add new xml and python scripts
This commit is contained in:
Hongbo Zhu
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data/a1/meshes/calf.stl
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data/a1/meshes/calf.stl
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data/a1/meshes/hip.stl
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data/a1/meshes/hip.stl
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data/a1/meshes/thigh.stl
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data/a1/meshes/thigh.stl
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data/a1/meshes/thigh_mirror.stl
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data/a1/meshes/thigh_mirror.stl
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data/a1/meshes/trunk.stl
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data/a1/meshes/trunk.stl
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data/a1/urdf/a1.urdf
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data/a1/urdf/a1.urdf
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||||
<?xml version="1.0" ?>
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||||
<!-- =================================================================================== -->
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||||
<!-- | This document was autogenerated by xacro from robot.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="a1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<mujoco>
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<compiler
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meshdir="../meshes/"
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balanceinertia="true"
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discardvisual="false" />
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<option gravity='0 0 -9.8'/>
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</mujoco>
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<material name="silver">
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<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<!-- <xacro:include filename="$(find aliengo_gazebo)/launch/gazebo.xacro"/> -->
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<!-- <xacro:if value="$(arg DEBUG)">
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base"/>
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</joint>
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</xacro:if> -->
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<link name="world"/>
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<joint name="floating_base" type="floating">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="trunk"/>
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</joint>
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<link name="trunk">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.267 0.194 0.114"/>
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</geometry>
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</collision>
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<!-- <collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
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</geometry>
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</collision> -->
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<inertial>
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<origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
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<mass value="4.713"/>
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<inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="trunk"/>
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<child link="imu_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="imu_link">
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.183 -0.047 0"/>
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<parent link="trunk"/>
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<child link="FR_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
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</joint>
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<link name="FR_hip">
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<visual>
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<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 -0.055 0"/>
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<geometry>
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<cylinder length="0.08" radius="0.04"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
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||||
<mass value="0.696"/>
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||||
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
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</inertial>
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</link>
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<!-- <joint name="${name}_hip_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
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<parent link="${name}_hip"/>
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<child link="${name}_thigh_shoulder"/>
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</joint> -->
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<!-- this link is only for collision -->
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<!-- <link name="${name}_thigh_shoulder">
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<collision>
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<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
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</geometry>
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</collision>
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</link> -->
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<joint name="FR_thigh_joint" type="continuous">
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<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
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</joint>
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<link name="FR_thigh">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="silver"/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
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||||
<geometry>
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||||
<box size="0.2 0.0245 0.034"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
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||||
<mass value="1.013"/>
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||||
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
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</inertial>
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</link>
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<joint name="FR_calf_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 -0.2"/>
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<parent link="FR_thigh"/>
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<child link="FR_calf"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
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</joint>
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<link name="FR_calf">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
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||||
<geometry>
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||||
<box size="0.2 0.016 0.016"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
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||||
<mass value="0.166"/>
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||||
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
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||||
</inertial>
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||||
</link>
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<joint name="FR_foot_fixed" type="fixed">
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||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
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<parent link="FR_calf"/>
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<child link="FR_foot"/>
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||||
</joint>
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<link name="FR_foot">
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||||
<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<sphere radius="0.01"/>
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||||
</geometry>
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||||
<material name="black"/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<sphere radius="0.02"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="0.06"/>
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||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
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||||
</inertial>
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</link>
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<transmission name="FR_hip_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_hip_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FR_hip_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FR_thigh_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_thigh_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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||||
<actuator name="FR_thigh_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FR_calf_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_calf_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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||||
</joint>
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<actuator name="FR_calf_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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||||
</actuator>
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||||
</transmission>
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||||
<joint name="FL_hip_joint" type="revolute">
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||||
<origin rpy="0 0 0" xyz="0.183 0.047 0"/>
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||||
<parent link="trunk"/>
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||||
<child link="FL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
|
||||
</joint>
|
||||
<link name="FL_hip">
|
||||
<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
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||||
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.055 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
|
||||
<mass value="0.696"/>
|
||||
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
|
||||
</inertial>
|
||||
</link>
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||||
<!-- <joint name="${name}_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_thigh_shoulder"/>
|
||||
</joint> -->
|
||||
<!-- this link is only for collision -->
|
||||
<!-- <link name="${name}_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="FL_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0.08505 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FL_thigh">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
||||
<geometry>
|
||||
<box size="0.2 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
|
||||
<mass value="1.013"/>
|
||||
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="FL_thigh"/>
|
||||
<child link="FL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FL_calf">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
||||
<geometry>
|
||||
<box size="0.2 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
|
||||
<mass value="0.166"/>
|
||||
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="FL_calf"/>
|
||||
<child link="FL_foot"/>
|
||||
</joint>
|
||||
<link name="FL_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.01"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="FL_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FL_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FL_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FL_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FL_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FL_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FL_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FL_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FL_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="RR_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.183 -0.047 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
|
||||
</joint>
|
||||
<link name="RR_hip">
|
||||
<visual>
|
||||
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.055 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
|
||||
<mass value="0.696"/>
|
||||
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- <joint name="${name}_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_thigh_shoulder"/>
|
||||
</joint> -->
|
||||
<!-- this link is only for collision -->
|
||||
<!-- <link name="${name}_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="RR_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RR_thigh">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
||||
<geometry>
|
||||
<box size="0.2 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
|
||||
<mass value="1.013"/>
|
||||
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="RR_thigh"/>
|
||||
<child link="RR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RR_calf">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
||||
<geometry>
|
||||
<box size="0.2 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
|
||||
<mass value="0.166"/>
|
||||
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="RR_calf"/>
|
||||
<child link="RR_foot"/>
|
||||
</joint>
|
||||
<link name="RR_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.01"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="RR_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RR_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RR_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="RR_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RR_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RR_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="RR_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RR_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RR_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="RL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.183 0.047 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
|
||||
</joint>
|
||||
<link name="RL_hip">
|
||||
<visual>
|
||||
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.055 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
|
||||
<mass value="0.696"/>
|
||||
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- <joint name="${name}_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_thigh_shoulder"/>
|
||||
</joint> -->
|
||||
<!-- this link is only for collision -->
|
||||
<!-- <link name="${name}_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="RL_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0.08505 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RL_thigh">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
||||
<geometry>
|
||||
<box size="0.2 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
|
||||
<mass value="1.013"/>
|
||||
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="RL_thigh"/>
|
||||
<child link="RL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RL_calf">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
||||
<geometry>
|
||||
<box size="0.2 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
|
||||
<mass value="0.166"/>
|
||||
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="RL_calf"/>
|
||||
<child link="RL_foot"/>
|
||||
</joint>
|
||||
<link name="RL_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.01"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="RL_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RL_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RL_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="RL_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RL_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RL_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="RL_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RL_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RL_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
</robot>
|
||||
|
||||
139
data/a1/urdf/a1.xml
Normal file
139
data/a1/urdf/a1.xml
Normal file
@@ -0,0 +1,139 @@
|
||||
<mujoco model="a1_description">
|
||||
<compiler angle="radian" meshdir="../meshes/" />
|
||||
<option gravity="0 0 -9.8" />
|
||||
<size njmax="500" nconmax="100" />
|
||||
<asset>
|
||||
<mesh name="trunk" file="trunk.stl" />
|
||||
<mesh name="hip" file="hip.stl" />
|
||||
<mesh name="thigh_mirror" file="thigh_mirror.stl" />
|
||||
<mesh name="calf" file="calf.stl" />
|
||||
<mesh name="thigh" file="thigh.stl" />
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" pos="0 0 -0.45" size="10 10 0.1" rgba=".9 0 0 1"/>
|
||||
|
||||
<body name="trunk" pos="0 0 0">
|
||||
<inertial pos="0.0127283 0.00218554 0.000514891" quat="0.00186575 0.711506 0.000389649 0.702677" mass="4.714" diaginertia="0.0648213 0.0565803 0.0169323" />
|
||||
<joint name="floating_base" type="free" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
|
||||
<geom size="0.1335 0.097 0.057" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.0005 0.0005 0.0005" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
|
||||
<geom size="0.0005 0.0005 0.0005" type="box" rgba="0.8 0 0 0" />
|
||||
<body name="FR_hip" pos="0.183 -0.047 0">
|
||||
<inertial pos="-0.003311 -0.000635 3.1e-05" quat="0.507528 0.506268 0.491507 0.494499" mass="0.696" diaginertia="0.000807752 0.00055293 0.000468983" />
|
||||
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
|
||||
<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
|
||||
<geom size="0.04 0.04" pos="0 -0.055 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="FR_thigh" pos="0 -0.08505 0">
|
||||
<inertial pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091" mass="1.013" diaginertia="0.00555739 0.00513936 0.00133944" />
|
||||
<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
|
||||
<geom size="0.1 0.01225 0.017" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="FR_calf" pos="0 0 -0.2">
|
||||
<inertial pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886" mass="0.226" diaginertia="0.00340344 0.00339393 3.54834e-05" />
|
||||
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.1 0.008 0.008" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.01" pos="0 0 -0.2" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.2" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="FL_hip" pos="0.183 0.047 0">
|
||||
<inertial pos="-0.003311 0.000635 3.1e-05" quat="0.494499 0.491507 0.506268 0.507528" mass="0.696" diaginertia="0.000807752 0.00055293 0.000468983" />
|
||||
<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
|
||||
<geom size="0.04 0.04" pos="0 0.055 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="FL_thigh" pos="0 0.08505 0">
|
||||
<inertial pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091" mass="1.013" diaginertia="0.00555739 0.00513936 0.00133944" />
|
||||
<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
|
||||
<geom size="0.1 0.01225 0.017" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="FL_calf" pos="0 0 -0.2">
|
||||
<inertial pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886" mass="0.226" diaginertia="0.00340344 0.00339393 3.54834e-05" />
|
||||
<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.1 0.008 0.008" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.01" pos="0 0 -0.2" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.2" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RR_hip" pos="-0.183 -0.047 0">
|
||||
<inertial pos="0.003311 -0.000635 3.1e-05" quat="0.491507 0.494499 0.507528 0.506268" mass="0.696" diaginertia="0.000807752 0.00055293 0.000468983" />
|
||||
<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
|
||||
<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
|
||||
<geom size="0.04 0.04" pos="0 -0.055 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="RR_thigh" pos="0 -0.08505 0">
|
||||
<inertial pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091" mass="1.013" diaginertia="0.00555739 0.00513936 0.00133944" />
|
||||
<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
|
||||
<geom size="0.1 0.01225 0.017" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="RR_calf" pos="0 0 -0.2">
|
||||
<inertial pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886" mass="0.226" diaginertia="0.00340344 0.00339393 3.54834e-05" />
|
||||
<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.1 0.008 0.008" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.01" pos="0 0 -0.2" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.2" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RL_hip" pos="-0.183 0.047 0">
|
||||
<inertial pos="0.003311 0.000635 3.1e-05" quat="0.506268 0.507528 0.494499 0.491507" mass="0.696" diaginertia="0.000807752 0.00055293 0.000468983" />
|
||||
<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
|
||||
<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
|
||||
<geom size="0.04 0.04" pos="0 0.055 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="RL_thigh" pos="0 0.08505 0">
|
||||
<inertial pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091" mass="1.013" diaginertia="0.00555739 0.00513936 0.00133944" />
|
||||
<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
|
||||
<geom size="0.1 0.01225 0.017" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="RL_calf" pos="0 0 -0.2">
|
||||
<inertial pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886" mass="0.226" diaginertia="0.00340344 0.00339393 3.54834e-05" />
|
||||
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.1 0.008 0.008" pos="0 0 -0.1" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.01" pos="0 0 -0.2" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.2" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<!--
|
||||
<position joint="FR_hip_joint" kp="1000"/>
|
||||
<position joint="FR_thigh_joint" kp="1000"/>
|
||||
<position joint="FR_calf_joint" kp="1000"/>
|
||||
|
||||
<position joint="FL_hip_joint" kp="1000"/>
|
||||
<position joint="FL_thigh_joint" kp="1000"/>
|
||||
<position joint="FL_calf_joint" kp="1000"/>
|
||||
|
||||
<position joint="RR_hip_joint" kp="1000"/>
|
||||
<position joint="RR_thigh_joint" kp="1000"/>
|
||||
<position joint="RR_calf_joint" kp="1000"/>
|
||||
|
||||
<position joint="RL_hip_joint" kp="1000"/>
|
||||
<position joint="RL_thigh_joint" kp="1000"/>
|
||||
<position joint="RL_calf_joint" kp="1000"/> -->
|
||||
|
||||
|
||||
<motor name="FR_hip" gear="9.1" joint="FR_hip_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="FR_thigh" gear="9.1" joint="FR_thigh_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="FR_calf" gear="9.1" joint="FR_calf_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="FL_hip" gear="9.1" joint="FL_hip_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="FL_thigh" gear="9.1" joint="FL_thigh_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="FL_calf" gear="9.1" joint="FL_calf_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="RR_hip" gear="9.1" joint="RR_hip_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="RR_thigh" gear="9.1" joint="RR_thigh_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="RR_calf" gear="9.1" joint="RR_calf_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="RL_hip" gear="9.1" joint="RL_hip_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="RL_thigh" gear="9.1" joint="RL_thigh_joint" forcerange="-33.5 33.5" />
|
||||
<motor name="RL_calf" gear="9.1" joint="RL_calf_joint" forcerange="-33.5 33.5" />
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user