update microtaur URDF and example, to be compatible with minitaur_rainbow_dash
This commit is contained in:
Erwin Coumans
@@ -1,4 +1,4 @@
|
||||
<?xml version="0.0" ?>
|
||||
<?xml version="1.0"?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2019, Erwin Coumans -->
|
||||
@@ -196,8 +196,6 @@
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="chassis_right">
|
||||
<contact>
|
||||
<lateral_friction value="0.3"/>
|
||||
@@ -233,7 +231,6 @@
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="chassis_front">
|
||||
<contact>
|
||||
<lateral_friction value="0.3"/>
|
||||
@@ -658,7 +655,6 @@
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis_left">
|
||||
<contact>
|
||||
<lateral_friction value="0.3"/>
|
||||
@@ -694,38 +690,24 @@
|
||||
<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>
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<collision>
|
||||
<geometry>
|
||||
@@ -733,20 +715,18 @@
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<collision>
|
||||
<geometry>
|
||||
@@ -754,20 +734,18 @@
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<collision>
|
||||
<geometry>
|
||||
@@ -775,20 +753,18 @@
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<collision>
|
||||
<geometry>
|
||||
@@ -796,20 +772,18 @@
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<collision>
|
||||
<geometry>
|
||||
@@ -817,20 +791,18 @@
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<collision>
|
||||
<geometry>
|
||||
@@ -838,20 +810,18 @@
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<collision>
|
||||
<geometry>
|
||||
@@ -859,570 +829,528 @@
|
||||
</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"/>
|
||||
<mass value=".002"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</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"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<joint name="hip_front_rightL_joint" 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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<joint name="hip_back_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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
<box size=".017 .009 .216"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
<box size=".039 .008 .129"/>
|
||||
</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"/>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<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"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
<box size=".017 .009 .240"/>
|
||||
</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"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="continuous">
|
||||
<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"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -161,28 +161,26 @@ for i in range(nJoints):
|
||||
|
||||
motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
|
||||
motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
|
||||
knee_front_rightL_link = jointNameToId['knee_front_rightL_link']
|
||||
hip_front_rightR_link = jointNameToId['hip_front_rightR_link']
|
||||
knee_front_rightR_link = jointNameToId['knee_front_rightR_link']
|
||||
motor_front_rightL_link = jointNameToId['motor_front_rightL_link']
|
||||
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_link = jointNameToId['hip_front_leftR_link']
|
||||
knee_front_leftR_link = jointNameToId['knee_front_leftR_link']
|
||||
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_link = jointNameToId['motor_front_leftL_link']
|
||||
knee_front_leftL_link = jointNameToId['knee_front_leftL_link']
|
||||
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']
|
||||
hip_rightR_link = jointNameToId['hip_rightR_link']
|
||||
knee_back_rightR_link = jointNameToId['knee_back_rightR_link']
|
||||
knee_back_rightR_joint = jointNameToId['knee_back_rightR_joint']
|
||||
motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
|
||||
motor_back_rightL_link = jointNameToId['motor_back_rightL_link']
|
||||
knee_back_rightL_link = jointNameToId['knee_back_rightL_link']
|
||||
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']
|
||||
hip_leftR_link = jointNameToId['hip_leftR_link']
|
||||
knee_back_leftR_link = jointNameToId['knee_back_leftR_link']
|
||||
knee_back_leftR_joint = jointNameToId['knee_back_leftR_joint']
|
||||
motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
|
||||
motor_back_leftL_link = jointNameToId['motor_back_leftL_link']
|
||||
knee_back_leftL_link = jointNameToId['knee_back_leftL_link']
|
||||
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])
|
||||
|
||||
@@ -230,21 +228,21 @@ if (useMaximalCoordinates):
|
||||
p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL,
|
||||
motordir[7] * halfpi * float(aa) / steps)
|
||||
|
||||
p.setJointMotorControl2(quadruped, knee_front_leftL_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_front_leftL_joint, p.POSITION_CONTROL,
|
||||
motordir[0] * (kneeangle + twopi) * float(aa) / steps)
|
||||
p.setJointMotorControl2(quadruped, knee_front_leftR_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_front_leftR_joint, p.POSITION_CONTROL,
|
||||
motordir[1] * kneeangle * float(aa) / steps)
|
||||
p.setJointMotorControl2(quadruped, knee_back_leftL_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_back_leftL_joint, p.POSITION_CONTROL,
|
||||
motordir[2] * kneeangle * float(aa) / steps)
|
||||
p.setJointMotorControl2(quadruped, knee_back_leftR_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_back_leftR_joint, p.POSITION_CONTROL,
|
||||
motordir[3] * (kneeangle + twopi) * float(aa) / steps)
|
||||
p.setJointMotorControl2(quadruped, knee_front_rightL_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_front_rightL_joint, p.POSITION_CONTROL,
|
||||
motordir[4] * (kneeangle) * float(aa) / steps)
|
||||
p.setJointMotorControl2(quadruped, knee_front_rightR_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_front_rightR_joint, p.POSITION_CONTROL,
|
||||
motordir[5] * (kneeangle + twopi) * float(aa) / steps)
|
||||
p.setJointMotorControl2(quadruped, knee_back_rightL_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_back_rightL_joint, p.POSITION_CONTROL,
|
||||
motordir[6] * (kneeangle + twopi) * float(aa) / steps)
|
||||
p.setJointMotorControl2(quadruped, knee_back_rightR_link, p.POSITION_CONTROL,
|
||||
p.setJointMotorControl2(quadruped, knee_back_rightR_joint, p.POSITION_CONTROL,
|
||||
motordir[7] * kneeangle * float(aa) / steps)
|
||||
|
||||
p.stepSimulation()
|
||||
@@ -252,57 +250,57 @@ if (useMaximalCoordinates):
|
||||
else:
|
||||
|
||||
p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi)
|
||||
p.resetJointState(quadruped, knee_front_leftL_link, motordir[0] * kneeangle)
|
||||
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_link, motordir[1] * kneeangle)
|
||||
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_link, motordir[2] * kneeangle)
|
||||
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_link, motordir[3] * kneeangle)
|
||||
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_link, motordir[4] * kneeangle)
|
||||
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_link, motordir[5] * kneeangle)
|
||||
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_link, motordir[6] * kneeangle)
|
||||
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_link, motordir[7] * kneeangle)
|
||||
p.resetJointState(quadruped, knee_back_rightR_joint, motordir[7] * kneeangle)
|
||||
|
||||
#p.getNumJoints(1)
|
||||
|
||||
if (toeConstraint):
|
||||
cid = p.createConstraint(quadruped, knee_front_leftR_link, quadruped, knee_front_leftL_link,
|
||||
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_link, quadruped, knee_front_rightL_link,
|
||||
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_link, quadruped, knee_back_leftL_link,
|
||||
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_link, quadruped, knee_back_rightL_link,
|
||||
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_link, p.VELOCITY_CONTROL, 0,
|
||||
p.setJointMotorControl(quadruped, knee_front_leftL_joint, p.VELOCITY_CONTROL, 0,
|
||||
kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_front_leftR_link, p.VELOCITY_CONTROL, 0,
|
||||
p.setJointMotorControl(quadruped, knee_front_leftR_joint, p.VELOCITY_CONTROL, 0,
|
||||
kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_front_rightL_link, p.VELOCITY_CONTROL, 0,
|
||||
p.setJointMotorControl(quadruped, knee_front_rightL_joint, p.VELOCITY_CONTROL, 0,
|
||||
kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_front_rightR_link, p.VELOCITY_CONTROL, 0,
|
||||
p.setJointMotorControl(quadruped, knee_front_rightR_joint, p.VELOCITY_CONTROL, 0,
|
||||
kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
|
||||
p.setJointMotorControl(quadruped, knee_back_rightL_link, p.VELOCITY_CONTROL, 0,
|
||||
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_link, p.VELOCITY_CONTROL, 0,
|
||||
p.setJointMotorControl(quadruped, knee_back_rightR_joint, p.VELOCITY_CONTROL, 0,
|
||||
kneeFrictionForce)
|
||||
|
||||
p.setGravity(0, 0, -10)
|
||||
@@ -376,7 +374,7 @@ p.setJointMotorControl2(bodyIndex=quadruped,
|
||||
p.setRealTimeSimulation(useRealTime)
|
||||
|
||||
t = 0.0
|
||||
t_end = t + 115
|
||||
t_end = t + 5
|
||||
ref_time = time.time()
|
||||
while (t < t_end):
|
||||
p.setGravity(0, 0, -10)
|
||||
|
||||
Reference in New Issue
Block a user