cyy/sim2sim_mujoco_example
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edit xml and python script

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Hongbo Zhu
2021-11-02 12:21:40 +08:00
parent 17814158fe
commit 62f3f933c2
8 changed files with 563 additions and 132 deletions
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54
data/aliengo/urdf/aliengo.urdf
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@@ -4,6 +4,13 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<mujoco>
<compiler
meshdir="../meshes/"
balanceinertia="true"
discardvisual="false" />
</mujoco>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
@@ -41,17 +48,10 @@
<child link="base"/>
</joint>
</xacro:if> -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<link name="world"/>
<joint name="floating_base" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<parent link="world"/>
<child link="trunk"/>
</joint>
<link name="trunk">
@@ -60,7 +60,7 @@
<geometry>
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -119,7 +119,7 @@
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
@@ -161,7 +161,7 @@
<geometry>
<mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -189,7 +189,7 @@
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -214,7 +214,7 @@
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -271,7 +271,7 @@
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
@@ -313,7 +313,7 @@
<geometry>
<mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -341,7 +341,7 @@
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -366,7 +366,7 @@
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -423,7 +423,7 @@
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
@@ -465,7 +465,7 @@
<geometry>
<mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -493,7 +493,7 @@
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -518,7 +518,7 @@
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -575,7 +575,7 @@
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
@@ -617,7 +617,7 @@
<geometry>
<mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -645,7 +645,7 @@
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -670,7 +670,7 @@
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>