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update Laikago robot with textures, and a version with toes to enable inverse kinematics.

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This commit is contained in:
Erwin Coumans
2019-12-04 14:48:28 -08:00
parent 763e25dd37
commit 7c5796b67d
28 changed files with 74259 additions and 15915 deletions
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75
examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
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@@ -12,10 +12,10 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis.stl" scale="1 1 1"/>
<mesh filename="chassis.obj" scale="1 1 1"/>
</geometry>
<material name="yellow">
<color rgba="0.95 0.75 0.05 1"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
@@ -38,9 +38,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="green"/>
<material name="white"/>
</visual>
<collision>
@@ -72,9 +72,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
<mesh filename="upper_leg_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="blue"/>
<material name="white"/>
</visual>
<collision>
@@ -107,9 +107,9 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="red"/>
<material name="white"/>
</visual>
<collision>
@@ -142,10 +142,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="green">
<color rgba="0.23 0.73 0.33 1"/>
<material name="white">
</material>
</visual>
@@ -180,10 +179,9 @@
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
<mesh filename="upper_leg_left.obj" scale="1 1 1"/>
</geometry>
<material name="blue">
<color rgba="0.28 0.52 0.93 1"/>
<material name="white">
</material>
</visual>
@@ -219,11 +217,10 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="red">
<color rgba="0.85 0.19 0.21 1"/>
</material>
<material name="white">
</material>
</visual>
<collision>
@@ -262,9 +259,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="green"/>
<material name="white"/>
</visual>
<collision>
@@ -297,9 +294,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
<mesh filename="upper_leg_mirror2.obj" scale="1 1 1"/>
</geometry>
<material name="blue"/>
<material name="white"/>
</visual>
<collision>
@@ -332,9 +329,9 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="red"/>
<material name="white"/>
</visual>
<collision>
@@ -368,9 +365,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="green"/>
<material name="white"/>
</visual>
<collision>
@@ -404,9 +401,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
<mesh filename="upper_leg_left2.obj" scale="1 1 1"/>
</geometry>
<material name="blue"/>
<material name="white"/>
</visual>
<collision>
@@ -441,9 +438,9 @@
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="red"/>
<material name="white"/>
</visual>
<collision>
@@ -475,9 +472,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
<sphere radius="0.0"/>
</geometry>
<material name="darkgray"/>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -508,9 +505,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
<sphere radius="0.0"/>
</geometry>
<material name="darkgray"/>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -541,9 +538,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
<sphere radius="0.0"/>
</geometry>
<material name="darkgray"/>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -574,9 +571,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
<sphere radius="0.0"/>
</geometry>
<material name="darkgray"/>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>