From 23e98de9f5a559d55f3c3cf29de8131074e42898 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <12423606+proyan@users.noreply.github.com>
Date: Fri, 1 Apr 2022 11:20:58 +0200
Subject: [PATCH] simple_humanoid: add mesh, update srdf with rotor info, urdf
with coliison info (#120)
* simple_humanoid: add mesh, update srdf with rotor info, urdf with colliison info
* simple_humanoid: fix mesh path
Co-authored-by: Rohan Budhiraja <proyan@users.noreply.github.com>
---
.../meshes/box.stl | 86 +++++++++++++++++++
.../srdf/simple_humanoid.srdf | 32 +++++++
.../urdf/simple_humanoid.urdf | 16 ++++
3 files changed, 134 insertions(+)
create mode 100644 robots/simple_humanoid_description/meshes/box.stl
diff --git a/robots/simple_humanoid_description/meshes/box.stl b/robots/simple_humanoid_description/meshes/box.stl
new file mode 100644
index 0000000..6e11e77
--- /dev/null
+++ b/robots/simple_humanoid_description/meshes/box.stl
@@ -0,0 +1,86 @@
+solid Exported from Blender-2.78 (sub 0)
+facet normal -1.000000 0.000000 0.000000
+outer loop
+vertex -0.500000 -0.500000 -0.500000
+vertex -0.500000 -0.500000 0.500000
+vertex -0.500000 0.500000 0.500000
+endloop
+endfacet
+facet normal -1.000000 0.000000 0.000000
+outer loop
+vertex -0.500000 0.500000 0.500000
+vertex -0.500000 0.500000 -0.500000
+vertex -0.500000 -0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 1.000000 0.000000
+outer loop
+vertex -0.500000 0.500000 -0.500000
+vertex -0.500000 0.500000 0.500000
+vertex 0.500000 0.500000 0.500000
+endloop
+endfacet
+facet normal 0.000000 1.000000 0.000000
+outer loop
+vertex 0.500000 0.500000 0.500000
+vertex 0.500000 0.500000 -0.500000
+vertex -0.500000 0.500000 -0.500000
+endloop
+endfacet
+facet normal 1.000000 0.000000 0.000000
+outer loop
+vertex 0.500000 0.500000 -0.500000
+vertex 0.500000 0.500000 0.500000
+vertex 0.500000 -0.500000 0.500000
+endloop
+endfacet
+facet normal 1.000000 0.000000 0.000000
+outer loop
+vertex 0.500000 -0.500000 0.500000
+vertex 0.500000 -0.500000 -0.500000
+vertex 0.500000 0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 -1.000000 0.000000
+outer loop
+vertex -0.500000 -0.500000 0.500000
+vertex -0.500000 -0.500000 -0.500000
+vertex 0.500000 -0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 -1.000000 0.000000
+outer loop
+vertex 0.500000 -0.500000 -0.500000
+vertex 0.500000 -0.500000 0.500000
+vertex -0.500000 -0.500000 0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 -1.000000
+outer loop
+vertex 0.500000 -0.500000 -0.500000
+vertex -0.500000 -0.500000 -0.500000
+vertex -0.500000 0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 -1.000000
+outer loop
+vertex -0.500000 0.500000 -0.500000
+vertex 0.500000 0.500000 -0.500000
+vertex 0.500000 -0.500000 -0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 1.000000
+outer loop
+vertex 0.500000 0.500000 0.500000
+vertex -0.500000 0.500000 0.500000
+vertex -0.500000 -0.500000 0.500000
+endloop
+endfacet
+facet normal 0.000000 0.000000 1.000000
+outer loop
+vertex -0.500000 -0.500000 0.500000
+vertex 0.500000 -0.500000 0.500000
+vertex 0.500000 0.500000 0.500000
+endloop
+endfacet
+endsolid Exported from Blender-2.78 (sub 0)
diff --git a/robots/simple_humanoid_description/srdf/simple_humanoid.srdf b/robots/simple_humanoid_description/srdf/simple_humanoid.srdf
index 6ef70c2..72c9246 100644
--- a/robots/simple_humanoid_description/srdf/simple_humanoid.srdf
+++ b/robots/simple_humanoid_description/srdf/simple_humanoid.srdf
@@ -128,6 +128,38 @@
<joint name="CHEST" value="0" />
</group_state>
+ <rotor_params>
+ <joint name="WAIST_P" mass="1.0" gear_ratio="0.0" />
+ <joint name="WAIST_R" mass="0.0" gear_ratio="1.0" />
+ <joint name="CHEST" mass="0.0" gear_ratio="0.0" />
+ <joint name="LARM_SHOULDER_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="LARM_SHOULDER_R" mass="0.0" gear_ratio="0.0" />
+ <joint name="LARM_SHOULDER_Y" mass="0.0" gear_ratio="0.0" />
+ <joint name="LARM_ELBOW" mass="0.0" gear_ratio="0.0" />
+ <joint name="LARM_WRIST_Y" mass="0.0" gear_ratio="0.0" />
+ <joint name="LARM_WRIST_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="LARM_WRIST_R" mass="0.0" gear_ratio="0.0" />
+ <joint name="RARM_SHOULDER_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="RARM_SHOULDER_R" mass="0.0" gear_ratio="0.0" />
+ <joint name="RARM_SHOULDER_Y" mass="0.0" gear_ratio="0.0" />
+ <joint name="RARM_ELBOW" mass="0.0" gear_ratio="0.0" />
+ <joint name="RARM_WRIST_Y" mass="0.0" gear_ratio="0.0" />
+ <joint name="RARM_WRIST_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="RARM_WRIST_R" mass="0.0" gear_ratio="0.0" />
+ <joint name="LLEG_HIP_R" mass="0.0" gear_ratio="0.0" />
+ <joint name="LLEG_HIP_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="LLEG_HIP_Y" mass="0.0" gear_ratio="0.0" />
+ <joint name="LLEG_KNEE" mass="0.0" gear_ratio="0.0" />
+ <joint name="LLEG_ANKLE_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="LLEG_ANKLE_R" mass="0.0" gear_ratio="0.0" />
+ <joint name="RLEG_HIP_R" mass="0.0" gear_ratio="0.0" />
+ <joint name="RLEG_HIP_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="RLEG_HIP_Y" mass="0.0" gear_ratio="0.0" />
+ <joint name="RLEG_KNEE" mass="0.0" gear_ratio="0.0" />
+ <joint name="RLEG_ANKLE_P" mass="0.0" gear_ratio="0.0" />
+ <joint name="RLEG_ANKLE_R" mass="0.0" gear_ratio="0.0" />
+ </rotor_params>
+
<!--
Simple Humnaoid Specificities.
foot height = y axis
diff --git a/robots/simple_humanoid_description/urdf/simple_humanoid.urdf b/robots/simple_humanoid_description/urdf/simple_humanoid.urdf
index 7458fbc..5c0530b 100644
--- a/robots/simple_humanoid_description/urdf/simple_humanoid.urdf
+++ b/robots/simple_humanoid_description/urdf/simple_humanoid.urdf
@@ -14,6 +14,22 @@
<mass value="27"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
+ <collision name="test">
+ <geometry>
+ <cylinder radius="1" length="1"/>
+ </geometry>
+ </collision>
+ <collision name="box">
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/simple_humanoid_description/meshes/box.stl" />
+ </geometry>
+ </collision>
+ <collision_checking>
+ <!--- This tells to pinocchio to replace the cylinder called "test"
+ by a capsule with the same radius and length -->
+ <capsule name="test"/>
+ <convex name="box"/>
+ </collision_checking>
</link>
<link name="WAIST_LINK1">
--
GitLab