Initial commit
This commit is contained in:
cyy
BIN
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" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from robot.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="a1_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>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="silver">
|
||||
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
|
||||
<!-- <xacro:include filename="$(find aliengo_gazebo)/launch/gazebo.xacro"/> -->
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<!-- <xacro:if value="$(arg DEBUG)">
|
||||
<link name="world"/>
|
||||
<joint name="base_static_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
</xacro:if> -->
|
||||
<link name="world"/>
|
||||
<joint name="" type="floating">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="trunk"/>
|
||||
</joint>
|
||||
<link name="trunk">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.267 0.194 0.114"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<!-- <collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
|
||||
<mass value="4.713"/>
|
||||
<inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.183 -0.047 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FR_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="FR_hip">
|
||||
<visual>
|
||||
<origin rpy="3.14159265359 0 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="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="FR_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
|
||||
<parent link="FR_hip"/>
|
||||
<child link="FR_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="FR_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="FR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="FR_thigh"/>
|
||||
<child link="FR_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="FR_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="FR_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
||||
<parent link="FR_calf"/>
|
||||
<child link="FR_foot"/>
|
||||
</joint>
|
||||
<link name="FR_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="FR_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FR_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FR_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="FL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.183 0.047 0"/>
|
||||
<parent link="trunk"/>
|
||||
<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>
|
||||
<origin rpy="0 0 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="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>
|
||||
|
||||
186
data/a1/xml/a1.xml
Normal file
186
data/a1/xml/a1.xml
Normal file
@@ -0,0 +1,186 @@
|
||||
<mujoco model="a1_description">
|
||||
<compiler angle="radian" meshdir="../meshes/" />
|
||||
<size njmax="500" nconmax="100" />
|
||||
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
|
||||
|
||||
<default>
|
||||
<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
|
||||
|
||||
<light castshadow="false" diffuse="1 1 1"/>
|
||||
<motor ctrlrange="-33.5 33.5" ctrllimited="true"/>
|
||||
<camera fovy="60"/>
|
||||
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
|
||||
|
||||
</default>
|
||||
|
||||
<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>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512" height="512"/>
|
||||
<texture name="plane" type="2d" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="512" height="512" mark="cross" markrgb="0 0 0"/>
|
||||
<material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<visual>
|
||||
<rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 0.7" contactpoint="1.0 1.0 0.6 0.4"/>
|
||||
<scale com="0.2" forcewidth="0.035" contactwidth="0.10" contactheight="0.04"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
|
||||
<camera name="track" mode="trackcom" pos="0 -1.3 1.6" xyaxes="1 0 0 0 0.707 0.707"/>
|
||||
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1'/>
|
||||
|
||||
<body name="trunk" pos="0 0 0.3">
|
||||
<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 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 0.066 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" />
|
||||
<site name="imu" pos="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>
|
||||
|
||||
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
|
||||
<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
|
||||
<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
|
||||
<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
|
||||
<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
|
||||
<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
|
||||
<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
|
||||
<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
|
||||
<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
|
||||
<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
|
||||
<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
|
||||
<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
|
||||
<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
|
||||
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
|
||||
<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
|
||||
<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
|
||||
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
|
||||
<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
|
||||
<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
|
||||
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
|
||||
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
|
||||
<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
|
||||
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
|
||||
<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
|
||||
|
||||
<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
|
||||
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
|
||||
<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
|
||||
<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
|
||||
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
|
||||
<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
|
||||
<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
|
||||
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
|
||||
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
|
||||
<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
|
||||
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
|
||||
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
|
||||
|
||||
<accelerometer name="Body_Acc" site="imu"/>
|
||||
|
||||
<gyro name="Body_Gyro" site="imu"/>
|
||||
|
||||
<framepos name="Body_Pos" objtype="site" objname="imu"/>
|
||||
|
||||
<framequat name="Body_Quat" objtype="site" objname="imu"/>
|
||||
|
||||
|
||||
</sensor>
|
||||
|
||||
</mujoco>
|
||||
BIN
data/aliengo/meshes/calf.stl
Normal file
BIN
data/aliengo/meshes/calf.stl
Normal file
Binary file not shown.
BIN
data/aliengo/meshes/hip.stl
Normal file
BIN
data/aliengo/meshes/hip.stl
Normal file
Binary file not shown.
BIN
data/aliengo/meshes/thigh.stl
Normal file
BIN
data/aliengo/meshes/thigh.stl
Normal file
Binary file not shown.
BIN
data/aliengo/meshes/thigh_mirror.stl
Normal file
BIN
data/aliengo/meshes/thigh_mirror.stl
Normal file
Binary file not shown.
BIN
data/aliengo/meshes/trunk.stl
Normal file
BIN
data/aliengo/meshes/trunk.stl
Normal file
Binary file not shown.
718
data/aliengo/urdf/aliengo.urdf
Normal file
718
data/aliengo/urdf/aliengo.urdf
Normal file
@@ -0,0 +1,718 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from robot.xacro | -->
|
||||
<!-- | 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>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="silver">
|
||||
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
|
||||
<!-- <xacro:include filename="$(find aliengo_gazebo)/launch/gazebo.xacro"/> -->
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<!-- <xacro:if value="$(arg DEBUG)">
|
||||
<link name="world"/>
|
||||
<joint name="base_static_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
</xacro:if> -->
|
||||
<link name="world"/>
|
||||
<joint name="floating_base" type="floating">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="trunk"/>
|
||||
</joint>
|
||||
<link name="trunk">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.647 0.15 0.112"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<!-- <collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
|
||||
<mass value="9.041"/>
|
||||
<inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.2399 -0.051 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||
</joint>
|
||||
<link name="FR_hip">
|
||||
<visual>
|
||||
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0418" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
|
||||
<mass value="1.993"/>
|
||||
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
|
||||
</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="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="FR_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
|
||||
<parent link="FR_hip"/>
|
||||
<child link="FR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" velocity="40"/>
|
||||
</joint>
|
||||
<link name="FR_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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0374 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
||||
<mass value="0.639"/>
|
||||
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="FR_thigh"/>
|
||||
<child link="FR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||
</joint>
|
||||
<link name="FR_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 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0208 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||
<mass value="0.207"/>
|
||||
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="FR_calf"/>
|
||||
<child link="FR_foot"/>
|
||||
</joint>
|
||||
<link name="FR_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0165"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0265"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="FR_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FR_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FR_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="FL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||
</joint>
|
||||
<link name="FL_hip">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0418" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
|
||||
<mass value="1.993"/>
|
||||
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
|
||||
</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="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="FL_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0.083 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" velocity="40"/>
|
||||
</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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0374 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
||||
<mass value="0.639"/>
|
||||
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="FL_thigh"/>
|
||||
<child link="FL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||
</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 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0208 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||
<mass value="0.207"/>
|
||||
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<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="0.0165"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0265"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||
</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="-0.2399 -0.051 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||
</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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0418" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
|
||||
<mass value="1.993"/>
|
||||
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
|
||||
</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="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="RR_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" velocity="40"/>
|
||||
</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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0374 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
||||
<mass value="0.639"/>
|
||||
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="RR_thigh"/>
|
||||
<child link="RR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||
</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 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0208 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||
<mass value="0.207"/>
|
||||
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<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="0.0165"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0265"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||
</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="-0.2399 0.051 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
|
||||
</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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0418" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
|
||||
<mass value="1.993"/>
|
||||
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
|
||||
</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="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
<joint name="RL_thigh_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0.083 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" velocity="40"/>
|
||||
</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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0374 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
||||
<mass value="0.639"/>
|
||||
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="RL_thigh"/>
|
||||
<child link="RL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
|
||||
</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 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.0208 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||||
<mass value="0.207"/>
|
||||
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<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="0.0165"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0265"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
|
||||
</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>
|
||||
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
|
||||
</robot>
|
||||
|
||||
185
data/aliengo/xml/aliengo.xml
Normal file
185
data/aliengo/xml/aliengo.xml
Normal file
@@ -0,0 +1,185 @@
|
||||
<mujoco model="aliengo_description">
|
||||
<compiler angle="radian" meshdir="../meshes/" />
|
||||
<size njmax="500" nconmax="100" />
|
||||
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
|
||||
|
||||
<default>
|
||||
<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
|
||||
|
||||
<light castshadow="false" diffuse="1 1 1"/>
|
||||
<motor ctrlrange="-44.4 44.4" ctrllimited="true"/>
|
||||
<camera fovy="60"/>
|
||||
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
|
||||
|
||||
</default>
|
||||
|
||||
<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>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512" height="512"/>
|
||||
<texture name="plane" type="2d" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="512" height="512" mark="cross" markrgb="0 0 0"/>
|
||||
<material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<visual>
|
||||
<rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 0.7" contactpoint="1.0 1.0 0.6 0.4"/>
|
||||
<scale com="0.2" forcewidth="0.035" contactwidth="0.10" contactheight="0.04"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
|
||||
<camera name="track" mode="trackcom" pos="0 -1.3 1.6" xyaxes="1 0 0 0 0.707 0.707"/>
|
||||
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1'/>
|
||||
|
||||
<body name="trunk" pos="0 0 0.4">
|
||||
<inertial pos="0.00846406 0.00404455 -0.000762916" quat="-3.12625e-05 0.708321 0.00247254 0.705886" mass="9.042" diaginertia="0.174706 0.161175 0.033357" />
|
||||
<joint type="free" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="trunk" />
|
||||
<geom size="0.18 0.075 0.056" type="box" rgba="0.2 0.2 0.2 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" />
|
||||
<site name="imu" pos="0 0 0"/>
|
||||
|
||||
<body name="FR_hip" pos="0.2399 -0.051 0">
|
||||
<inertial pos="-0.022191 -0.015144 -1.5e-05" quat="0.0135493 0.706835 -0.0117635 0.707151" mass="1.993" diaginertia="0.00558695 0.00491009 0.00290132" />
|
||||
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.22173 1.22173" />
|
||||
<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.046 0.0209" pos="0 -0.083 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FR_thigh" pos="0 -0.083 0">
|
||||
<inertial pos="-0.005607 0.003877 -0.048199" quat="0.694544 -0.0335669 -0.031246 0.717987" mass="0.639" diaginertia="0.0058474 0.00571186 0.000324584" />
|
||||
<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
|
||||
<geom size="0.125 0.0187 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FR_calf" pos="0 0 -0.25">
|
||||
<inertial pos="0.00215606 4.88427e-05 -0.166671" quat="0.707462 0.00517582 0.00535172 0.706712" mass="0.267" diaginertia="0.00690975 0.00689712 5.4885e-05" />
|
||||
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.645772" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.125 0.0104 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.0165" pos="0 0 -0.25" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.0265" pos="0 0 -0.25" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="FL_hip" pos="0.2399 0.051 0">
|
||||
<inertial pos="-0.022191 0.015144 -1.5e-05" quat="-0.0135493 0.706835 0.0117635 0.707151" mass="1.993" diaginertia="0.00558695 0.00491009 0.00290132" />
|
||||
<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.22173 1.22173" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.046 0.0209" pos="0 0.083 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FL_thigh" pos="0 0.083 0">
|
||||
<inertial pos="-0.005607 -0.003877 -0.048199" quat="0.717987 -0.031246 -0.0335669 0.694544" mass="0.639" diaginertia="0.0058474 0.00571186 0.000324584" />
|
||||
<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
|
||||
<geom size="0.125 0.0187 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FL_calf" pos="0 0 -0.25">
|
||||
<inertial pos="0.00215606 4.88427e-05 -0.166671" quat="0.707462 0.00517582 0.00535172 0.706712" mass="0.267" diaginertia="0.00690975 0.00689712 5.4885e-05" />
|
||||
<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.645772" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.125 0.0104 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.0165" pos="0 0 -0.25" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.0265" pos="0 0 -0.25" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RR_hip" pos="-0.2399 -0.051 0">
|
||||
<inertial pos="0.022191 -0.015144 -1.5e-05" quat="-0.0117635 0.707151 0.0135493 0.706835" mass="1.993" diaginertia="0.00558695 0.00491009 0.00290132" />
|
||||
<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.22173 1.22173" />
|
||||
<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.046 0.0209" pos="0 -0.083 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RR_thigh" pos="0 -0.083 0">
|
||||
<inertial pos="-0.005607 0.003877 -0.048199" quat="0.694544 -0.0335669 -0.031246 0.717987" mass="0.639" diaginertia="0.0058474 0.00571186 0.000324584" />
|
||||
<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
|
||||
<geom size="0.125 0.0187 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RR_calf" pos="0 0 -0.25">
|
||||
<inertial pos="0.00215606 4.88427e-05 -0.166671" quat="0.707462 0.00517582 0.00535172 0.706712" mass="0.267" diaginertia="0.00690975 0.00689712 5.4885e-05" />
|
||||
<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.645772" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.125 0.0104 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.0165" pos="0 0 -0.25" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.0265" pos="0 0 -0.25" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RL_hip" pos="-0.2399 0.051 0">
|
||||
<inertial pos="0.022191 0.015144 -1.5e-05" quat="0.0117635 0.707151 -0.0135493 0.706835" mass="1.993" diaginertia="0.00558695 0.00491009 0.00290132" />
|
||||
<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.22173 1.22173" />
|
||||
<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.046 0.0209" pos="0 0.083 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RL_thigh" pos="0 0.083 0">
|
||||
<inertial pos="-0.005607 -0.003877 -0.048199" quat="0.717987 -0.031246 -0.0335669 0.694544" mass="0.639" diaginertia="0.0058474 0.00571186 0.000324584" />
|
||||
<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
|
||||
<geom size="0.125 0.0187 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RL_calf" pos="0 0 -0.25">
|
||||
<inertial pos="0.00215606 4.88427e-05 -0.166671" quat="0.707462 0.00517582 0.00535172 0.706712" mass="0.267" diaginertia="0.00690975 0.00689712 5.4885e-05" />
|
||||
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.645772" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
|
||||
<geom size="0.125 0.0104 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.0165" pos="0 0 -0.25" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.0265" pos="0 0 -0.25" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
|
||||
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
|
||||
<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
|
||||
<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
|
||||
<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
|
||||
<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
|
||||
<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
|
||||
<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
|
||||
<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
|
||||
<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
|
||||
<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
|
||||
<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
|
||||
<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
|
||||
<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
|
||||
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
|
||||
<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
|
||||
<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
|
||||
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
|
||||
<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
|
||||
<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
|
||||
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
|
||||
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
|
||||
<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
|
||||
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
|
||||
<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
|
||||
|
||||
<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
|
||||
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
|
||||
<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
|
||||
<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
|
||||
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
|
||||
<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
|
||||
<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
|
||||
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
|
||||
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
|
||||
<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
|
||||
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
|
||||
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
|
||||
|
||||
<accelerometer name="Body_Acc" site="imu"/>
|
||||
|
||||
<gyro name="Body_Gyro" site="imu"/>
|
||||
|
||||
<framepos name="Body_Pos" objtype="site" objname="imu"/>
|
||||
|
||||
<framequat name="Body_Quat" objtype="site" objname="imu"/>
|
||||
|
||||
</sensor>
|
||||
</mujoco>
|
||||
BIN
data/go1/meshes/calf.stl
Normal file
BIN
data/go1/meshes/calf.stl
Normal file
Binary file not shown.
BIN
data/go1/meshes/hip.stl
Normal file
BIN
data/go1/meshes/hip.stl
Normal file
Binary file not shown.
BIN
data/go1/meshes/thigh.stl
Normal file
BIN
data/go1/meshes/thigh.stl
Normal file
Binary file not shown.
BIN
data/go1/meshes/thigh_mirror.stl
Normal file
BIN
data/go1/meshes/thigh_mirror.stl
Normal file
Binary file not shown.
BIN
data/go1/meshes/trunk.stl
Normal file
BIN
data/go1/meshes/trunk.stl
Normal file
Binary file not shown.
704
data/go1/urdf/go1.urdf
Normal file
704
data/go1/urdf/go1.urdf
Normal file
@@ -0,0 +1,704 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from robot.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="go1_description">
|
||||
|
||||
<mujoco>
|
||||
<compiler
|
||||
meshdir="../meshes/"
|
||||
balanceinertia="true"
|
||||
discardvisual="false" />
|
||||
</mujoco>
|
||||
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="silver">
|
||||
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
|
||||
|
||||
|
||||
<link name="world"/>
|
||||
<joint name="" type="floating">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="trunk"/>
|
||||
</joint>
|
||||
<link name="trunk">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.3762 0.0935 0.114"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.011611 0.004437 0.000108"/>
|
||||
<mass value="4.8"/>
|
||||
<inertia ixx="0.016130741919" ixy="0.000593180607" ixz="7.324662e-06" iyy="0.036507810812" iyz="2.0969537e-05" izz="0.044693872053"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
|
||||
</joint>
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.1881 -0.04675 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||||
</joint>
|
||||
<link name="FR_hip">
|
||||
<visual>
|
||||
<origin rpy="3.14159265359 0 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 -0.045 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00541 0.00074 6e-06"/>
|
||||
<mass value="0.510299"/>
|
||||
<inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||||
<parent link="FR_hip"/>
|
||||
<child link="FR_thigh_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="FR_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||||
<parent link="FR_hip"/>
|
||||
<child link="FR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||||
</joint>
|
||||
<link name="FR_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 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
|
||||
<mass value="0.898919"/>
|
||||
<inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<parent link="FR_thigh"/>
|
||||
<child link="FR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||||
</joint>
|
||||
<link name="FR_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 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.158015"/>
|
||||
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<parent link="FR_calf"/>
|
||||
<child link="FR_foot"/>
|
||||
</joint>
|
||||
<link name="FR_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="FR_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FR_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FR_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FR_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FR_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="FL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.1881 0.04675 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||||
</joint>
|
||||
<link name="FL_hip">
|
||||
<visual>
|
||||
<origin rpy="0 0 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 0.045 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00541 -0.00074 6e-06"/>
|
||||
<mass value="0.510299"/>
|
||||
<inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_thigh_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="FL_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||||
</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 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
|
||||
<mass value="0.898919"/>
|
||||
<inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<parent link="FL_thigh"/>
|
||||
<child link="FL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||||
</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="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.158015"/>
|
||||
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<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="-0.1881 -0.04675 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||||
</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 -0.045 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00541 0.00074 6e-06"/>
|
||||
<mass value="0.510299"/>
|
||||
<inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="RR_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||||
</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 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
|
||||
<mass value="0.898919"/>
|
||||
<inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<parent link="RR_thigh"/>
|
||||
<child link="RR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||||
</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 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.158015"/>
|
||||
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<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="-0.1881 0.04675 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||||
</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 0.045 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00541 -0.00074 6e-06"/>
|
||||
<mass value="0.510299"/>
|
||||
<inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="RL_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||||
</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 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
|
||||
<mass value="0.898919"/>
|
||||
<inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<parent link="RL_thigh"/>
|
||||
<child link="RL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||||
</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 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.158015"/>
|
||||
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||||
<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>
|
||||
|
||||
195
data/go1/xml/go1.xml
Normal file
195
data/go1/xml/go1.xml
Normal file
@@ -0,0 +1,195 @@
|
||||
<mujoco model="go1_description">
|
||||
<compiler angle="radian" meshdir="../meshes/" />
|
||||
<size njmax="500" nconmax="100" />
|
||||
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
|
||||
|
||||
<default>
|
||||
<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
|
||||
|
||||
<light castshadow="false" diffuse="1 1 1"/>
|
||||
<motor ctrlrange="-33.5 33.5" ctrllimited="true"/>
|
||||
<camera fovy="60"/>
|
||||
<joint damping="1.0" armature="0.01" frictionloss="0.5" />
|
||||
|
||||
</default>
|
||||
=
|
||||
<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>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512" height="512"/>
|
||||
<texture name="plane" type="2d" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="512" height="512" mark="cross" markrgb="0 0 0"/>
|
||||
<material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<visual>
|
||||
<rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 0.7" contactpoint="1.0 1.0 0.6 0.4"/>
|
||||
<scale com="0.2" forcewidth="0.035" contactwidth="0.10" contactheight="0.04"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
|
||||
<camera name="track" mode="trackcom" pos="0 -1.3 1.6" xyaxes="1 0 0 0 0.707 0.707"/>
|
||||
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1'/>
|
||||
|
||||
<body name="trunk" pos="0 0 0.35">
|
||||
<inertial pos="0.0116053 0.00442221 0.000106692" quat="0.0111438 0.707126 -0.00935374 0.706938" mass="4.801" diaginertia="0.0447997 0.0366257 0.0162187" />
|
||||
<joint type="free" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
|
||||
<geom size="0.13 0.04675 0.057" type="box" rgba="0.913725 0.913725 0.847059 1" />
|
||||
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
|
||||
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" rgba="0.8 0 0 0" />
|
||||
<site name="imu" pos="0 0 0"/>
|
||||
|
||||
<body name="FR_hip" pos="0.1881 -0.04675 0">
|
||||
<inertial pos="-0.00406411 -0.0193463 4.50733e-06" quat="0.467526 0.531662 -0.466259 0.530431" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
|
||||
<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="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
|
||||
<body name="FR_thigh" pos="0 -0.08 0">
|
||||
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
|
||||
<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="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="FR_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-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="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="FL_hip" pos="0.1881 0.04675 0">
|
||||
<inertial pos="-0.00406411 0.0193463 4.50733e-06" quat="0.531662 0.467526 -0.530431 0.466259" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
|
||||
<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="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
|
||||
<body name="FL_thigh" pos="0 0.08 0">
|
||||
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
|
||||
<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="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="FL_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-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="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RR_hip" pos="-0.1881 -0.04675 0">
|
||||
<inertial pos="0.00406411 -0.0193463 4.50733e-06" quat="0.530431 0.466259 -0.531662 0.467526" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
|
||||
<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="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
|
||||
<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
|
||||
<body name="RR_thigh" pos="0 -0.08 0">
|
||||
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
|
||||
<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="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="RR_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-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="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RL_hip" pos="-0.1881 0.04675 0">
|
||||
<inertial pos="0.00406411 0.0193463 4.50733e-06" quat="0.466259 0.530431 -0.467526 0.531662" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
|
||||
<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="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
|
||||
<geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
|
||||
|
||||
<body name="RL_thigh" pos="0 0.08 0">
|
||||
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
|
||||
<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="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<body name="RL_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-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="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
|
||||
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
|
||||
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
|
||||
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
|
||||
<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
|
||||
<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
|
||||
<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
|
||||
<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
|
||||
<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
|
||||
<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
|
||||
<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
|
||||
<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
|
||||
<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
|
||||
<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
|
||||
<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
|
||||
<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
|
||||
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
|
||||
<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
|
||||
<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
|
||||
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
|
||||
<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
|
||||
<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
|
||||
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
|
||||
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
|
||||
<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
|
||||
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
|
||||
<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
|
||||
|
||||
<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
|
||||
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
|
||||
<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
|
||||
<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
|
||||
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
|
||||
<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
|
||||
<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
|
||||
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
|
||||
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
|
||||
<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
|
||||
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
|
||||
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
|
||||
|
||||
<accelerometer name="Body_Acc" site="imu"/>
|
||||
|
||||
<gyro name="Body_Gyro" site="imu"/>
|
||||
|
||||
<framepos name="Body_Pos" objtype="site" objname="imu"/>
|
||||
|
||||
<framequat name="Body_Quat" objtype="site" objname="imu"/>
|
||||
|
||||
|
||||
</sensor>
|
||||
</mujoco>
|
||||
1
data/go1/xml/terrain/plane.xml
Normal file
1
data/go1/xml/terrain/plane.xml
Normal file
@@ -0,0 +1 @@
|
||||
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1' friction="0.6 0.3 0.3"/>
|
||||
12
data/go1/xml/terrain/rough.xml
Normal file
12
data/go1/xml/terrain/rough.xml
Normal file
@@ -0,0 +1,12 @@
|
||||
<!-- 模拟碎地形 -->
|
||||
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.4 0.6 0.3 1" pos='0 0 0' size='0 0 1' friction="0.6 0.3 0.3"/>
|
||||
<geom name='r1' type='box' size='0.15 0.1 0.03' pos='0.5 0.2 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r2' type='box' size='0.1 0.15 0.05' pos='0.8 -0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r3' type='box' size='0.12 0.08 0.04' pos='1.1 0.15 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r4' type='box' size='0.08 0.12 0.06' pos='1.4 -0.2 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r5' type='box' size='0.1 0.1 0.035' pos='1.7 0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r6' type='box' size='0.14 0.09 0.045' pos='2.0 -0.05 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r7' type='box' size='0.09 0.14 0.055' pos='0.3 0.25 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r8' type='box' size='0.11 0.07 0.025' pos='0.6 -0.15 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r9' type='box' size='0.07 0.11 0.05' pos='0.9 0.05 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='r10' type='box' size='0.13 0.08 0.04' pos='1.2 -0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
6
data/go1/xml/terrain/slope.xml
Normal file
6
data/go1/xml/terrain/slope.xml
Normal file
@@ -0,0 +1,6 @@
|
||||
<!-- 斜坡地形-->
|
||||
<geom name='start_platform' type='box' size='10.0 10.0 0.1' pos='0 0 -0.06' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='start_fill' type='box' size='10.0 10.0 0.2' pos='0 0 -0.26' rgba="0.4 0.35 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='slope' type='box' size='2.5 0.3 0.1' pos='6.8 0 0.10' quat='0.258819 0 0 0.965926' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='top_platform' type='box' size='1.0 0.3 0.06' pos='8.8 0 0.16' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='slope_fill' type='box' size='2.5 0.3 0.25' pos='6.8 0 -0.15' rgba="0.4 0.35 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
13
data/go1/xml/terrain/stairs.xml
Normal file
13
data/go1/xml/terrain/stairs.xml
Normal file
@@ -0,0 +1,13 @@
|
||||
<!-- 楼梯地形 -->
|
||||
<geom name='step0' type='box' size='0.5 10.4 0.06' pos='0 0 -0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step1' type='box' size='0.5 10.4 0.06' pos='0.3 0 -0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step2' type='box' size='0.5 10.4 0.06' pos='0.6 0 0.00' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step3' type='box' size='0.5 10.4 0.06' pos='0.9 0 0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step4' type='box' size='0.5 10.4 0.06' pos='1.2 0 0.12' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step5' type='box' size='0.5 10.4 0.06' pos='1.5 0 0.18' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step6' type='box' size='0.5 10.4 0.06' pos='1.8 0 0.24' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step7' type='box' size='0.5 10.4 0.06' pos='2.1 0 0.30' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step8' type='box' size='0.5 10.4 0.06' pos='2.4 0 0.36' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='step9' type='box' size='0.5 10.4 0.06' pos='2.7 0 0.42' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='platform' type='box' size='0.8 10.4 0.06' pos='3.3 0 0.45' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
|
||||
<geom name='fill' type='box' size='2.0 10.4 0.45' pos='1.5 0 -0.45' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
|
||||
BIN
data/laikago/meshes/calf.stl
Normal file
BIN
data/laikago/meshes/calf.stl
Normal file
Binary file not shown.
BIN
data/laikago/meshes/hip.stl
Normal file
BIN
data/laikago/meshes/hip.stl
Normal file
Binary file not shown.
BIN
data/laikago/meshes/thigh.stl
Normal file
BIN
data/laikago/meshes/thigh.stl
Normal file
Binary file not shown.
BIN
data/laikago/meshes/thigh_mirror.stl
Normal file
BIN
data/laikago/meshes/thigh_mirror.stl
Normal file
Binary file not shown.
BIN
data/laikago/meshes/trunk.stl
Normal file
BIN
data/laikago/meshes/trunk.stl
Normal file
Binary file not shown.
408
data/laikago/urdf/laikago.urdf
Normal file
408
data/laikago/urdf/laikago.urdf
Normal file
@@ -0,0 +1,408 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from robot.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="laikago_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>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="silver">
|
||||
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
|
||||
|
||||
<link name="world"/>
|
||||
<joint name="floating_base" type="floating">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="trunk"/>
|
||||
</joint>
|
||||
|
||||
<link name="trunk">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.01675"/>
|
||||
<geometry>
|
||||
<box size="0.5616 0.172 0.1875"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.002284 -4.1e-05 0.025165"/>
|
||||
<mass value="13.733"/>
|
||||
<inertia ixx="0.073348887" ixy="0.00030338" ixz="0.001918218" iyy="0.250684593" iyz="-7.5402e-05" izz="0.254469458"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.21935 -0.0875 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
|
||||
</joint>
|
||||
<link name="FR_hip">
|
||||
<visual>
|
||||
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.001568 0.008134 0.000864"/>
|
||||
<mass value="1.096"/>
|
||||
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
|
||||
<parent link="FR_hip"/>
|
||||
<child link="FR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FR_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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.034 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
|
||||
<mass value="1.528"/>
|
||||
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="FR_thigh"/>
|
||||
<child link="FR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FR_calf">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.21935 0.0875 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
|
||||
</joint>
|
||||
<link name="FL_hip">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.001568 -0.008134 0.000864"/>
|
||||
<mass value="1.096"/>
|
||||
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.037 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" 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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.034 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
|
||||
<mass value="1.528"/>
|
||||
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="FL_thigh"/>
|
||||
<child link="FL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" 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="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.21935 -0.0875 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" 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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.001568 0.008134 0.000864"/>
|
||||
<mass value="1.096"/>
|
||||
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" 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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.034 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
|
||||
<mass value="1.528"/>
|
||||
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="RR_thigh"/>
|
||||
<child link="RR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" 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="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.21935 0.0875 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" 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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.001568 -0.008134 0.000864"/>
|
||||
<mass value="1.096"/>
|
||||
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.037 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" 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="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.034 0.043"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
|
||||
<mass value="1.528"/>
|
||||
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
||||
<parent link="RL_thigh"/>
|
||||
<child link="RL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" 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="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
178
data/laikago/xml/laikago.xml
Normal file
178
data/laikago/xml/laikago.xml
Normal file
@@ -0,0 +1,178 @@
|
||||
<mujoco model="laikago_description">
|
||||
<compiler angle="radian" meshdir="../meshes/" />
|
||||
<size njmax="500" nconmax="100" />
|
||||
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
|
||||
|
||||
<default>
|
||||
<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
|
||||
|
||||
<light castshadow="false" diffuse="1 1 1"/>
|
||||
<motor ctrlrange="-40.0 40.0" ctrllimited="true"/>
|
||||
<camera fovy="60"/>
|
||||
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
|
||||
|
||||
</default>
|
||||
|
||||
<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>
|
||||
|
||||
<visual>
|
||||
<rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 0.7" contactpoint="1.0 1.0 0.6 0.4"/>
|
||||
<scale com="0.2" forcewidth="0.035" contactwidth="0.10" contactheight="0.04"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512" height="512"/>
|
||||
<texture name="plane" type="2d" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="512" height="512" mark="cross" markrgb="0 0 0"/>
|
||||
<material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
|
||||
<camera name="track" mode="trackcom" pos="0 -1.3 1.6" xyaxes="1 0 0 0 0.707 0.707"/>
|
||||
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1'/>
|
||||
|
||||
<body name="trunk" pos="0 0 0.4">
|
||||
<inertial pos="0.002284 -4.1e-05 0.025165" quat="-0.00605949 0.710803 -0.00734309 0.703327" mass="13.733" diaginertia="0.254491 0.250684 0.0733281" />
|
||||
<joint type="free" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="trunk" />
|
||||
<geom size="0.2808 0.086 0.09375" pos="0 0 0.01675" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<site name="imu" pos="0 0 0"/>
|
||||
|
||||
<body name="FR_hip" pos="0.21935 -0.0875 0">
|
||||
<inertial pos="-0.001568 0.008134 0.000864" quat="0.629953 0.350191 0.35823 0.593462" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
|
||||
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
|
||||
<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FR_thigh" pos="0 -0.037 0">
|
||||
<inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
|
||||
<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
|
||||
<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FR_calf" pos="0 0 -0.25">
|
||||
<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
|
||||
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
|
||||
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="FL_hip" pos="0.21935 0.0875 0">
|
||||
<inertial pos="-0.001568 -0.008134 0.000864" quat="0.593462 0.35823 0.350191 0.629953" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
|
||||
<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FL_thigh" pos="0 0.037 0">
|
||||
<inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
|
||||
<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
|
||||
<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="FL_calf" pos="0 0 -0.25">
|
||||
<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
|
||||
<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
|
||||
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RR_hip" pos="-0.21935 -0.0875 0">
|
||||
<inertial pos="0.001568 0.008134 0.000864" quat="0.35823 0.593462 0.629953 0.350191" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
|
||||
<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
|
||||
<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RR_thigh" pos="0 -0.037 0">
|
||||
<inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
|
||||
<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
|
||||
<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RR_calf" pos="0 0 -0.25">
|
||||
<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
|
||||
<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
|
||||
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RL_hip" pos="-0.21935 0.0875 0">
|
||||
<inertial pos="0.001568 -0.008134 0.000864" quat="0.350191 0.629953 0.593462 0.35823" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
|
||||
<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
|
||||
<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
|
||||
<geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RL_thigh" pos="0 0.037 0">
|
||||
<inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
|
||||
<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
|
||||
<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
|
||||
<body name="RL_calf" pos="0 0 -0.25">
|
||||
<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
|
||||
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
|
||||
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
|
||||
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
|
||||
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
|
||||
<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
|
||||
<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
|
||||
<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
|
||||
<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
|
||||
<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
|
||||
<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
|
||||
<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
|
||||
<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
|
||||
<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
|
||||
<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
|
||||
<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
|
||||
<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
|
||||
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
|
||||
<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
|
||||
<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
|
||||
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
|
||||
<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
|
||||
<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
|
||||
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
|
||||
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
|
||||
<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
|
||||
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
|
||||
<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
|
||||
|
||||
<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
|
||||
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
|
||||
<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
|
||||
<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
|
||||
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
|
||||
<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
|
||||
<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
|
||||
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
|
||||
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
|
||||
<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
|
||||
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
|
||||
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
|
||||
|
||||
<accelerometer name="Body_Acc" site="imu"/>
|
||||
|
||||
<gyro name="Body_Gyro" site="imu"/>
|
||||
|
||||
<framepos name="Body_Pos" objtype="site" objname="imu"/>
|
||||
|
||||
<framequat name="Body_Quat" objtype="site" objname="imu"/>
|
||||
|
||||
</sensor>
|
||||
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user