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Merge branch 'master' into merge_upstream

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Bart Moyaers
2020-01-15 13:24:59 +01:00
parent ee9f25405e 6428ed5e5f
commit ef20f9e62c
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4
examples/pybullet/gym/pybullet_data/args/train_humanoid3d_walk_args.txt
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@@ -29,5 +29,5 @@
#--train_agents false
--output_path output
#--int_output_path output/intermediate
#--model_files data/policies/humanoid3d/agent0_model.ckpt
--int_output_path output/intermediate
#--model_files data/policies/humanoid3d/agent0_model.ckpt

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examples/pybullet/gym/pybullet_data/franka_panda/LICENSE.txt Normal file
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239
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj Normal file
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g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//2 3//3
f 4//4 5//5 6//6
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f 19//19 20//20 21//21
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f 31//31 32//32 33//33
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f 61//61 62//62 63//63
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f 67//67 68//68 69//69
f 70//70 71//71 72//72
f 73//73 74//74 75//75
f 76//76 77//77 78//78
f 79//79 80//80 81//81
f 82//82 83//83 84//84
f 85//85 86//86 87//87
f 88//88 89//89 90//90
f 91//91 92//92 93//93
f 94//94 95//95 96//96

517
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj Normal file
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# File produced by Open Asset Import Library (http://www.assimp.sf.net)
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# 0 UV coordinates
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vn -0.044276 0.241169 0.969473
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vn 0.986849 -0.0650596 0.147976
vn 0.991549 -0.115042 0.0599665
vn 0.203398 -0.97883 0.0228453
vn 0.516573 0.854926 0.0474658
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vn -0.0174541 0.996656 -0.0798282
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# Mesh '<STL_BINARY>' with 200 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 5//2 6//2
f 7//3 6//3 8//3
f 9//4 10//4 11//4
f 10//5 3//5 11//5
f 12//6 1//6 3//6
f 13//7 6//7 14//7
f 8//8 6//8 5//8
f 4//9 6//9 13//9
f 15//10 16//10 17//10
f 18//11 19//11 13//11
f 20//12 7//12 8//12
f 21//13 6//13 7//13
f 22//14 23//14 24//14
f 25//15 26//15 27//15
f 28//16 10//16 9//16
f 2//17 29//17 3//17
f 29//18 11//18 3//18
f 30//19 16//19 15//19
f 31//20 32//20 33//20
f 34//21 35//21 36//21
f 37//22 3//22 38//22
f 6//23 39//23 40//23
f 25//24 8//24 5//24
f 41//25 42//25 16//25
f 18//26 14//26 43//26
f 22//27 24//27 44//27
f 44//28 45//28 22//28
f 46//29 22//29 45//29
f 45//30 47//30 46//30
f 20//31 8//31 48//31
f 9//32 11//32 15//32
f 36//33 10//33 49//33
f 50//34 28//34 9//34
f 10//35 36//35 35//35
f 12//36 37//36 32//36
f 37//37 12//37 3//37
f 37//38 38//38 51//38
f 37//39 52//39 32//39
f 52//40 37//40 51//40
f 10//41 35//41 53//41
f 10//42 53//42 38//42
f 10//43 38//43 3//43
f 54//44 35//44 34//44
f 55//45 56//45 57//45
f 56//46 55//46 58//46
f 57//47 54//47 34//47
f 39//48 6//48 21//48
f 59//49 18//49 43//49
f 40//50 39//50 43//50
f 14//51 40//51 43//51
f 14//52 6//52 40//52
f 60//53 25//53 5//53
f 59//54 61//54 17//54
f 42//55 60//55 5//55
f 16//56 42//56 17//56
f 62//57 22//57 46//57
f 22//58 62//58 23//58
f 1//59 46//59 63//59
f 47//60 63//60 46//60
f 25//61 64//61 8//61
f 64//62 25//62 27//62
f 64//63 48//63 8//63
f 65//64 59//64 43//64
f 66//65 36//65 49//65
f 63//66 2//66 1//66
f 33//67 32//67 67//67
f 68//68 62//68 46//68
f 32//69 69//69 12//69
f 70//70 71//70 67//70
f 53//71 35//71 54//71
f 72//72 73//72 74//72
f 75//73 76//73 77//73
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f 55//75 79//75 58//75
f 4//76 42//76 5//76
f 50//77 15//77 17//77
f 59//78 17//78 18//78
f 7//79 20//79 77//79
f 24//80 26//80 44//80
f 27//81 26//81 24//81
f 45//82 80//82 47//82
f 41//83 16//83 81//83
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f 62//85 83//85 23//85
f 33//86 84//86 83//86
f 49//87 28//87 61//87
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f 61//89 50//89 17//89
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f 85//91 30//91 15//91
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f 85//93 80//93 30//93
f 9//94 15//94 50//94
f 85//95 15//95 11//95
f 11//96 29//96 85//96
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f 34//98 36//98 78//98
f 70//99 67//99 86//99
f 71//100 33//100 67//100
f 58//101 76//101 72//101
f 73//102 87//102 88//102
f 72//103 74//103 56//103
f 56//104 74//104 57//104
f 34//105 55//105 57//105
f 21//106 79//106 55//106
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f 39//109 21//109 55//109
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f 84//111 23//111 83//111
f 28//112 49//112 10//112
f 92//113 80//113 93//113
f 31//114 33//114 68//114
f 68//115 33//115 83//115
f 51//116 86//116 52//116
f 69//117 32//117 31//117
f 46//118 94//118 68//118
f 94//119 31//119 68//119
f 94//120 12//120 69//120
f 76//121 75//121 72//121
f 90//122 53//122 89//122
f 86//123 51//123 88//123
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f 87//125 70//125 88//125
f 95//126 55//126 78//126
f 39//127 55//127 95//127
f 14//128 18//128 13//128
f 42//129 41//129 60//129
f 19//130 17//130 42//130
f 19//131 4//131 13//131
f 45//132 93//132 80//132
f 92//133 93//133 81//133
f 16//134 30//134 92//134
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f 96//136 77//136 20//136
f 66//137 59//137 65//137
f 65//138 78//138 66//138
f 59//139 66//139 61//139
f 49//140 61//140 66//140
f 2//141 63//141 29//141
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f 80//143 92//143 30//143
f 78//144 36//144 66//144
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f 94//146 46//146 1//146
f 12//147 94//147 1//147
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f 57//151 89//151 54//151
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f 48//191 100//191 99//191
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f 24//195 23//195 101//195
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f 82//198 100//198 71//198
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f 100//200 82//200 99//200

517
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link0.obj Normal file
View File

@@ -0,0 +1,517 @@
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.1.187496374)
mtllib link0.obj.mtl
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# Mesh '<STL_BINARY>' with 200 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 2//2 1//2
f 3//3 5//3 1//3
f 6//4 7//4 8//4
f 9//5 1//5 10//5
f 1//6 11//6 10//6
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f 2//9 13//9 3//9
f 16//10 9//10 17//10
f 14//11 18//11 19//11
f 20//12 2//12 4//12
f 21//13 20//13 4//13
f 22//14 23//14 4//14
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f 15//20 27//20 14//20
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f 32//24 25//24 30//24
f 33//25 17//25 14//25
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f 36//27 37//27 14//27
f 14//28 37//28 34//28
f 38//29 33//29 14//29
f 19//30 38//30 14//30
f 39//31 18//31 40//31
f 7//32 6//32 41//32
f 42//33 43//33 44//33
f 45//34 43//34 42//34
f 4//35 46//35 47//35
f 17//36 31//36 14//36
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f 10//38 31//38 9//38
f 11//39 31//39 10//39
f 12//40 31//40 11//40
f 21//41 23//41 48//41
f 13//42 49//42 3//42
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f 25//44 32//44 50//44
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f 52//46 30//46 14//46
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f 57//56 22//56 4//56
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f 59//58 15//58 22//58
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f 24//60 48//60 15//60
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f 51//118 90//118 14//118
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766
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link1.obj Normal file
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# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.1.187496374)
mtllib link1.obj.mtl
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vn 9.22556e-06 -1.65946e-05 -1
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# Mesh '<STL_BINARY>' with 300 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 5//2 6//2
f 7//3 8//3 9//3
f 10//4 11//4 12//4
f 13//5 14//5 15//5
f 16//6 17//6 18//6
f 19//7 20//7 21//7
f 22//8 23//8 24//8
f 25//9 15//9 14//9
f 26//10 27//10 14//10
f 28//11 29//11 30//11
f 31//12 32//12 33//12
f 11//13 34//13 12//13
f 35//14 13//14 15//14
f 36//15 37//15 5//15
f 38//16 37//16 36//16
f 20//17 39//17 21//17
f 40//18 29//18 28//18
f 34//19 41//19 42//19
f 34//20 42//20 12//20
f 16//21 18//21 42//21
f 41//22 16//22 42//22
f 43//23 5//23 4//23
f 43//24 36//24 5//24
f 4//25 15//25 25//25
f 20//26 44//26 45//26
f 45//27 46//27 20//27
f 47//28 48//28 45//28
f 49//29 45//29 48//29
f 50//30 51//30 52//30
f 53//31 9//31 54//31
f 27//32 25//32 14//32
f 53//33 7//33 9//33
f 27//34 55//34 25//34
f 27//35 26//35 56//35
f 57//36 58//36 59//36
f 60//37 61//37 62//37
f 63//38 64//38 60//38
f 19//39 65//39 43//39
f 65//40 19//40 21//40
f 32//41 66//41 33//41
f 67//42 66//42 32//42
f 68//43 31//43 69//43
f 30//44 70//44 69//44
f 23//45 10//45 24//45
f 22//46 24//46 71//46
f 6//47 5//47 58//47
f 58//48 5//48 37//48
f 70//49 49//49 48//49
f 72//50 65//50 21//50
f 73//51 16//51 74//51
f 73//52 74//52 32//52
f 16//53 75//53 17//53
f 16//54 41//54 76//54
f 77//55 48//55 47//55
f 44//56 20//56 78//56
f 53//57 54//57 79//57
f 80//58 81//58 82//58
f 83//59 71//59 53//59
f 84//60 85//60 86//60
f 1//61 3//61 79//61
f 87//62 8//62 7//62
f 82//63 9//63 88//63
f 82//64 81//64 52//64
f 89//65 90//65 91//65
f 92//66 93//66 89//66
f 92//67 89//67 94//67
f 95//68 92//68 61//68
f 61//69 92//69 62//69
f 94//70 96//70 62//70
f 63//71 62//71 96//71
f 97//72 64//72 63//72
f 98//73 99//73 100//73
f 101//74 102//74 103//74
f 97//75 63//75 99//75
f 64//76 101//76 104//76
f 97//77 101//77 64//77
f 104//78 105//78 106//78
f 104//79 107//79 105//79
f 105//80 108//80 33//80
f 105//81 33//81 66//81
f 106//82 64//82 104//82
f 105//83 66//83 106//83
f 106//84 66//84 67//84
f 69//85 28//85 30//85
f 109//86 110//86 75//86
f 11//87 10//87 111//87
f 86//88 22//88 71//88
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examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link2.obj Normal file
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# Mesh '<STL_BINARY>' with 300 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 1//2 4//2 2//2
f 5//3 6//3 1//3
f 6//4 7//4 1//4
f 5//5 8//5 6//5
f 9//6 1//6 10//6
f 11//7 12//7 13//7
f 14//8 15//8 16//8
f 17//9 18//9 19//9
f 20//10 18//10 17//10
f 21//11 22//11 23//11
f 24//12 25//12 26//12
f 25//13 24//13 27//13
f 28//14 25//14 29//14
f 28//15 26//15 25//15
f 16//16 30//16 14//16
f 8//17 31//17 6//17
f 29//18 31//18 8//18
f 29//19 25//19 31//19
f 7//20 4//20 1//20
f 5//21 1//21 9//21
f 32//22 33//22 34//22
f 35//23 12//23 36//23
f 37//24 35//24 38//24
f 39//25 35//25 40//25
f 16//26 41//26 30//26
f 42//27 41//27 16//27
f 16//28 43//28 42//28
f 44//29 42//29 43//29
f 44//30 45//30 42//30
f 46//31 40//31 35//31
f 3//32 47//32 1//32
f 48//33 49//33 50//33
f 49//34 51//34 50//34
f 49//35 19//35 51//35
f 52//36 21//36 23//36
f 53//37 54//37 55//37
f 53//38 56//38 54//38
f 52//39 23//39 56//39
f 57//40 58//40 59//40
f 18//41 20//41 60//41
f 28//42 45//42 26//42
f 7//43 6//43 61//43
f 2//44 4//44 62//44
f 4//45 7//45 63//45
f 8//46 5//46 64//46
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f 10//48 65//48 9//48
f 66//49 5//49 9//49
f 33//50 67//50 37//50
f 67//51 68//51 37//51
f 36//52 11//52 38//52
f 32//53 69//53 60//53
f 36//54 12//54 11//54
f 38//55 35//55 36//55
f 68//56 35//56 37//56
f 70//57 39//57 40//57
f 15//58 71//58 72//58
f 41//59 42//59 45//59
f 41//60 45//60 28//60
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f 76//63 43//63 15//63
f 15//64 77//64 76//64
f 43//65 16//65 15//65
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f 1//69 47//69 10//69
f 80//70 51//70 22//70
f 80//71 50//71 51//71
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f 56//75 23//75 54//75
f 55//76 3//76 2//76
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f 33//80 37//80 34//80
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f 31//85 61//85 6//85
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f 32//88 34//88 69//88
f 35//89 39//89 89//89
f 14//90 71//90 15//90
f 44//91 78//91 45//91
f 79//92 10//92 47//92
f 90//93 91//93 84//93
f 49//94 17//94 19//94
f 92//95 48//95 50//95
f 49//96 81//96 17//96
f 93//97 94//97 95//97
f 80//98 21//98 82//98
f 96//99 97//99 53//99
f 96//100 98//100 97//100
f 99//101 100//101 101//101
f 81//102 57//102 85//102
f 102//103 103//103 59//103
f 90//104 94//104 93//104
f 85//105 59//105 99//105
f 41//106 28//106 87//106
f 62//107 96//107 53//107
f 62//108 104//108 96//108
f 5//109 66//109 64//109
f 65//110 10//110 79//110
f 105//111 33//111 106//111
f 67//112 33//112 105//112
f 30//113 70//113 14//113
f 70//114 40//114 14//114
f 79//115 107//115 86//115
f 66//116 65//116 79//116
f 79//117 19//117 18//117
f 23//118 22//118 79//117
f 79//117 22//118 51//119
f 79//117 51//119 19//117
f 79//117 38//120 107//120
f 38//121 79//117 18//117
f 18//117 69//121 38//121
f 79//122 108//122 64//122
f 79//123 55//123 54//123
f 79//124 54//124 23//124
f 79//125 86//125 87//125
f 79//126 64//126 66//126
f 87//127 108//127 79//127
f 79//128 3//128 55//128
f 109//129 110//129 46//129
f 71//130 40//130 46//130
f 40//131 71//131 14//131
f 110//132 72//132 71//132
f 111//133 110//133 112//133
f 110//134 71//134 46//134
f 107//135 70//135 30//135
f 76//136 74//136 43//136
f 111//137 113//137 114//137
f 43//138 73//138 44//138
f 115//139 44//139 73//139
f 116//140 109//140 105//140
f 68//141 109//141 46//141
f 68//142 46//142 35//142
f 102//143 91//143 117//143
f 48//144 92//144 84//144
f 94//145 90//145 84//145
f 94//146 83//146 95//146
f 95//147 98//147 118//147
f 80//148 83//148 92//148
f 97//149 52//149 56//149
f 84//150 58//150 57//150
f 84//151 91//151 58//151
f 119//152 99//152 101//152
f 120//153 119//153 101//153
f 58//154 102//154 59//154
f 117//155 90//155 93//155
f 91//156 90//156 117//156
f 117//157 103//157 102//157
f 85//158 121//158 81//158
f 28//159 108//159 87//159
f 108//160 28//160 29//160
f 41//161 86//161 30//161
f 89//162 12//162 35//162
f 39//163 122//163 89//163
f 7//164 123//164 63//164
f 88//165 124//165 61//165
f 4//166 63//166 104//166
f 104//167 62//167 4//167
f 64//168 108//168 8//168
f 108//169 29//169 8//169
f 116//170 105//170 106//170
f 105//171 109//171 67//171
f 38//172 122//172 107//172
f 38//173 13//173 122//173
f 38//174 11//174 13//174
f 38//175 34//175 37//175
f 38//176 69//176 34//176
f 122//177 39//177 107//177
f 110//178 109//178 116//178
f 75//179 74//179 125//179
f 126//180 75//180 125//180
f 127//181 126//181 125//181
f 113//182 128//182 125//182
f 113//183 125//183 129//183
f 111//184 112//184 130//184
f 131//185 111//185 130//185
f 100//186 128//186 113//186
f 113//187 131//187 100//187
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f 111//189 72//189 110//189
f 44//190 115//190 78//190
f 68//191 67//191 109//191
f 125//192 128//192 127//192
f 132//193 133//193 93//193
f 126//194 134//194 75//194
f 135//195 78//195 115//195
f 135//196 24//196 78//196
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f 95//199 83//199 98//199
f 92//200 50//200 80//200
f 21//201 52//201 97//201
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f 126//208 127//208 140//208
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f 141//210 117//210 133//210
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f 121//212 60//212 20//212
f 89//213 122//213 13//213
f 89//214 13//214 12//214
f 27//215 88//215 25//215
f 121//216 139//216 60//216
f 39//217 70//217 107//217
f 77//218 129//218 76//218
f 74//219 76//219 129//219
f 74//220 129//220 125//220
f 114//221 129//221 77//221
f 77//222 15//222 72//222
f 127//223 128//223 141//223
f 94//224 92//224 83//224
f 94//225 84//225 92//225
f 142//226 132//226 143//226
f 142//227 133//227 132//227
f 144//228 140//228 142//228
f 135//229 115//229 144//229
f 145//230 146//230 118//230
f 118//231 138//231 145//231
f 95//232 118//232 146//232
f 93//233 95//233 146//233
f 136//234 138//234 147//234
f 53//235 97//235 56//235
f 97//236 98//236 82//236
f 82//237 98//237 83//237
f 112//238 110//238 116//238
f 106//239 139//239 120//239
f 99//240 59//240 100//240
f 100//241 141//241 128//241
f 141//242 133//242 127//242
f 20//243 81//243 121//243
f 20//244 17//244 81//244
f 148//245 149//245 27//245
f 124//246 123//246 61//246
f 7//247 61//247 123//247
f 60//248 139//248 32//248
f 139//249 33//249 32//249
f 107//250 30//250 86//250
f 129//251 114//251 113//251
f 72//252 114//252 77//252
f 72//253 111//253 114//253
f 140//254 134//254 126//254
f 134//255 73//255 75//255
f 150//256 144//256 142//256
f 150//257 142//257 143//257
f 150//258 149//258 148//258
f 136//259 123//259 137//259
f 151//260 143//260 132//260
f 124//261 137//261 123//261
f 151//262 138//262 137//262
f 106//263 112//263 116//263
f 141//264 100//264 103//264
f 120//265 139//265 119//265
f 121//266 119//266 139//266
f 119//267 121//267 85//267
f 99//268 119//268 85//268
f 117//269 93//269 133//269
f 63//270 136//270 104//270
f 123//271 136//271 63//271
f 134//272 140//272 144//272
f 115//273 134//273 144//273
f 136//274 96//274 104//274
f 145//275 138//275 151//275
f 132//276 93//276 146//276
f 152//277 137//277 124//277
f 96//278 136//278 147//278
f 147//279 138//279 118//279
f 106//280 130//280 112//280
f 130//281 106//281 120//281
f 101//282 100//282 131//282
f 142//283 140//283 133//283
f 88//284 149//284 152//284
f 88//285 27//285 149//285
f 24//286 148//286 27//286
f 152//287 151//287 137//287
f 150//288 143//288 149//288
f 148//289 24//289 135//289
f 144//290 150//290 148//290
f 132//291 145//291 151//291
f 132//292 146//292 145//292
f 152//293 124//293 88//293
f 98//294 96//294 147//294
f 98//295 147//295 118//295
f 143//296 151//296 149//296
f 151//297 152//297 149//297
f 148//298 135//298 144//298

767
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link3.obj Normal file
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@@ -0,0 +1,767 @@
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.1.187496374)
mtllib link3.obj.mtl
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v -0.0393173 -0.00421665 -0.0281163
v -0.0252429 -0.0370233 -0.0369862
v 0.0725801 0.110435 5.75046e-05
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v -0.0294214 -0.0396236 -0.0574832
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v 0.0666353 0.10791 0.0113815
v -0.0360201 -0.0229382 -0.0326487
v -0.0396291 -0.0112274 -0.0303964
# 0 UV coordinates
# 300 vertex normals
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vn 0.656821 0.719056 -0.227034
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vn 0.364655 0.195923 0.910297
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vn -0.978785 0.109641 0.173088
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vn 0.355409 0.934711 -0.000297491
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vn -0.0168424 0.924567 0.380647
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vn -0.0243553 0.92665 0.375135
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vn -0.231354 0.924665 0.302441
vn -0.228143 0.925533 0.302224
vn -0.532463 -0.685293 0.496847
vn -0.752665 -0.632672 0.182268
vn 0.151273 -0.984791 0.0854585
vn -0.616907 -0.659817 0.429032
vn -0.865565 -0.253073 0.432147
vn -0.723623 -0.338666 0.601395
vn -0.180329 0.957405 0.225514
vn 0.760732 0.224639 0.608953
vn -0.342905 -0.682197 0.645774
vn 5.79237e-05 2.76056e-05 -1
vn -3.81102e-06 -3.2864e-05 -1
vn -3.4974e-05 -8.3553e-05 -1
vn 7.16203e-05 0.000138931 -1
vn 1.58313e-05 -6.20828e-06 -1
vn -0.000495227 -0.000126386 -1
vn 7.36886e-05 0.000153226 -1
vn 0.00124776 -0.00174906 -0.999998
vn 0.00110945 -0.000927281 -0.999999
vn 0.000195874 -3.95433e-05 -1
vn 0.00430625 -0.00209649 -0.999989
vn 0.0030331 -0.00384581 -0.999988
vn -0.000280376 -8.16428e-05 -1
vn 0.000322017 0.0001511 -1
vn -0.000512111 0.000237019 -1
vn -0.00247326 0.00147071 -0.999996
vn -0.00469458 0.000393563 -0.999989
# Mesh '<STL_BINARY>' with 300 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 5//2 6//2
f 7//3 8//3 9//3
f 9//4 8//4 10//4
f 11//5 12//5 13//5
f 14//6 15//6 16//6
f 17//7 16//7 18//7
f 16//8 19//8 18//8
f 20//9 5//9 4//9
f 21//10 22//10 23//10
f 23//11 24//11 21//11
f 25//12 21//12 24//12
f 26//13 27//13 28//13
f 26//14 29//14 30//14
f 11//15 31//15 32//15
f 33//16 34//16 35//16
f 36//17 34//17 14//17
f 12//18 4//18 6//18
f 37//19 9//19 20//19
f 38//20 39//20 8//20
f 37//21 20//21 40//21
f 41//22 42//22 43//22
f 11//23 44//23 4//23
f 19//24 16//24 15//24
f 14//25 16//25 45//25
f 46//26 47//26 48//26
f 13//27 49//27 50//27
f 51//28 52//28 53//28
f 54//29 3//29 55//29
f 55//30 3//30 2//30
f 44//31 56//31 4//31
f 56//32 20//32 4//32
f 47//33 46//33 57//33
f 58//34 59//34 60//34
f 58//35 61//35 62//35
f 35//36 63//36 33//36
f 51//37 53//37 64//37
f 64//38 35//38 65//38
f 64//39 65//39 51//39
f 66//40 13//40 12//40
f 66//41 49//41 13//41
f 10//42 67//42 5//42
f 1//43 3//43 68//43
f 31//44 69//44 68//44
f 31//45 68//45 32//45
f 11//46 32//46 44//46
f 12//47 11//47 4//47
f 14//48 34//48 15//48
f 45//49 48//49 36//49
f 16//50 46//50 45//50
f 40//51 20//51 56//51
f 56//52 55//52 40//52
f 54//53 55//53 56//53
f 10//54 5//54 20//54
f 41//55 70//55 42//55
f 71//56 72//56 42//56
f 73//57 57//57 74//57
f 50//58 47//58 57//58
f 75//59 76//59 73//59
f 77//60 58//60 60//60
f 61//61 58//61 78//61
f 79//62 7//62 80//62
f 7//63 30//63 80//63
f 81//64 82//64 83//64
f 33//65 15//65 34//65
f 84//66 6//66 5//66
f 85//67 86//67 84//67
f 53//68 52//68 87//68
f 48//69 65//69 36//69
f 65//70 88//70 51//70
f 12//71 6//71 66//71
f 89//72 66//72 6//72
f 6//73 84//73 89//73
f 89//74 49//74 66//74
f 38//75 90//75 91//75
f 8//76 39//76 10//76
f 39//77 67//77 10//77
f 20//78 9//78 10//78
f 54//79 56//79 44//79
f 3//80 54//80 44//80
f 74//81 46//81 16//81
f 13//82 31//82 11//82
f 90//83 92//83 93//83
f 93//84 92//84 86//84
f 86//85 85//85 93//85
f 90//86 94//86 92//86
f 95//87 63//87 96//87
f 63//88 97//88 33//88
f 63//89 95//89 98//89
f 99//90 17//90 18//90
f 100//91 17//91 101//91
f 101//92 17//92 99//92
f 102//93 103//93 104//93
f 70//94 105//94 71//94
f 106//95 107//95 108//95
f 108//96 109//96 106//96
f 70//97 71//97 42//97
f 110//98 16//98 17//98
f 74//99 110//99 73//99
f 16//100 110//100 74//100
f 76//101 57//101 73//101
f 111//102 112//102 113//102
f 105//103 73//103 114//103
f 77//104 78//104 58//104
f 96//105 77//105 115//105
f 96//106 78//106 77//106
f 95//107 96//107 115//107
f 116//108 80//108 61//108
f 7//109 79//109 38//109
f 8//110 7//110 38//110
f 28//111 29//111 26//111
f 28//112 117//112 118//112
f 97//113 98//113 119//113
f 97//114 119//114 99//114
f 97//115 99//115 18//115
f 120//116 121//116 21//116
f 122//117 123//117 124//117
f 123//118 122//118 27//118
f 63//119 35//119 64//119
f 64//120 125//120 63//120
f 36//121 35//121 34//121
f 36//122 65//122 35//122
f 52//123 89//123 87//123
f 89//124 84//124 87//124
f 84//125 86//125 87//125
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],
"displayTimeUnit": "ns"}

338
examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from panda_arm_hand.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="panda_link0">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value="2.9"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/collision/link0.obj"/>
</geometry>
<material name="panda_white">
<color rgba="1. 1. 1. 1."/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link0.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_link1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
<mass value="2.7"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link1.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link1.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
<mass value="2.73"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link2.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link2.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<inertial>
<origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
<mass value="2.04"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link3.obj"/>
</geometry>
<material name="panda_red">
<color rgba="1. 1. 1. 1."/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link3.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<inertial>
<origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
<mass value="2.08"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link4.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link4.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
</joint>
<link name="panda_link5">
<inertial>
<origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
<mass value="3"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link5.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link5.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<inertial>
<origin rpy="0 0 0" xyz="0.04 0 0"/>
<mass value="1.3"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link6.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link6.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
</joint>
<link name="panda_link7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/collision/link7.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link7.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link8">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="panda_link7"/>
<child link="panda_link8"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
</joint>
<link name="panda_hand">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<mass value=".81"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/hand.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/hand.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_leftfinger">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0.01 0.02"/>
<mass value="0.1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/finger.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_rightfinger">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
<mass value="0.1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://meshes/visual/finger.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
<link name="panda_grasptarget">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<joint name="panda_grasptarget_hand" type="fixed">
<parent link="panda_hand"/>
<child link="panda_grasptarget"/>
<origin rpy="0 0 0" xyz="0 0 0.105"/>
</joint>
</robot>

13
examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
newmtl None.003
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd laikago_tex.jpg

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examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl Normal file
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@@ -0,0 +1,10 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

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examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl Normal file
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@@ -0,0 +1,13 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None.003
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd laikago_tex.jpg

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examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj Normal file
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11
examples/pybullet/gym/pybullet_data/laikago/hip_motor.mtl Normal file
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# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd laikago_tex.jpg

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examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj Normal file
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examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl Normal file
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# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd laikago_tex.jpg

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examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.obj Normal file
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155
examples/pybullet/gym/pybullet_data/laikago/laikago.py
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@@ -3,108 +3,95 @@ import time
p.connect(p.GUI)
plane = p.loadURDF("plane.urdf")
p.setGravity(0, 0, -9.8)
p.setTimeStep(1. / 500)
p.setGravity(0,0,-9.8)
p.setTimeStep(1./500)
#p.setDefaultContactERP(0)
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
urdfFlags = p.URDF_USE_SELF_COLLISION
quadruped = p.loadURDF("laikago.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
flags=urdfFlags,
useFixedBase=False)
quadruped = p.loadURDF("laikago_toes.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
#enable collision between lower legs
for j in range(p.getNumJoints(quadruped)):
print(p.getJointInfo(quadruped, j))
for j in range (p.getNumJoints(quadruped)):
print(p.getJointInfo(quadruped,j))
#2,5,8 and 11 are the lower legs
lower_legs = [2, 5, 8, 11]
lower_legs = [2,5,8,11]
for l0 in lower_legs:
for l1 in lower_legs:
if (l1 > l0):
enableCollision = 1
print("collision for pair", l0, l1,
p.getJointInfo(quadruped, l0)[12],
p.getJointInfo(quadruped, l1)[12], "enabled=", enableCollision)
p.setCollisionFilterPair(quadruped, quadruped, 2, 5, enableCollision)
for l1 in lower_legs:
if (l1>l0):
enableCollision = 1
print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
jointIds = []
paramIds = []
jointOffsets = []
jointDirections = [-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1]
jointAngles = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
jointIds=[]
paramIds=[]
jointOffsets=[]
jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
for i in range(4):
jointOffsets.append(0)
jointOffsets.append(-0.7)
jointOffsets.append(0.7)
for i in range (4):
jointOffsets.append(0)
jointOffsets.append(-0.7)
jointOffsets.append(0.7)
maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 20)
maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
for j in range(p.getNumJoints(quadruped)):
p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped, j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
jointIds.append(j)
for j in range (p.getNumJoints(quadruped)):
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped,j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
jointIds.append(j)
p.getCameraImage(480, 320)
p.getCameraImage(480,320)
p.setRealTimeSimulation(0)
joints = []
joints=[]
with open("data1.txt", "r") as filestream:
for line in filestream:
print("line=", line)
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
#print (currentline)
#print("-----")
frame = currentline[0]
t = currentline[1]
#print("frame[",frame,"]")
joints = currentline[2:14]
#print("joints=",joints)
for j in range(12):
targetPos = float(joints[j])
p.setJointMotorControl2(quadruped,
jointIds[j],
p.POSITION_CONTROL,
jointDirections[j] * targetPos + jointOffsets[j],
force=maxForce)
p.stepSimulation()
for lower_leg in lower_legs:
#print("points for ", quadruped, " link: ", lower_leg)
pts = p.getContactPoints(quadruped, -1, lower_leg)
#print("num points=",len(pts))
#for pt in pts:
# print(pt[9])
time.sleep(1. / 500.)
with open("data1.txt","r") as filestream:
for line in filestream:
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
frame = currentline[0]
t = currentline[1]
joints=currentline[2:14]
for j in range (12):
targetPos = float(joints[j])
p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
p.stepSimulation()
for lower_leg in lower_legs:
#print("points for ", quadruped, " link: ", lower_leg)
pts = p.getContactPoints(quadruped,-1, lower_leg)
#print("num points=",len(pts))
#for pt in pts:
# print(pt[9])
time.sleep(1./500.)
index = 0
for j in range (p.getNumJoints(quadruped)):
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped,j)
js = p.getJointState(quadruped,j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[index])/jointDirections[index]))
index=index+1
for j in range(p.getNumJoints(quadruped)):
p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
info = p.getJointInfo(quadruped, j)
js = p.getJointState(quadruped, j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
paramIds.append(
p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,
(js[0] - jointOffsets[j]) / jointDirections[j]))
p.setRealTimeSimulation(1)
while (1):
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(quadruped,
jointIds[i],
p.POSITION_CONTROL,
jointDirections[i] * targetPos + jointOffsets[i],
force=maxForce)
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)

951
examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
View File

@@ -1,477 +1,474 @@
<?xml version="1.0" ?>
<robot name="plane">
<link name="chassis">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
<mass value="13.715"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis.stl" scale="1 1 1"/>
</geometry>
<material name="yellow">
<color rgba="0.95 0.75 0.05 1"/>
</material>
</visual>
<collision>
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
<material name="green">
<color rgba="0.23 0.73 0.33 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry>
<material name="blue">
<color rgba="0.28 0.52 0.93 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red">
<color rgba="0.85 0.19 0.21 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
</robot>
<?xml version="1.0" ?>
<robot name="plane">
<link name="chassis">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
<mass value="13.715"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
<geometry>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
</robot>

BIN
examples/pybullet/gym/pybullet_data/laikago/laikago_tex.jpg Normal file
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75
examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
View File

@@ -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"/>

598
examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf Normal file
View File

@@ -0,0 +1,598 @@
<?xml version="1.0" ?>
<robot name="plane">
<link name="chassis">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="13.715"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz=" 0 0 0"/>
<geometry>
<mesh filename="chassis_zup.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="toeRL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRL" type="fixed">
<parent link="RL_lower_leg"/>
<child link="toeRL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeRR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRR" type="fixed">
<parent link="RR_lower_leg"/>
<child link="toeRR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFL" type="fixed">
<parent link="FL_lower_leg"/>
<child link="toeFL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFR" type="fixed">
<parent link="FR_lower_leg"/>
<child link="toeFR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>

11
examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl Normal file
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@@ -0,0 +1,11 @@
# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd laikago_tex.jpg

11100
examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj Normal file
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BIN
examples/pybullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl Normal file
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15
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl
View File

@@ -1,10 +1,13 @@
# Blender MTL File: 'None'
# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None
Ns 0
newmtl None.005
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd laikago_tex.jpg

8598
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
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13
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.mtl Normal file
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@@ -0,0 +1,13 @@
# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None.004
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd laikago_tex.jpg

7471
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.obj Normal file
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examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj
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11
examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl Normal file
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@@ -0,0 +1,11 @@
# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd laikago_tex.jpg

6407
examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.obj Normal file
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11
examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl Normal file
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@@ -0,0 +1,11 @@
# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd laikago_tex.jpg

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examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj Normal file
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15
examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl
View File

@@ -1,10 +1,13 @@
# Blender MTL File: 'None'
# Blender MTL File: 'laikago_textured.blend'
# Material Count: 1
newmtl None
Ns 0
newmtl None.002
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd laikago_tex.jpg

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examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
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examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj
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4
examples/pybullet/gym/pybullet_data/plane.urdf
View File

@@ -12,7 +12,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane.obj" scale="1 1 1"/>
<mesh filename="plane100.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
@@ -21,7 +21,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 -5"/>
<geometry>
<box size="30 30 10"/>
<box size="200 200 10"/>
</geometry>
</collision>
</link>

27
examples/pybullet/gym/pybullet_data/xarm/LICENSE Normal file
View File

@@ -0,0 +1,27 @@
Copyright (c) 2018, UFACTORY Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

69
examples/pybullet/gym/pybullet_data/xarm/base.urdf Normal file
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_base">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
<mass value="2.7"/>
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
</inertial>
</link>
</robot>

69
examples/pybullet/gym/pybullet_data/xarm/base_com.urdf Normal file
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_base">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
</collision>
<inertial>
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link1">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link1">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link2">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
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70
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@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link2">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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69
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link3">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
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69
examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf Normal file
View File

@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link3">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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70
examples/pybullet/gym/pybullet_data/xarm/link4.urdf Normal file
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@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link4">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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70
examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf Normal file
View File

@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link4">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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69
examples/pybullet/gym/pybullet_data/xarm/link5.urdf Normal file
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link5">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
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69
examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf Normal file
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link5">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.275"/>
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
</inertial>
</link>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link6">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
</robot>

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examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf Normal file
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@@ -0,0 +1,70 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_link6">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
</robot>

317
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf Normal file
View File

@@ -0,0 +1,317 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
<mass value="2.7"/>
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
</inertial>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
<mass value="2.16"/>
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<parent link="link_base"/>
<child link="link1"/>
<origin rpy="0 0 0" xyz="0 0 0.267"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Yellow"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
<mass value="1.71"/>
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<parent link="link1"/>
<child link="link2"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
<mass value="1.384"/>
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<parent link="link2"/>
<child link="link3"/>
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Green"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
<mass value="1.115"/>
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<parent link="link3"/>
<child link="link4"/>
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
<mass value="1.275"/>
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<parent link="link4"/>
<child link="link5"/>
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<parent link="link5"/>
<child link="link6"/>
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
<axis xyz="0 0 1"/>
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>100</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="link_base">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link1">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link2">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link3">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link4">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link5">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link6">
<selfCollide>true</selfCollide>
</gazebo>
</robot>

554
examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf Normal file
View File

@@ -0,0 +1,554 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_with_gripper.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_with_gripper">
<!-- <xacro:load_gripper attach_to="$(arg prefix)link6" /> -->
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
<mass value="2.7"/>
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
</inertial>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
<mass value="2.16"/>
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<parent link="link_base"/>
<child link="link1"/>
<origin rpy="0 0 0" xyz="0 0 0.267"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd2.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
<mass value="1.71"/>
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<parent link="link1"/>
<child link="link2"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
<mass value="1.384"/>
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<parent link="link2"/>
<child link="link3"/>
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
<mass value="1.115"/>
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<parent link="link3"/>
<child link="link4"/>
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
<mass value="1.275"/>
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<parent link="link4"/>
<child link="link5"/>
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<parent link="link5"/>
<child link="link6"/>
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
<axis xyz="0 0 1"/>
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>100</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>reduction</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="link_base">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link1">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link2">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link3">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link4">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link5">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link6">
<selfCollide>true</selfCollide>
</gazebo>
<!-- gazebo plugin -->
<!-- <xacro:gazebo_ros_control_plugin namespace="${ns}"/> -->
<joint name="gripper_fix" type="fixed">
<parent link="link6"/>
<child link="xarm_gripper_base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="xarm_gripper_base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00065489 -0.0018497 0.048028"/>
<mass value="0.54156"/>
<inertia ixx="0.00047106" ixy="3.9292E-07" ixz="2.6537E-06" iyy="0.00033072" iyz="-1.0975E-05" izz="0.00025642"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/base_link.STL"/>
</geometry>
<!-- <material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material> -->
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="left_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="2.9948E-14 0.021559 0.015181"/>
<mass value="0.033618"/>
<inertia ixx="1.9111E-05" ixy="-1.8803E-17" ixz="-1.1002E-17" iyy="6.6256E-06" iyz="-7.3008E-06" izz="1.3185E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/left_outer_knuckle.STL"/>
</geometry>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/left_outer_knuckle.STL"/>
</geometry>
</collision>
</link>
<joint name="drive_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.035 0.059098"/>
<parent link="xarm_gripper_base_link"/>
<child link="left_outer_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
</joint>
<link name="left_finger">
<inertial>
<origin rpy="0 0 0" xyz="-2.4536E-14 -0.016413 0.029258"/>
<mass value="0.048304"/>
<inertia ixx="1.7493E-05" ixy="-4.2156E-19" ixz="6.9164E-18" iyy="1.7225E-05" iyz="4.6433E-06" izz="5.1466E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/left_finger.STL"/>
</geometry>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/left_finger.STL"/>
</geometry>
</collision>
</link>
<joint name="left_finger_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.035465 0.042039"/>
<parent link="left_outer_knuckle"/>
<child link="left_finger"/>
<axis xyz="-1 0 0"/>
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
<mimic joint="drive_joint" multiplier="1" offset="0"/>
</joint>
<link name="left_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="1.86600784687907E-06 0.0220467847633621 0.0261334672830885"/>
<mass value="0.0230125781256706"/>
<inertia ixx="6.09490024271906E-06" ixy="6.06651326160071E-11" ixz="7.19102670500635E-11" iyy="6.01955084375188E-06" iyz="-2.75316812991721E-06" izz="5.07862004479903E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/left_inner_knuckle.STL"/>
</geometry>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/left_inner_knuckle.STL"/>
</geometry>
</collision>
</link>
<joint name="left_inner_knuckle_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.02 0.074098"/>
<parent link="xarm_gripper_base_link"/>
<child link="left_inner_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
<mimic joint="drive_joint" multiplier="1" offset="0"/>
</joint>
<link name="right_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="-3.1669E-14 -0.021559 0.015181"/>
<mass value="0.033618"/>
<inertia ixx="1.9111E-05" ixy="-1.8789E-17" ixz="1.0986E-17" iyy="6.6256E-06" iyz="7.3008E-06" izz="1.3185E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/right_outer_knuckle.STL"/>
</geometry>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/right_outer_knuckle.STL"/>
</geometry>
</collision>
</link>
<joint name="right_outer_knuckle_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.035 0.059098"/>
<parent link="xarm_gripper_base_link"/>
<child link="right_outer_knuckle"/>
<axis xyz="-1 0 0"/>
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
<mimic joint="drive_joint" multiplier="1" offset="0"/>
</joint>
<link name="right_finger">
<inertial>
<origin rpy="0 0 0" xyz="2.5618E-14 0.016413 0.029258"/>
<mass value="0.048304"/>
<inertia ixx="1.7493E-05" ixy="-5.0014E-19" ixz="-7.5079E-18" iyy="1.7225E-05" iyz="-4.6435E-06" izz="5.1466E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/right_finger.STL"/>
</geometry>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/right_finger.STL"/>
</geometry>
</collision>
</link>
<joint name="right_finger_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.035465 0.042039"/>
<parent link="right_outer_knuckle"/>
<child link="right_finger"/>
<axis xyz="1 0 0"/>
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
<mimic joint="drive_joint" multiplier="1" offset="0"/>
</joint>
<link name="right_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="1.866E-06 -0.022047 0.026133"/>
<mass value="0.023013"/>
<inertia ixx="6.0949E-06" ixy="-6.0665E-11" ixz="7.191E-11" iyy="6.0197E-06" iyz="2.7531E-06" izz="5.0784E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/right_inner_knuckle.STL"/>
</geometry>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://xarm_gripper/meshes/right_inner_knuckle.STL"/>
</geometry>
</collision>
</link>
<joint name="right_inner_knuckle_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.02 0.074098"/>
<parent link="xarm_gripper_base_link"/>
<child link="right_inner_knuckle"/>
<axis xyz="-1 0 0"/>
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
<mimic joint="drive_joint" multiplier="1" offset="0"/>
</joint>
<transmission name="drive_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="drive_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="drive_joint_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="xarm_gripper_base_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="left_outer_knuckle">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="left_finger">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="left_inner_knuckle">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="right_outer_knuckle">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="right_finger">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="right_inner_knuckle">
<selfCollide>true</selfCollide>
</gazebo>
</robot>

10
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl Normal file
View File

@@ -0,0 +1,10 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 500
Ka 0.8 0.8 0.8
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

687
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj Normal file
View File

@@ -0,0 +1,687 @@
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 500
Ka 0.8 0.8 0.8
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.mtl Normal file
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# Blender MTL File: 'None'
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.obj Normal file
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# Blender v2.81 (sub 16) OBJ File: ''
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10
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3.mtl Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5.mtl Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj Normal file
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