mass value="0.13"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/> - <geometry> - <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> - <geometry> - <box size="0.038 0.038 0.305"/> - </geometry> - </collision> - </link> - - <joint name="chassis_right_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="chassis_right"/> - <origin rpy="0 0 0" xyz="0.0 -0.0955 0.019"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="chassis_front"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="-1.57079 0 0" xyz="0 0 0"/> - <mass value="0.13"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/> - <geometry> - <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="bla"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="-1.57079 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.038 0.038 0.305"/> - </geometry> - </collision> - </link> - - <joint name="chassis_front_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="chassis_front"/> - <origin rpy="0 0 0" xyz="0.1335 0.0 -0.019"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="dynamixel4"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel4_chassis_front" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_front"/> - <child link="dynamixel4"/> - <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - -<link name="dynamixel12"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel12_chassis_front" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_front"/> - <child link="dynamixel12"/> - <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="dynamixel3"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel3_chassis_front" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_front"/> - <child link="dynamixel3"/> - <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - -<link name="dynamixel5"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel5_chassis_front" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_front"/> - <child link="dynamixel5"/> - <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="dynamixel8"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel8_chassis_rear" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_rear"/> - <child link="dynamixel8"/> - <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - -<link name="dynamixel10"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel10_chassis_rear" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_rear"/> - <child link="dynamixel10"/> - <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="dynamixel13"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel13_chassis_rear" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_rear"/> - <child link="dynamixel13"/> - <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - -<link name="dynamixel7"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel7_chassis_rear" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_rear"/> - <child link="dynamixel7"/> - <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="dynamixel9"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> - - <joint name="dynamixel9_chassis_front" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="chassis_front"/> - <child link="dynamixel9"/> - <origin rpy="1.57079 0 0" xyz="0 0 0.042"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="d435"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.081"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0 0.0125"/> - <geometry> - <mesh filename="d435i.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.09 0.025 0.025"/> - </geometry> - </collision> - </link> - - - <joint name="d435_dynamixel9" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="dynamixel9"/> - <child link="d435"/> - <origin rpy="0 1.57079 0" xyz="0 0.04 0"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="chassis_rear"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="-1.57079 0 0" xyz="0 0 0"/> - <mass value="0.13"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/> - <geometry> - <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="-1.57079 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.038 0.038 0.305"/> - </geometry> - </collision> - </link> - - <joint name="chassis_rear_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="chassis_rear"/> - <origin rpy="0 0 0" xyz="-0.1335 0.0 -0.019"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - <link name="chassis_left"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> - <mass value="0.13"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/> - <geometry> - <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> - <geometry> - <box size="0.038 0.038 0.305"/> - </geometry> - </collision> - </link> - - <joint name="chassis_left_center" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="base_chassis_link"/> - <child link="chassis_left"/> - <origin rpy="0 0 0" xyz="0.0 0.0955 0.019"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_front_rightR_link"> - - <visual> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - <material name="grey1"> - <color rgba="0. 1. 0. 1"/> - </material> - </visual> - <collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_front_rightR_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_right"/> - <child link="motor_front_rightR_link"/> - <origin rpy="1.57075 0 0" xyz="0.1335 -0.035 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_front_rightL_link"> -<collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_front_rightL_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_right"/> - <child link="motor_front_rightL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="0.1335 0.03 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_front_leftL_link"> - <collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_front_leftL_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_left"/> - <child link="motor_front_leftL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="0.1335 0.035 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_front_leftR_link"> - <collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_front_leftR_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_left"/> - <child link="motor_front_leftR_link"/> - <origin rpy="1.57075 0 0" xyz="0.1335 -0.03 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_back_rightR_link"> - <collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_back_rightR_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_right"/> - <child link="motor_back_rightR_link"/> - <origin rpy="1.57075 0 0" xyz="-0.1335 -0.035 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_back_rightL_link"> - <collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_back_rightL_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_right"/> - <child link="motor_back_rightL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="-0.1335 0.03 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_back_leftL_link"> - <collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_back_leftL_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_left"/> - <child link="motor_back_leftL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="-0.1335 0.035 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="motor_back_leftR_link"> - <collision> - <geometry> - <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_back_leftR_joint" type="continuous"> - <axis xyz="0 0 1"/> - <parent link="chassis_left"/> - <child link="motor_back_leftR_link"/> - <origin rpy="1.57075 0 0" xyz="-0.1335 -0.03 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="toe_lower_leg_front_rightR_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_front_rightR_joint" type="fixed"> - <parent link="lower_leg_front_rightR_link"/> - <child link="toe_lower_leg_front_rightR_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - - <link name="toe_lower_leg_front_rightL_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_front_rightL_joint" type="fixed"> - <parent link="lower_leg_front_rightL_link"/> - <child link="toe_lower_leg_front_rightL_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - - - <link name="toe_lower_leg_front_leftR_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_front_leftR_joint" type="fixed"> - <parent link="lower_leg_front_leftR_link"/> - <child link="toe_lower_leg_front_leftR_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="toe_lower_leg_front_leftL_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_front_leftL_joint" type="fixed"> - <parent link="lower_leg_front_leftL_link"/> - <child link="toe_lower_leg_front_leftL_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - - - <link name="toe_lower_leg_back_rightR_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_back_rightR_joint" type="fixed"> - <parent link="lower_leg_back_rightR_link"/> - <child link="toe_lower_leg_back_rightR_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - - <link name="toe_lower_leg_back_rightL_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_back_rightL_joint" type="fixed"> - <parent link="lower_leg_back_rightL_link"/> - <child link="toe_lower_leg_back_rightL_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - - - <link name="toe_lower_leg_back_leftR_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_back_leftR_joint" type="fixed"> - <parent link="lower_leg_back_leftR_link"/> - <child link="toe_lower_leg_back_leftR_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - - <link name="toe_lower_leg_back_leftL_link"> - <contact> - <lateral_friction value="1.0"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - <material name="darkgray"/> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <sphere radius="0.01"/> - </geometry> - </collision> - <inertial> - <mass value="0.01"/> - <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> - </inertial> - </link> - <joint name="toe_lower_leg_back_leftL_joint" type="fixed"> - <parent link="lower_leg_back_leftL_link"/> - <child link="toe_lower_leg_back_leftL_link"/> - <origin xyz="0 0 0.20"/> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="upper_leg_front_rightR_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="hip_front_rightR_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_rightR_link"/> - <child link="upper_leg_front_rightR_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="lower_leg_front_rightR_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_front_rightR_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_front_rightR_link"/> - <child link="lower_leg_front_rightR_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="upper_leg_front_rightL_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="motor_front_rightL_link" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_rightL_link"/> - <child link="upper_leg_front_rightL_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - - - <link name="lower_leg_front_rightL_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .198"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .198"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_front_rightL_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_front_rightL_link"/> - <child link="lower_leg_front_rightL_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="upper_leg_front_leftR_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="hip_front_leftR_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_leftR_link"/> - <child link="upper_leg_front_leftR_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="lower_leg_front_leftR_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_front_leftR_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_front_leftR_link"/> - <child link="lower_leg_front_leftR_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - - <link name="upper_leg_front_leftL_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="hip_front_leftL_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_leftL_link"/> - <child link="upper_leg_front_leftL_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="lower_leg_front_leftL_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .198"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .198"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_front_leftL_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_front_leftL_link"/> - <child link="lower_leg_front_leftL_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="upper_leg_back_rightR_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="hip_back_rightR_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_rightR_link"/> - <child link="upper_leg_back_rightR_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="lower_leg_back_rightR_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2032"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2032"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_back_rightR_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_back_rightR_link"/> - <child link="lower_leg_back_rightR_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="upper_leg_back_rightL_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="hip_back_rightL_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_rightL_link"/> - <child link="upper_leg_back_rightL_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - - - <link name="lower_leg_back_rightL_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_back_rightL_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_back_rightL_link"/> - <child link="lower_leg_back_rightL_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - - <link name="upper_leg_back_leftR_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="hip_leftR_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_leftR_link"/> - <child link="upper_leg_back_leftR_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - -<link name="lower_leg_back_leftR_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2032"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2032"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_back_leftR_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_back_leftR_link"/> - <child link="lower_leg_back_leftR_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - <link name="upper_leg_back_leftL_link"> - <visual> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".01 0.01 .11"/> - </geometry> - </collision> - <inertial> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="hip_back_leftL_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_leftL_link"/> - <child link="upper_leg_back_leftL_link"/> - <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> - - - <link name="lower_leg_back_leftL_link"> - <contact> - <friction_anchor/> - <stiffness value="30000.0"/> - <damping value="1000.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - - <visual> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - <material name="grey"> - <color rgba="0.65 0.65 0.75 1"/> - </material> - </visual> - <collision> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <geometry> - <box size=".01 0.01 .2"/> - </geometry> - </collision> - <inertial> - <origin rpy="0.0 0 0" xyz="0 0 .1"/> - <mass value="0.05"/> - <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> - </inertial> - </link> - <joint name="knee_back_leftL_joint" type="continuous"> - <axis xyz="0 1 0"/> - <parent link="upper_leg_back_leftL_link"/> - <child link="lower_leg_back_leftL_link"/> - <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> - <limit effort="100" velocity="100"/> - <joint_properties damping="0.0" friction="0.0"/> - </joint> -</robot> diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl Binary files differdeleted file mode 100644 index 5b6a098df..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl +++ /dev/null diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf deleted file mode 100644 index 704e9802c..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf +++ /dev/null @@ -1,29 +0,0 @@ -<?xml version="0.0" ?> -<robot name="cube.urdf"> - <link name="baseLink"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.13"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> - <geometry> - <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.074 0.009 0.138"/> - </geometry> - </collision> - </link> -</robot> - diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py deleted file mode 100644 index 252ee1c09..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py +++ /dev/null @@ -1,22 +0,0 @@ -import pybullet as p -cin = p.connect(p.SHARED_MEMORY) -if (cin < 0): - cin = p.connect(p.GUI) -objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)] -objects = [p.loadURDF("quadruped/microtaur/microtaur.urdf", 0.858173,-0.698485,0.227967,-0.002864,0.000163,0.951778,0.306776)] -ob = objects[0] -jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.568555, 0.000000, -2.177277, 1.570089, 0.000000, -2.184705, 1.570229, 0.000000, -2.182261, 1.570008, 0.000000, -2.184197, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, -1.569978, 0.000000, 2.184092, -1.569669, 0.000000, 2.186906, -1.570584, 0.000000, 2.181503, -1.568404, 0.000000, 2.178427 ] -for jointIndex in range (p.getNumJoints(ob)): - p.resetJointState(ob,jointIndex,jointPositions[jointIndex]) - -cid0 = p.createConstraint(1,35,1,32,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid0,maxForce=1000.000000) -cid1 = p.createConstraint(1,7,1,10,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid1,maxForce=1000.000000) -cid2 = p.createConstraint(1,41,1,38,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid2,maxForce=1000.000000) -cid3 = p.createConstraint(1,13,1,16,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000]) -p.changeConstraint(cid3,maxForce=1000.000000) -p.setGravity(0.000000,0.000000,-10.000000) -p.stepSimulation() -p.disconnect() diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl Binary files differdeleted file mode 100644 index 7df3364e5..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl +++ /dev/null diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf deleted file mode 100644 index 47b58a758..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf +++ /dev/null @@ -1,29 +0,0 @@ -<?xml version="0.0" ?> -<robot name="xavier"> - <link name="baseLink"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.64"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="-0.045 -0.045 -0.018"/> - <geometry> - <mesh filename="xavier.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="white"> - <color rgba="1 1 1 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.092 0.105 0.045"/> - </geometry> - </collision> - </link> -</robot> - diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl Binary files differdeleted file mode 100644 index 10a55eaaf..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl +++ /dev/null diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf deleted file mode 100644 index cba3b292d..000000000 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf +++ /dev/null @@ -1,29 +0,0 @@ -<?xml version="0.0" ?> -<robot name="cube.urdf"> - <link name="baseLink"> - <contact> - <lateral_friction value="0.3"/> - </contact> - <inertial> - <origin rpy="0 0 0" xyz="0 0 0"/> - <mass value="0.082"/> - <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> - </inertial> - <visual> - <origin rpy="0 0 0" xyz="0 0.011 0"/> - <geometry> - <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> - </geometry> - <material name="black"> - <color rgba=".3 .3 .3 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 0"/> - <geometry> - <box size="0.024 0.047 0.034"/> - </geometry> - </collision> - </link> -</robot> - diff --git a/examples/pybullet/gym/pybullet_envs/examples/microtaur.py b/examples/pybullet/gym/pybullet_envs/examples/microtaur.py deleted file mode 100644 index 2d5b843a3..000000000 --- a/examples/pybullet/gym/pybullet_envs/examples/microtaur.py +++ /dev/null @@ -1,467 +0,0 @@ -import pybullet as p -import pybullet_data as pd - -import time -import math - - -def drawInertiaBox(parentUid, parentLinkIndex, color): - return - dyn = p.getDynamicsInfo(parentUid, parentLinkIndex) - mass = dyn[0] - frictionCoeff = dyn[1] - inertia = dyn[2] - if (mass > 0): - Ixx = inertia[0] - Iyy = inertia[1] - Izz = inertia[2] - boxScaleX = 0.5 * math.sqrt(6 * (Izz + Iyy - Ixx) / mass) - boxScaleY = 0.5 * math.sqrt(6 * (Izz + Ixx - Iyy) / mass) - boxScaleZ = 0.5 * math.sqrt(6 * (Ixx + Iyy - Izz) / mass) - - halfExtents = [boxScaleX, boxScaleY, boxScaleZ] - pts = [[halfExtents[0], halfExtents[1], halfExtents[2]], - [-halfExtents[0], halfExtents[1], halfExtents[2]], - [halfExtents[0], -halfExtents[1], halfExtents[2]], - [-halfExtents[0], -halfExtents[1], halfExtents[2]], - [halfExtents[0], halfExtents[1], -halfExtents[2]], - [-halfExtents[0], halfExtents[1], -halfExtents[2]], - [halfExtents[0], -halfExtents[1], -halfExtents[2]], - [-halfExtents[0], -halfExtents[1], -halfExtents[2]]] - - p.addUserDebugLine(pts[0], - pts[1], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[1], - pts[3], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[3], - pts[2], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[2], - pts[0], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - - p.addUserDebugLine(pts[0], - pts[4], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[1], - pts[5], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[2], - pts[6], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[3], - pts[7], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - - p.addUserDebugLine(pts[4 + 0], - pts[4 + 1], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[4 + 1], - pts[4 + 3], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[4 + 3], - pts[4 + 2], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - p.addUserDebugLine(pts[4 + 2], - pts[4 + 0], - color, - 1, - parentObjectUniqueId=parentUid, - parentLinkIndex=parentLinkIndex) - - -toeConstraint = True -useMaximalCoordinates = False -useRealTime = 1 - -#the fixedTimeStep and numSolverIterations are the most important parameters to trade-off quality versus performance -fixedTimeStep = 1. / 100 -numSolverIterations = 50 - -if (useMaximalCoordinates): - fixedTimeStep = 1. / 500 - numSolverIterations = 200 - -speed = 10 -amplitude = 0.8 -jump_amp = 0.5 -maxForce = 3.5 -kneeFrictionForce = 0 -kp = 1 -kd = .5 -maxKneeForce = 1000 - -physId = p.connect(p.SHARED_MEMORY) - -if (physId < 0): - p.connect(p.GUI) -#p.resetSimulation() -p.setAdditionalSearchPath(pd.getDataPath()) -angle = 0 # pick in range 0..0.2 radians -orn = p.getQuaternionFromEuler([0, angle, 0]) -p.loadURDF("plane.urdf", [0, 0, 0], orn) -p.setPhysicsEngineParameter(numSolverIterations=numSolverIterations) -p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, - "genericlogdata.bin", - maxLogDof=16, - logFlags=p.STATE_LOG_JOINT_TORQUES) -p.setTimeOut(4000000) - -p.setGravity(0, 0, 0) -p.setTimeStep(fixedTimeStep) - -orn = p.getQuaternionFromEuler([0, 0, 0.4]) -p.setRealTimeSimulation(0) -quadruped = p.loadURDF("quadruped/microtaur/microtaur.urdf", [1, -1, .3], - orn, - useFixedBase=False, - useMaximalCoordinates=useMaximalCoordinates, - flags=p.URDF_USE_IMPLICIT_CYLINDER) -nJoints = p.getNumJoints(quadruped) - -jointNameToId = {} -for i in range(nJoints): - jointInfo = p.getJointInfo(quadruped, i) - jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0] - -motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint'] -motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint'] -knee_front_rightL_joint = jointNameToId['knee_front_rightL_joint'] -hip_front_rightR_joint = jointNameToId['hip_front_rightR_joint'] -knee_front_rightR_joint = jointNameToId['knee_front_rightR_joint'] -motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint'] -motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint'] -hip_front_leftR_joint = jointNameToId['hip_front_leftR_joint'] -knee_front_leftR_joint = jointNameToId['knee_front_leftR_joint'] -motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint'] -motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint'] -knee_front_leftL_joint = jointNameToId['knee_front_leftL_joint'] -motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint'] -knee_back_rightR_joint = jointNameToId['knee_back_rightR_joint'] -motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint'] -motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint'] -knee_back_rightL_joint = jointNameToId['knee_back_rightL_joint'] -motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint'] -knee_back_leftR_joint = jointNameToId['knee_back_leftR_joint'] -motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint'] -motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint'] -knee_back_leftL_joint = jointNameToId['knee_back_leftL_joint'] - -#fixtorso = p.createConstraint(-1,-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,0]) - -motordir = [-1, -1, -1, -1, 1, 1, 1, 1] -halfpi = 1.57079632679 -twopi = 4 * halfpi -kneeangle = -2.1834 - -dyn = p.getDynamicsInfo(quadruped, -1) -mass = dyn[0] -friction = dyn[1] -localInertiaDiagonal = dyn[2] - -print("localInertiaDiagonal", localInertiaDiagonal) - -#this is a no-op, just to show the API -p.changeDynamics(quadruped, -1, localInertiaDiagonal=localInertiaDiagonal) - -#for i in range (nJoints): -# p.changeDynamics(quadruped,i,localInertiaDiagonal=[0.000001,0.000001,0.000001]) - -drawInertiaBox(quadruped, -1, [1, 0, 0]) -#drawInertiaBox(quadruped,motor_front_rightR_joint, [1,0,0]) - -for i in range(nJoints): - drawInertiaBox(quadruped, i, [0, 1, 0]) - -if (useMaximalCoordinates): - steps = 400 - for aa in range(steps): - p.setJointMotorControl2(quadruped, motor_front_leftL_joint, p.POSITION_CONTROL, - motordir[0] * halfpi * float(aa) / steps) - p.setJointMotorControl2(quadruped, motor_front_leftR_joint, p.POSITION_CONTROL, - motordir[1] * halfpi * float(aa) / steps) - p.setJointMotorControl2(quadruped, motor_back_leftL_joint, p.POSITION_CONTROL, - motordir[2] * halfpi * float(aa) / steps) - p.setJointMotorControl2(quadruped, motor_back_leftR_joint, p.POSITION_CONTROL, - motordir[3] * halfpi * float(aa) / steps) - p.setJointMotorControl2(quadruped, motor_front_rightL_joint, p.POSITION_CONTROL, - motordir[4] * halfpi * float(aa) / steps) - p.setJointMotorControl2(quadruped, motor_front_rightR_joint, p.POSITION_CONTROL, - motordir[5] * halfpi * float(aa) / steps) - p.setJointMotorControl2(quadruped, motor_back_rightL_joint, p.POSITION_CONTROL, - motordir[6] * halfpi * float(aa) / steps) - p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL, - motordir[7] * halfpi * float(aa) / steps) - - p.setJointMotorControl2(quadruped, knee_front_leftL_joint, p.POSITION_CONTROL, - motordir[0] * (kneeangle + twopi) * float(aa) / steps) - p.setJointMotorControl2(quadruped, knee_front_leftR_joint, p.POSITION_CONTROL, - motordir[1] * kneeangle * float(aa) / steps) - p.setJointMotorControl2(quadruped, knee_back_leftL_joint, p.POSITION_CONTROL, - motordir[2] * kneeangle * float(aa) / steps) - p.setJointMotorControl2(quadruped, knee_back_leftR_joint, p.POSITION_CONTROL, - motordir[3] * (kneeangle + twopi) * float(aa) / steps) - p.setJointMotorControl2(quadruped, knee_front_rightL_joint, p.POSITION_CONTROL, - motordir[4] * (kneeangle) * float(aa) / steps) - p.setJointMotorControl2(quadruped, knee_front_rightR_joint, p.POSITION_CONTROL, - motordir[5] * (kneeangle + twopi) * float(aa) / steps) - p.setJointMotorControl2(quadruped, knee_back_rightL_joint, p.POSITION_CONTROL, - motordir[6] * (kneeangle + twopi) * float(aa) / steps) - p.setJointMotorControl2(quadruped, knee_back_rightR_joint, p.POSITION_CONTROL, - motordir[7] * kneeangle * float(aa) / steps) - - p.stepSimulation() - #time.sleep(fixedTimeStep) -else: - - p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi) - p.resetJointState(quadruped, knee_front_leftL_joint, motordir[0] * kneeangle) - p.resetJointState(quadruped, motor_front_leftR_joint, motordir[1] * halfpi) - p.resetJointState(quadruped, knee_front_leftR_joint, motordir[1] * kneeangle) - - p.resetJointState(quadruped, motor_back_leftL_joint, motordir[2] * halfpi) - p.resetJointState(quadruped, knee_back_leftL_joint, motordir[2] * kneeangle) - p.resetJointState(quadruped, motor_back_leftR_joint, motordir[3] * halfpi) - p.resetJointState(quadruped, knee_back_leftR_joint, motordir[3] * kneeangle) - - p.resetJointState(quadruped, motor_front_rightL_joint, motordir[4] * halfpi) - p.resetJointState(quadruped, knee_front_rightL_joint, motordir[4] * kneeangle) - p.resetJointState(quadruped, motor_front_rightR_joint, motordir[5] * halfpi) - p.resetJointState(quadruped, knee_front_rightR_joint, motordir[5] * kneeangle) - - p.resetJointState(quadruped, motor_back_rightL_joint, motordir[6] * halfpi) - p.resetJointState(quadruped, knee_back_rightL_joint, motordir[6] * kneeangle) - p.resetJointState(quadruped, motor_back_rightR_joint, motordir[7] * halfpi) - p.resetJointState(quadruped, knee_back_rightR_joint, motordir[7] * kneeangle) - -#p.getNumJoints(1) - -if (toeConstraint): - cid = p.createConstraint(quadruped, knee_front_leftR_joint, quadruped, knee_front_leftL_joint, - p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) - p.changeConstraint(cid, maxForce=maxKneeForce) - cid = p.createConstraint(quadruped, knee_front_rightR_joint, quadruped, knee_front_rightL_joint, - p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) - p.changeConstraint(cid, maxForce=maxKneeForce) - cid = p.createConstraint(quadruped, knee_back_leftR_joint, quadruped, knee_back_leftL_joint, - p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) - p.changeConstraint(cid, maxForce=maxKneeForce) - cid = p.createConstraint(quadruped, knee_back_rightR_joint, quadruped, knee_back_rightL_joint, - p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1]) - p.changeConstraint(cid, maxForce=maxKneeForce) - -if (1): - p.setJointMotorControl(quadruped, knee_front_leftL_joint, p.VELOCITY_CONTROL, 0, - kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_front_leftR_joint, p.VELOCITY_CONTROL, 0, - kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_front_rightL_joint, p.VELOCITY_CONTROL, 0, - kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_front_rightR_joint, p.VELOCITY_CONTROL, 0, - kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_back_leftL_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_back_leftR_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_back_leftL_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_back_leftR_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_back_rightL_joint, p.VELOCITY_CONTROL, 0, - kneeFrictionForce) - p.setJointMotorControl(quadruped, knee_back_rightR_joint, p.VELOCITY_CONTROL, 0, - kneeFrictionForce) - -p.setGravity(0, 0, -10) - -legnumbering = [ - motor_front_leftL_joint, motor_front_leftR_joint, motor_back_leftL_joint, - motor_back_leftR_joint, motor_front_rightL_joint, motor_front_rightR_joint, - motor_back_rightL_joint, motor_back_rightR_joint -] - -for i in range(8): - print(legnumbering[i]) -#use the Minitaur leg numbering -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[0], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[0] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[1], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[1] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[2], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[2] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[3], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[3] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[4], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[4] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[5], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[5] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[6], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[6] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[7], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[7] * 1.57, - positionGain=kp, - velocityGain=kd, - force=maxForce) -#stand still -p.setRealTimeSimulation(useRealTime) - -t = 0.0 -t_end = t + 5 -ref_time = time.time() -while (t < t_end): - p.setGravity(0, 0, -10) - if (useRealTime): - t = time.time() - ref_time - else: - t = t + fixedTimeStep - if (useRealTime == 0): - p.stepSimulation() - time.sleep(fixedTimeStep) - -print("quadruped Id = ") -print(quadruped) -p.saveWorld("quadru.py") -logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR, "quadrupedLog.bin", [quadruped]) - -#jump -t = 0.0 -t_end = t + 100 -i = 0 -ref_time = time.time() - -while (1): - if (useRealTime): - t = time.time() - ref_time - else: - t = t + fixedTimeStep - if (True): - - target = math.sin(t * speed) * jump_amp + 1.57 - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[0], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[0] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[1], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[1] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[2], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[2] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[3], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[3] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[4], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[4] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[5], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[5] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[6], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[6] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - p.setJointMotorControl2(bodyIndex=quadruped, - jointIndex=legnumbering[7], - controlMode=p.POSITION_CONTROL, - targetPosition=motordir[7] * target, - positionGain=kp, - velocityGain=kd, - force=maxForce) - - if (useRealTime == 0): - p.stepSimulation() - time.sleep(fixedTimeStep) |