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add toe endeffectors for IK of Microtaur

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This commit is contained in:
Erwin Coumans
2019-05-22 22:08:45 -04:00
parent d7e863e51a
commit e13df4ce48
1 changed files with 271 additions and 20 deletions
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291
examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
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@@ -297,7 +297,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_front"/> <parent link="chassis_front"/>
<child link="dynamixel4"/> <child link="dynamixel4"/>
<origin rpy="-1.57079 0 3.141592" xyz="0 0.135 -0.03"/> <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -403,7 +403,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_front"/> <parent link="chassis_front"/>
<child link="dynamixel5"/> <child link="dynamixel5"/>
<origin rpy="-1.57079 0 3.141592" xyz="0 -0.055 -0.03"/> <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -438,7 +438,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_rear"/> <parent link="chassis_rear"/>
<child link="dynamixel8"/> <child link="dynamixel8"/>
<origin rpy="-1.57079 0 3.141592" xyz="0 0.135 -0.03"/> <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -544,7 +544,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_rear"/> <parent link="chassis_rear"/>
<child link="dynamixel7"/> <child link="dynamixel7"/>
<origin rpy="-1.57079 0 3.141592" xyz="0 -0.055 -0.03"/> <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -704,7 +704,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_front_rightR_link"/> <child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/> <origin rpy="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -723,7 +723,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_front_rightL_link"/> <child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/> <origin rpy="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -742,7 +742,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_front_leftL_link"/> <child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/> <origin rpy="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -761,7 +761,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_front_leftR_link"/> <child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/> <origin rpy="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -780,7 +780,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_back_rightR_link"/> <child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/> <origin rpy="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -799,7 +799,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_back_rightL_link"/> <child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/> <origin rpy="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -818,7 +818,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_back_leftL_link"/> <child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/> <origin rpy="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -837,7 +837,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_back_leftR_link"/> <child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/> <origin rpy="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -864,7 +864,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/> <parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/> <child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -905,6 +905,36 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </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 0.22"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_rightL_link"> <link name="upper_leg_front_rightL_link">
<visual> <visual>
<geometry> <geometry>
@@ -928,7 +958,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/> <parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/> <child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -969,6 +999,39 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </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="upper_leg_front_leftR_link"> <link name="upper_leg_front_leftR_link">
<visual> <visual>
<geometry> <geometry>
@@ -992,7 +1055,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/> <parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/> <child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -1033,6 +1096,36 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </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="upper_leg_front_leftL_link"> <link name="upper_leg_front_leftL_link">
<visual> <visual>
<geometry> <geometry>
@@ -1056,10 +1149,11 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/> <parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/> <child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_front_leftL_link"> <link name="lower_leg_front_leftL_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
@@ -1097,6 +1191,37 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </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 0.22"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_rightR_link"> <link name="upper_leg_back_rightR_link">
<visual> <visual>
<geometry> <geometry>
@@ -1120,7 +1245,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/> <parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/> <child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -1161,6 +1286,71 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </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 0.22"/>
<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="upper_leg_back_rightL_link"> <link name="upper_leg_back_rightL_link">
<visual> <visual>
<geometry> <geometry>
@@ -1184,7 +1374,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/> <parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/> <child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
@@ -1248,10 +1438,11 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/> <parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/> <child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="lower_leg_back_leftR_link"> <link name="lower_leg_back_leftR_link">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
@@ -1289,6 +1480,66 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </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 0.22"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_leftL_link"> <link name="upper_leg_back_leftL_link">
<visual> <visual>
<geometry> <geometry>
@@ -1312,7 +1563,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/> <parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/> <child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>