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Commit a78748e9 authored by Guilhem Saurel's avatar Guilhem Saurel
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robots: add a very simple quadruped

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CHANGELOG.md
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...@@ -7,6 +7,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ...@@ -7,6 +7,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
## [Unreleased] ## [Unreleased]
- added CHANGELOG.md in https://github.com/Gepetto/example-robot-data/pull/193 - added CHANGELOG.md in https://github.com/Gepetto/example-robot-data/pull/193
- added a simple `quadruped` robot
## [4.0.9] - 2023-11-29 ## [4.0.9] - 2023-11-29
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python/example_robot_data/robots_loader.py
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...@@ -489,6 +489,13 @@ class DoublePendulumSimpleLoader(DoublePendulumLoader): ...@@ -489,6 +489,13 @@ class DoublePendulumSimpleLoader(DoublePendulumLoader):
urdf_filename = "double_pendulum_simple.urdf" urdf_filename = "double_pendulum_simple.urdf"
class QuadrupedLoader(RobotLoader):
path = "quadruped_description"
urdf_subpath = "urdf"
urdf_filename = "quadruped.urdf"
free_flyer = True
class RomeoLoader(RobotLoader): class RomeoLoader(RobotLoader):
path = "romeo_description" path = "romeo_description"
urdf_filename = "romeo.urdf" urdf_filename = "romeo.urdf"
...@@ -538,6 +545,7 @@ ROBOTS = { ...@@ -538,6 +545,7 @@ ROBOTS = {
"panda": PandaLoader, "panda": PandaLoader,
"allegro_right_hand": AllegroRightHandLoader, "allegro_right_hand": AllegroRightHandLoader,
"allegro_left_hand": AllegroLeftHandLoader, "allegro_left_hand": AllegroLeftHandLoader,
"quadruped": QuadrupedLoader,
"romeo": RomeoLoader, "romeo": RomeoLoader,
"simple_humanoid": SimpleHumanoidLoader, "simple_humanoid": SimpleHumanoidLoader,
"simple_humanoid_classical": SimpleHumanoidClassicalLoader, "simple_humanoid_classical": SimpleHumanoidClassicalLoader,
......
robots/quadruped_description/README.md 0 → 100644
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# Quadruped
A simple model by @jviereck imported from
[TSID](https://github.com/stack-of-tasks/tsid/commit/a89f9735a9d3bd64128248dfb18fdea6e49e0996).
License: BSD-2-Clause
robots/quadruped_description/urdf/cube.obj 0 → 100644
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robots/quadruped_description/urdf/quadruped.urdf 0 → 100644
+ 419
− 0
View file @ a78748e9
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from quadroped.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="quadroped" 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">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.0"/>
<inertia ixx="0.0270833333333" ixy="0" ixz="0" iyy="0.00708333333333" iyz="0" izz="0.0333333333333"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cube.obj" scale="0.2 0.4 0.05"/>
<!-- <box size="${base_w} ${base_l} ${base_h}"/> -->
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.2 0.4 0.05"/>
</geometry>
</collision>
</link>
<!-- <xacro:leg prefix="FL" rx="${0.}" ry="${0.}"/> -->
<joint name="FL_HFE" type="revolute">
<parent link="base_link"/>
<child link="FL_upperleg"/>
<limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1 0.2 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FL_upperleg">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0793"/>
<mass value="0.162"/>
<inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FL_KFE" type="revolute">
<parent link="FL_upperleg"/>
<child link="FL_shank"/>
<limit effort="1000" velocity="10000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FL_shank">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0756"/>
<mass value="0.021"/>
<inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FL_END" type="fixed">
<parent link="FL_shank"/>
<child link="FL_contact"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
</joint>
<link name="FL_contact">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <sphere radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
</geometry>
<material name="red">
<color rgba="1. 0. 0. 1."/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
</inertial>
</link>
<joint name="FR_HFE" type="revolute">
<parent link="base_link"/>
<child link="FR_upperleg"/>
<limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.1 0.2 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FR_upperleg">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0793"/>
<mass value="0.162"/>
<inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FR_KFE" type="revolute">
<parent link="FR_upperleg"/>
<child link="FR_shank"/>
<limit effort="1000" velocity="10000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FR_shank">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0756"/>
<mass value="0.021"/>
<inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FR_END" type="fixed">
<parent link="FR_shank"/>
<child link="FR_contact"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
</joint>
<link name="FR_contact">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <sphere radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
</geometry>
<material name="red">
<color rgba="1. 0. 0. 1."/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
</inertial>
</link>
<joint name="BL_HFE" type="revolute">
<parent link="base_link"/>
<child link="BL_upperleg"/>
<limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1 -0.2 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="BL_upperleg">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0793"/>
<mass value="0.162"/>
<inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="BL_KFE" type="revolute">
<parent link="BL_upperleg"/>
<child link="BL_shank"/>
<limit effort="1000" velocity="10000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="BL_shank">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0756"/>
<mass value="0.021"/>
<inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="BL_END" type="fixed">
<parent link="BL_shank"/>
<child link="BL_contact"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
</joint>
<link name="BL_contact">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <sphere radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
</geometry>
<material name="red">
<color rgba="1. 0. 0. 1."/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
</inertial>
</link>
<joint name="BR_HFE" type="revolute">
<parent link="base_link"/>
<child link="BR_upperleg"/>
<limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.1 -0.2 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="BR_upperleg">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
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</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0793"/>
<mass value="0.162"/>
<inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="BR_KFE" type="revolute">
<parent link="BR_upperleg"/>
<child link="BR_shank"/>
<limit effort="1000" velocity="10000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="BR_shank">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
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<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0756"/>
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<joint name="BR_END" type="fixed">
<parent link="BR_shank"/>
<child link="BR_contact"/>
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</joint>
<link name="BR_contact">
<contact>
<lateral_friction value="1.0"/>
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</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <sphere radius="${upper_leg_radius}"/> -->
<mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
</geometry>
<material name="red">
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<inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
</inertial>
</link>
</robot>
robots/quadruped_description/urdf/sphere.obj 0 → 100644
+ 270
− 0
View file @ a78748e9
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unittest/test_load.py
+ 3
− 0
View file @ a78748e9
...@@ -101,6 +101,9 @@ class RobotTestCase(unittest.TestCase): ...@@ -101,6 +101,9 @@ class RobotTestCase(unittest.TestCase):
def test_allegro_left(self): def test_allegro_left(self):
self.check("allegro_left_hand", 16, 16) self.check("allegro_left_hand", 16, 16)
def test_quadruped(self):
self.check("quadruped", 15, 14)
def test_romeo(self): def test_romeo(self):
self.check("romeo", 62, 61) self.check("romeo", 62, 61)
......
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