Skip to content
Snippets Groups Projects
Commit 69fa2d62 authored by Julian Viereck's avatar Julian Viereck
Browse files

Merge

parent 5d6f078d
No related branches found
No related tags found
No related merge requests found
Pipeline #14976 failed
Stage: test
Hide whitespace changes
Inline Side-by-side
Showing
with 473 additions and 0 deletions
python/example_robot_data/robots_loader.py
+ 9
− 0
View file @ 69fa2d62
...@@ -258,6 +258,14 @@ def loadHyQ(): ...@@ -258,6 +258,14 @@ def loadHyQ():
return HyQLoader().robot 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): class Solo8Loader(RobotLoader):
path = 'solo_description' path = 'solo_description'
urdf_filename = "solo.urdf" urdf_filename = "solo.urdf"
...@@ -504,6 +512,7 @@ ROBOTS = { ...@@ -504,6 +512,7 @@ ROBOTS = {
'romeo': RomeoLoader, 'romeo': RomeoLoader,
'simple_humanoid': SimpleHumanoidLoader, 'simple_humanoid': SimpleHumanoidLoader,
'simple_humanoid_classical': SimpleHumanoidClassicalLoader, 'simple_humanoid_classical': SimpleHumanoidClassicalLoader,
'bolt': BoltLoader,
'solo': SoloLoader, 'solo': SoloLoader,
'solo8': Solo8Loader, 'solo8': Solo8Loader,
'solo12': Solo12Loader, 'solo12': Solo12Loader,
......
robots/bolt_description/meshes/stl/bolt_body.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_foot.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_lower_leg_left_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_lower_leg_right_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_upper_leg_left_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_upper_leg_right_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl 0 → 100644
+ 0
− 0
View file @ 69fa2d62
File added
robots/bolt_description/robots/bolt.urdf 0 → 100644
+ 416
− 0
View file @ 69fa2d62
<?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>
robots/bolt_description/srdf/bot.srdf 0 → 100644
+ 45
− 0
View file @ 69fa2d62
<?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>
unittest/test_load.py
+ 3
− 0
View file @ 69fa2d62
...@@ -73,6 +73,9 @@ class RobotTestCase(unittest.TestCase): ...@@ -73,6 +73,9 @@ class RobotTestCase(unittest.TestCase):
def test_simple_humanoid_classical(self): def test_simple_humanoid_classical(self):
self.check('simple_humanoid_classical', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3']) 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): def test_solo8(self):
self.check('solo8', 15, 14) self.check('solo8', 15, 14)
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment