Add approximate Mini Cheetah URDF and example in pybullet
Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
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Erwin Coumans committed
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<?xml version="1.0" ?>
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<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
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<link name="body">
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||||||
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<inertial>
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||||||
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<mass value="3.3"/>
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||||||
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<origin xyz="0.0 0.0 0.0"/>
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||||||
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<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/>
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</inertial>
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||||||
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<visual>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_body.obj"/>
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</geometry>
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||||||
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_body.obj"/>
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</geometry>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="torso_to_abduct_fr_j" type="continuous">
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<axis xyz="1 0 0"/>
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||||||
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<origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
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||||||
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<parent link="body"/>
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||||||
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<child link="abduct_fr"/>
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</joint>
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<link name="abduct_fr">
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||||||
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<inertial>
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||||||
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<mass value="0.54"/>
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||||||
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<origin xyz="0.0 0.036 0."/>
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||||||
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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||||||
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_abad.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/>
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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||||||
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<origin rpy="3.141592 0 1.5708" xyz="-0.055 0 0"/>
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||||||
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</collision>
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</link>
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<joint name="abduct_fr_to_thigh_fr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
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||||||
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<parent link="abduct_fr"/>
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<child link="thigh_fr"/>
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</joint>
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<link name="thigh_fr">
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||||||
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<inertial>
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||||||
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<mass value="0.634"/>
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||||||
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<origin xyz="0.0 0.016 -0.02"/>
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||||||
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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||||||
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<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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||||||
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<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="thigh_fr_to_knee_fr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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<parent link="thigh_fr"/>
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<child link="shank_fr"/>
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</joint>
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<link name="shank_fr">
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<inertial>
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||||||
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<mass value="0.064"/>
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||||||
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<origin xyz="0.0 0.0 -0.209"/>
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||||||
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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||||||
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0 3.141592 0" xyz="0 0 0"/>
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||||||
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</collision>
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</link>
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<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="torso_to_abduct_fl_j" type="continuous">
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<axis xyz="1 0 0"/>
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||||||
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<origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
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<parent link="body"/>
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<child link="abduct_fl"/>
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</joint>
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<link name="abduct_fl">
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<inertial>
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||||||
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<mass value="0.54"/>
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<origin xyz="0.0 0.036 0."/>
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||||||
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="0. 0. -1.5708" xyz="-0.055 0.0 0.0"/>
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</visual>
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<collision>
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||||||
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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||||||
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<origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/>
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</collision>
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</link>
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<joint name="abduct_fl_to_thigh_fl_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
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||||||
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<parent link="abduct_fl"/>
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<child link="thigh_fl"/>
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</joint>
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<link name="thigh_fl">
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||||||
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<inertial>
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||||||
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<mass value="0.634"/>
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||||||
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<origin xyz="0.0 0.016 -0.02"/>
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||||||
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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||||||
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_upper_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
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||||||
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</collision>
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||||||
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</link>
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||||||
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||||||
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<joint name="thigh_fl_to_knee_fl_j" type="continuous">
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<axis xyz="0 -1 0"/>
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||||||
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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||||||
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<parent link="thigh_fl"/>
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||||||
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<child link="shank_fl"/>
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||||||
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</joint>
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||||||
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<link name="shank_fl">
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||||||
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<inertial>
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||||||
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<mass value="0.064"/>
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||||||
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<origin xyz="0.0 0.0 -0.209"/>
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||||||
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_lower_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_lower_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0 3.141592 0" xyz="0 0 0"/>
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||||||
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</collision>
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||||||
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</link>
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||||||
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||||||
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<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="torso_to_abduct_hr_j" type="continuous">
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||||||
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<axis xyz="1 0 0"/>
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||||||
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<origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
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||||||
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<parent link="body"/>
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||||||
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<child link="abduct_hr"/>
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||||||
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</joint>
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<link name="abduct_hr">
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||||||
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<inertial>
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||||||
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<mass value="0.54"/>
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||||||
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<origin xyz="0.0 0.036 0."/>
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||||||
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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||||||
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_abad.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_abad.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0 0 1.5708" xyz="0.055 0 0"/>
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||||||
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</collision>
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</link>
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<joint name="abduct_hr_to_thigh_hr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
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<parent link="abduct_hr"/>
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<child link="thigh_hr"/>
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</joint>
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<link name="thigh_hr">
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||||||
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<inertial>
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||||||
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<mass value="0.634"/>
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||||||
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<origin xyz="0.0 0.016 -0.02"/>
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||||||
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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||||||
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_upper_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_upper_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
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||||||
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</collision>
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</link>
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<joint name="thigh_hr_to_knee_hr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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||||||
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<parent link="thigh_hr"/>
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||||||
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<child link="shank_hr"/>
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||||||
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</joint>
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||||||
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<link name="shank_hr">
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||||||
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<inertial>
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||||||
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<mass value="0.064"/>
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||||||
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<origin xyz="0.0 0.0 -0.209"/>
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||||||
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_lower_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_lower_link.obj"/>
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||||||
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</geometry>
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||||||
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<origin rpy="0 3.141592 0" xyz="0 0 0"/>
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||||||
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</collision>
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||||||
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</link>
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||||||
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||||||
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<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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||||||
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<joint name="torso_to_abduct_hl_j" type="continuous">
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||||||
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<axis xyz="1 0 0"/>
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||||||
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<origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
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||||||
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<parent link="body"/>
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||||||
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<child link="abduct_hl"/>
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||||||
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</joint>
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||||||
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<link name="abduct_hl">
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||||||
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<inertial>
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||||||
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<mass value="0.54"/>
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||||||
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<origin xyz="0.0 0.036 0."/>
|
||||||
|
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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||||||
|
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
|
||||||
|
</inertial>
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||||||
|
<visual>
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||||||
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<geometry>
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||||||
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<mesh filename="meshes/mini_abad.obj"/>
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||||||
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</geometry>
|
||||||
|
<origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/mini_abad.obj"/>
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||||||
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</geometry>
|
||||||
|
<origin rpy="3.141592 0 -1.5708" xyz="0.055 0 0"/>
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||||||
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</collision>
|
||||||
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</link>
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||||||
|
|
||||||
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<joint name="abduct_hl_to_thigh_hl_j" type="continuous">
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||||||
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<axis xyz="0 -1 0"/>
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||||||
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
|
||||||
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<parent link="abduct_hl"/>
|
||||||
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<child link="thigh_hl"/>
|
||||||
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</joint>
|
||||||
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<link name="thigh_hl">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.634"/>
|
||||||
|
<origin xyz="0.0 0.016 -0.02"/>
|
||||||
|
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
|
||||||
|
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
|
||||||
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</collision>
|
||||||
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</link>
|
||||||
|
|
||||||
|
<joint name="thigh_hl_to_knee_hl_j" type="continuous">
|
||||||
|
<axis xyz="0 -1 0"/>
|
||||||
|
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
|
||||||
|
<parent link="thigh_hl"/>
|
||||||
|
<child link="shank_hl"/>
|
||||||
|
</joint>
|
||||||
|
<link name="shank_hl">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.064"/>
|
||||||
|
<origin xyz="0.0 0.0 -0.209"/>
|
||||||
|
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<origin rpy="0 3.141592 0" xyz="0 0 0"/>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
</robot>
|
||||||
@@ -0,0 +1,23 @@
|
|||||||
|
import pybullet as p
|
||||||
|
import pybullet_data as pd
|
||||||
|
import time
|
||||||
|
|
||||||
|
p.connect(p.GUI)
|
||||||
|
p.setGravity(0,0,-9.8)
|
||||||
|
p.setAdditionalSearchPath(pd.getDataPath())
|
||||||
|
floor = p.loadURDF("plane.urdf")
|
||||||
|
startPos = [0,0,0.5]
|
||||||
|
robot = p.loadURDF("mini_cheetah/mini_cheetah.urdf",startPos)
|
||||||
|
numJoints = p.getNumJoints(robot)
|
||||||
|
p.changeVisualShape(robot,-1,rgbaColor=[1,1,1,1])
|
||||||
|
for j in range (numJoints):
|
||||||
|
p.changeVisualShape(robot,j,rgbaColor=[1,1,1,1])
|
||||||
|
force=200
|
||||||
|
pos=0
|
||||||
|
p.setJointMotorControl2(robot,j,p.POSITION_CONTROL,pos,force=force)
|
||||||
|
dt = 1./240.
|
||||||
|
p.setTimeStep(dt)
|
||||||
|
while (1):
|
||||||
|
p.stepSimulation()
|
||||||
|
time.sleep(dt)
|
||||||
|
|
||||||
Reference in new issue
Block a user