diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 8eb0d6ec174fdc574ba8e74fbed337267a7df58b..90a1623213e17a945470d35113da3d5adc37492c 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -258,6 +258,14 @@ def loadHyQ():
return HyQLoader().robot
+class BoltLoader(RobotLoader):
+ path = 'bolt_description'
+ urdf_filename = "bolt.urdf"
+ srdf_filename = "bolt.srdf"
+ ref_posture = "standing"
+ free_flyer = True
+
+
class Solo8Loader(RobotLoader):
path = 'solo_description'
urdf_filename = "solo.urdf"
@@ -504,6 +512,7 @@ ROBOTS = {
'romeo': RomeoLoader,
'simple_humanoid': SimpleHumanoidLoader,
'simple_humanoid_classical': SimpleHumanoidClassicalLoader,
+ 'bolt': BoltLoader,
'solo': SoloLoader,
'solo8': Solo8Loader,
'solo12': Solo12Loader,
diff --git a/robots/bolt_description/meshes/stl/bolt_body.stl b/robots/bolt_description/meshes/stl/bolt_body.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bd1b67e9ff25b56ab7d8a10eb9358857c84f2e32
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_body.stl differ
diff --git a/robots/bolt_description/meshes/stl/bolt_foot.stl b/robots/bolt_description/meshes/stl/bolt_foot.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4f51e3599141c29bdb7b32fb168d3e172608bc67
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_foot.stl differ
diff --git a/robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl b/robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6d64ceaa5c1fd13937a5950b7b2b62447e673522
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl b/robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..767ce85b127f859318e3e93bb93d4909432b6de1
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/bolt_lower_leg_left_side.stl b/robots/bolt_description/meshes/stl/bolt_lower_leg_left_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..fe72c5604d42146391cc2cac2678e0ec4766eeec
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_lower_leg_left_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/bolt_lower_leg_right_side.stl b/robots/bolt_description/meshes/stl/bolt_lower_leg_right_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..83c9179ec0da1683b2d8a3cbb66c676f0c9428bf
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_lower_leg_right_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/bolt_upper_leg_left_side.stl b/robots/bolt_description/meshes/stl/bolt_upper_leg_left_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..751f608820395cba4d004511c76a34010f10de95
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_upper_leg_left_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/bolt_upper_leg_right_side.stl b/robots/bolt_description/meshes/stl/bolt_upper_leg_right_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..382dd255d22aaa7b475064326d3ad28a38faca77
Binary files /dev/null and b/robots/bolt_description/meshes/stl/bolt_upper_leg_right_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl b/robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..35f276735ba572fb87fc0d0c4810b5793a0a29af
Binary files /dev/null and b/robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl b/robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..58eb3b72ba17bee75d276f2ec2f4b80ed9825f09
Binary files /dev/null and b/robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl b/robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9b76c2f7dd820d33d6f9e44a01999951e9a3be79
Binary files /dev/null and b/robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl differ
diff --git a/robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl b/robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl
new file mode 100644
index 0000000000000000000000000000000000000000..39869035a01477d57f7d1c48c5ddb6aaa089164c
Binary files /dev/null and b/robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl differ
diff --git a/robots/bolt_description/robots/bolt.urdf b/robots/bolt_description/robots/bolt.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c584ba80384061bd75226ff8808f8557a20da521
--- /dev/null
+++ b/robots/bolt_description/robots/bolt.urdf
@@ -0,0 +1,416 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from /usr/local/lib/python3.9/site-packages/robot_properties_bolt/resources/xacro/bolt.urdf.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<robot name="bolt" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+ <!-- This file is based on: https://atlas.is.localnet/confluence/display/AMDW/Quadruped+URDF+Files -->
+ <link name="base_link">
+ <!-- BASE LINK INERTIAL -->
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.61436936"/>
+ <!-- The base is extremely symmetrical. -->
+ <inertia ixx="0.00578574" ixy="0.0" ixz="0.0" iyy="0.01938108" iyz="0.0" izz="0.02476124"/>
+ </inertial>
+ <!-- BASE LINK VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_body.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- BASE LINK COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_body.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <restitution value="0.5"/>
+ </contact>
+ </link>
+ <!-- END BASE LINK -->
+ <!--xacro:property name="base_2_HAA_x" value="${2.45656 * 0.001}" />
+ <xacro:property name="base_2_HAA_y" value="${63.6 * 0.001}" />
+ <xacro:property name="base_2_HAA_z" value="${33.0809 * 0.001}" /-->
+ <joint name="FL_HAA" type="revolute">
+ <parent link="base_link"/>
+ <child link="FL_SHOULDER"/>
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- joints rotates around the x-axis -->
+ <axis xyz="1 0 0"/>
+ <origin rpy="0 0 0" xyz="0.0 0.0636 0"/>
+ <!--xacro:unless value="${is_right}">
+ <origin xyz="${base_2_HAA_x} ${base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
+ </xacro:unless>
+ <xacro:if value="${is_right}">
+ <origin xyz="${base_2_HAA_x} ${-base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
+ </xacro:if-->
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FL_SHOULDER">
+ <!-- TODO: Update inertias and add visuals for link. -->
+ <!-- create a dummy shoulder link to join the two joints -->
+ <inertial>
+ <!-- Left upper leg inertia -->
+ <mass value="0.14004265"/>
+ <origin rpy="0 0 0" xyz="0.01708256 -0.00446892 -0.01095830"/>
+ <inertia ixx="0.00007443" ixy="0.00000148" ixz="0.00002154" iyy="0.00013847" iyz="-0.00001096" izz="0.00009002"/>
+ </inertial>
+ <!-- HIP LEG LINK VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_left_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- UPPER LEG LINK COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_left_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <restitution value="0.5"/>
+ </contact>
+ </link>
+ <joint name="FL_HFE" type="revolute">
+ <parent link="FL_SHOULDER"/>
+ <child link="FL_UPPER_LEG"/>
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- joints rotates around the y-axis -->
+ <axis xyz="0 1 0"/>
+ <origin rpy="0 0 0" xyz="0 0.0145 -0.0386"/>
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FL_UPPER_LEG">
+ <!-- Left upper leg inertia -->
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.00001377 0.01935853 -0.11870700"/>
+ <mass value="0.14853845"/>
+ <inertia ixx="0.00041107" ixy="0.00000000" ixz="0.00000009" iyy="0.00041193" iyz="-0.00004671" izz="0.00003024"/>
+ </inertial>
+ <!-- UPPER LEG LINK VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_left_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- UPPER LEG LINK COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_left_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <restitution value="0.5"/>
+ </contact>
+ </link>
+ <!-- END UPPER LEG LINK -->
+ <!-- KFE: Joint between the upper leg and the lower leg -->
+ <joint name="FL_KFE" type="revolute">
+ <parent link="FL_UPPER_LEG"/>
+ <child link="FL_LOWER_LEG"/>
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- joints rotates around the y-axis -->
+ <axis xyz="0 1 0"/>
+ <origin rpy="0 0 0" xyz="0 0.0374 -0.2"/>
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FL_LOWER_LEG">
+ <!-- Left lower leg inertia -->
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0 0.00836718 -0.11591877"/>
+ <mass value="0.03117243"/>
+ <inertia ixx="0.00011487" ixy="0.00000000" ixz="0.00000000" iyy="0.00011556" iyz="-0.00000190" izz="0.00000220"/>
+ </inertial>
+ <!-- LOWER LEG LINK VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_left_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- LOWER LEG LINK COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_left_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <restitution value="0.5"/>
+ </contact>
+ </link>
+ <!-- END LOWER LEG LINK -->
+ <!-- KFE: Joint between the upper leg and the lower leg -->
+ <joint name="FL_ANKLE" type="fixed">
+ <parent link="FL_LOWER_LEG"/>
+ <child link="FL_FOOT"/>
+ <origin rpy="0 0 0" xyz="0 0.008 -0.2"/>
+ <!-- Limits (usefull?) -->
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FL_FOOT">
+ <!-- FOOT INERTIAL -->
+ <!-- This link is symmetrical left or right -->
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.00035767"/>
+ <mass value="0.00000000"/>
+ <inertia ixx="0.00000057" ixy="0.0" ixz="0.0" iyy="0.00000084" iyz="0.0" izz="0.00000053"/>
+ </inertial>
+ <!-- FOOT VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- FOOT COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="4.0"/>
+ <restitution value="0.0"/>
+ </contact>
+ </link>
+ <!-- END LOWER LEG LINK -->
+ <joint name="FR_HAA" type="revolute">
+ <parent link="base_link"/>
+ <child link="FR_SHOULDER"/>
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- joints rotates around the x-axis -->
+ <axis xyz="1 0 0"/>
+ <origin rpy="0 0 0" xyz="0.0 -0.0636 0"/>
+ <!--xacro:unless value="${is_right}">
+ <origin xyz="${base_2_HAA_x} ${base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
+ </xacro:unless>
+ <xacro:if value="${is_right}">
+ <origin xyz="${base_2_HAA_x} ${-base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
+ </xacro:if-->
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FR_SHOULDER">
+ <!-- TODO: Update inertias and add visuals for link. -->
+ <!-- create a dummy shoulder link to join the two joints -->
+ <inertial>
+ <!-- Right upper leg inertia -->
+ <mass value="0.14004412"/>
+ <origin rpy="0 0 0" xyz="0.01708233 0.00447099 -0.01095846"/>
+ <inertia ixx="0.00007442" ixy="-0.00000148" ixz="0.00002154" iyy="0.00013848" iyz="0.00001095" izz="0.00009001"/>
+ </inertial>
+ <!-- HIP LEG LINK VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_right_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- UPPER LEG LINK COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_right_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <restitution value="0.5"/>
+ </contact>
+ </link>
+ <joint name="FR_HFE" type="revolute">
+ <parent link="FR_SHOULDER"/>
+ <child link="FR_UPPER_LEG"/>
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- joints rotates around the y-axis -->
+ <axis xyz="0 1 0"/>
+ <origin rpy="0 0 0" xyz="0 -0.0145 -0.0386"/>
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FR_UPPER_LEG">
+ <!-- Right upper leg inertia -->
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.00001377 -0.01935853 -0.11870700"/>
+ <mass value="0.14853845"/>
+ <inertia ixx="0.00041107" ixy="0.00000000" ixz="-0.00000009" iyy="0.00041193" iyz="0.00004671" izz="0.00003024"/>
+ </inertial>
+ <!-- UPPER LEG LINK VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_right_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- UPPER LEG LINK COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_right_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <restitution value="0.5"/>
+ </contact>
+ </link>
+ <!-- END UPPER LEG LINK -->
+ <!-- KFE: Joint between the upper leg and the lower leg -->
+ <joint name="FR_KFE" type="revolute">
+ <parent link="FR_UPPER_LEG"/>
+ <child link="FR_LOWER_LEG"/>
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- joints rotates around the y-axis -->
+ <axis xyz="0 1 0"/>
+ <origin rpy="0 0 0" xyz="0 -0.0374 -0.2"/>
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FR_LOWER_LEG">
+ <!-- Right lower leg inertia -->
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0 -0.00836718 -0.11591877"/>
+ <mass value="0.03117243"/>
+ <inertia ixx="0.00011487" ixy="0.00000000" ixz="0.00000000" iyy="0.00011556" iyz="0.00000190" izz="0.00000220"/>
+ </inertial>
+ <!-- LOWER LEG LINK VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_right_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- LOWER LEG LINK COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_right_side.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <restitution value="0.5"/>
+ </contact>
+ </link>
+ <!-- END LOWER LEG LINK -->
+ <!-- KFE: Joint between the upper leg and the lower leg -->
+ <joint name="FR_ANKLE" type="fixed">
+ <parent link="FR_LOWER_LEG"/>
+ <child link="FR_FOOT"/>
+ <origin rpy="0 0 0" xyz="0 -0.008 -0.2"/>
+ <!-- Limits (usefull?) -->
+ <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+ <!-- pybullet simulation parameters -->
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="FR_FOOT">
+ <!-- FOOT INERTIAL -->
+ <!-- This link is symmetrical left or right -->
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.00035767"/>
+ <mass value="0.00000000"/>
+ <inertia ixx="0.00000057" ixy="0.0" ixz="0.0" iyy="0.00000084" iyz="0.0" izz="0.00000053"/>
+ </inertial>
+ <!-- FOOT VISUAL -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </visual>
+ <!-- FOOT COLLISION -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.8 0.8 0.8 1.0"/>
+ </material>
+ </collision>
+ <!-- Bullet specific paramters -->
+ <contact>
+ <lateral_friction value="4.0"/>
+ <restitution value="0.0"/>
+ </contact>
+ </link>
+ <!-- END LOWER LEG LINK -->
+</robot>
diff --git a/robots/bolt_description/srdf/bot.srdf b/robots/bolt_description/srdf/bot.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..bd9436b708eecf19ef61c7b311e9283b2c4e69c9
--- /dev/null
+++ b/robots/bolt_description/srdf/bot.srdf
@@ -0,0 +1,45 @@
+<?xml version="1.0" ?>
+<robot name="finger_edu">
+
+ <!-- left leg -->
+ <group name="left_leg">
+ <joint name="FL_HAA" />
+ <joint name="FL_HFE" />
+ <joint name="FL_KFE" />
+ <chain base_link="base_link" tip_link="FL_FOOT" />
+ </group>
+ <!-- right leg -->
+ <group name="right_leg">
+ <joint name="FR_HAA" />
+ <joint name="FR_HFE" />
+ <joint name="FR_KFE" />
+ <chain base_link="base_link" tip_link="FR_FOOT" />
+ </group>
+
+ <group name="all_legs">
+ <group name="left_leg" />
+ <group name="right_leg" />
+ </group>
+
+ <end_effector name="left_foot" parent_link="FL_FOOT" group="left_leg" />
+ <end_effector name="right_foot" parent_link="FR_FOOT" group="right_leg" />
+
+ <group_state name="standing" group="all_legs">
+ <joint name="root_joint" value="0. 0. 0.35487417 0. 0. 0. 1." />
+ <joint name="FL_HAA" value="-0.3" />
+ <joint name="FL_HFE" value="0.78539816" />
+ <joint name="FL_KFE" value="-1.57079633" />
+ <joint name="FR_HAA" value="0.3" />
+ <joint name="FR_HFE" value="0.78539816" />
+ <joint name="FR_KFE" value="-1.57079633" />
+ </group_state>
+
+ <disable_collisions link1="FL_SHOULDER" link2="base_link" reason="Adjacent" />
+ <disable_collisions link1="FR_SHOULDER" link2="base_link" reason="Adjacent" />
+
+ <disable_collisions link1="FL_UPPER_LEG" link2="FL_SHOULDER" reason="Adjacent" />
+ <disable_collisions link1="FR_UPPER_LEG" link2="FR_SHOULDER" reason="Adjacent" />
+
+ <disable_collisions link1="FL_LOWER_LEG" link2="FL_UPPER_LEG" reason="Adjacent" />
+ <disable_collisions link1="FR_LOWER_LEG" link2="FR_UPPER_LEG" reason="Adjacent" />
+</robot>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index fa0625a30d07d71707e2d2c64d74c1be4b77e51b..9cb09e32069ff4f8a0828cb31e187448650fe287 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -73,6 +73,9 @@ class RobotTestCase(unittest.TestCase):
def test_simple_humanoid_classical(self):
self.check('simple_humanoid_classical', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
+ def test_bolt(self):
+ self.check('bolt', 13, 12)
+
def test_solo8(self):
self.check('solo8', 15, 14)