mirror of
https://github.com/PotentiaRobotics/control-system.git
synced 2025-04-03 20:00:19 -04:00
Add gait gen
This commit is contained in:
ramnreddy15
parent
24f9edf0e0
commit
d8d911ab5a
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@ -127,7 +127,7 @@ class Receiver:
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# threading.Thread(target=self.sensorData).start()
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# threading.Thread(target=self.balance).start()
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# threading.Thread(target=self.gaitGen).start()
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threading.Thread(target=self.gaitGen).start()
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# threading.Thread(target=self.comuterVision).start()
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def startBoot():
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52
Control System/gaitGen/footProjection.py
Normal file
52
Control System/gaitGen/footProjection.py
Normal file
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@ -0,0 +1,52 @@
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import math as m
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def createXProjection(length, duration):
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t = 0;
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f = open("xValues.txt", "w")
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f2 = open("timeX.txt", "w")
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xLambda = length/duration
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w = m.pi * 2
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w = w/duration
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projectedPoints = []
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deltaT = 0.01 #this is an arbitrary delta t, which can be changed later on
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while(t < duration+deltaT):
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value = xLambda*t - (xLambda/w)*m.sin(w*t)
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projectedPoints.append(value)
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f.write(str(value) + "\n")
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f2.write(str(t) + "\n")
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t += deltaT
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t = round(t, 2)
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f.close()
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f2.close()
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return projectedPoints
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def createZProjection(height, duration):
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t = 0;
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f = open("zValues.txt", "w")
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f2 = open("timeZ.txt", "w")
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duration = duration/2
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zLambda = height/(duration)
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w = m.pi * 2
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w = w/duration
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projectedPoints = []
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deltaT = 0.01 #this is an arbitrary delta t, which can be changed later on
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while(t < duration+deltaT):
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value = zLambda*t - (zLambda/w)*m.sin(w*t)
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projectedPoints.append(value)
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f.write(str(value) + "\n")
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f2.write(str(t) + "\n")
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t += deltaT
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t = round(t, 2)
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t = duration+deltaT
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while(t < (2 * duration)+deltaT):
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value = -(zLambda*t - (zLambda/w)*m.sin(w*t)) + (height*2)
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projectedPoints.append(value)
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f.write(str(value) +"\n")
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f2.write(str(t)+"\n")
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t += deltaT
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t = round(t, 2)
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f.close()
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f2.close()
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return projectedPoints
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#change the values based on the length/height of the step and how long the duration is
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createXProjection(0.5,3)
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createZProjection(0.4,3)
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927
Control System/gaitGen/olympian.urdf
Normal file
927
Control System/gaitGen/olympian.urdf
Normal file
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@ -0,0 +1,927 @@
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<?xml version="1.0" ?>
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<robot name="olympian">
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<material name="silver">
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<color rgba="0.700 0.700 0.700 1.000"/>
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</material>
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.10000000000000274 -1.5987211554602254e-16 0.8751666232732108"/>
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<mass value="1.1521008690150791"/>
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<inertia ixx="0.008991901943259162" ixy="-9.892367496064471e-18" ixz="0.0" iyy="0.005223496631877156" iyz="-6.132347048742014e-19" izz="0.008530264202422316"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Pelvis_v7_1">
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<inertial>
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<origin rpy="0 0 0" xyz="2.789435349370706e-15 0.049999999999999864 0.029353425629582097"/>
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<mass value="0.5947505206015595"/>
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<inertia ixx="0.0020170369281689027" ixy="-2.806717788186033e-19" ixz="6.938893903907228e-18" iyy="0.001878872568180201" iyz="-2.3514580861105255e-19" izz="0.0010976440297574977"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.1 0.05 -0.915"/>
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<geometry>
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<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.1 0.05 -0.915"/>
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<geometry>
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<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Chest_v13_1">
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<inertial>
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<origin rpy="0 0 0" xyz="0.03750000000000275 -8.168836624811604e-05 0.2954266005963746"/>
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<mass value="5.882339234080889"/>
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<inertia ixx="0.462024450225778" ixy="-1.2945373939476923e-16" ixz="-5.551115123125783e-16" iyy="0.3281120038896219" iyz="-0.0001155294730347088" izz="0.23780786856479988"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.0625 0.0 -0.99"/>
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<geometry>
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<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.0625 0.0 -0.99"/>
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<geometry>
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<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Box_Head_v5_1">
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<inertial>
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<origin rpy="0 0 0" xyz="1.8735013540549517e-15 2.486899575160351e-16 0.12700000029388225"/>
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<mass value="0.4129840000000015"/>
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<inertia ixx="0.00953546956266682" ixy="-1.2615370792445878e-16" ixz="-8.326672684688674e-17" iyy="0.009535469562667043" iyz="-9.005388077923778e-18" izz="0.009535469562666902"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.1 0.0 -1.5564"/>
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<geometry>
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<mesh filename="meshes/Box_Head_v5_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.1 0.0 -1.5564"/>
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<geometry>
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<mesh filename="meshes/Box_Head_v5_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Upper_Arm_Link_type_b_v9_1">
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<inertial>
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<origin rpy="0 0 0" xyz="3.011479954295737e-15 -0.03931045800644434 -0.010955881721682825"/>
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<mass value="0.11011202726048713"/>
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<inertia ixx="0.00018206077085142214" ixy="0.0" ixz="0.0" iyy="0.00016930933911268875" iyz="-1.861439297221046e-05" izz="0.00022075846035968932"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.1 0.275 -1.5064"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Link_type_b_v9_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.1 0.275 -1.5064"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Link_type_b_v9_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Upper_Arm_Roll_Link_v5_1">
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<inertial>
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<origin rpy="0 0 0" xyz="0.05000000000000271 7.771561172376096e-16 -0.022135117628713896"/>
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<mass value="0.29143432706119626"/>
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<inertia ixx="0.0002924682777393217" ixy="1.734723475976807e-18" ixz="-6.938893903907228e-18" iyy="0.001232763287599803" iyz="-2.7755575615628914e-17" izz="0.0011938412922212135"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.05 0.35 -1.4939"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Roll_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.05 0.35 -1.4939"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Roll_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Upper_Arm_v10_1">
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<inertial>
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<origin rpy="0 0 0" xyz="2.706168622523819e-15 -9.46964984205323e-09 -0.20731274229984487"/>
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<mass value="0.9419240929020993"/>
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<inertia ixx="0.018812734327517955" ixy="5.35682609381638e-15" ixz="2.7755575615628914e-17" iyy="0.019683528982801013" iyz="-1.6353901011179062e-09" izz="0.00349831999855843"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.1 0.35 -1.43755"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_v10_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.1 0.35 -1.43755"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_v10_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Lower_Arm_v8_1">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.04999999999999716 -1.5210055437364645e-14 -0.22711717106463214"/>
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<mass value="1.1287862597517475"/>
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<inertia ixx="0.025477987567271376" ixy="5.370703881624195e-15" ixz="-1.3877787807814457e-17" iyy="0.025545638419054773" iyz="1.887379141862766e-15" izz="0.0030604925430051666"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.15 0.35 -1.07005"/>
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<geometry>
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<mesh filename="meshes/Lower_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.15 0.35 -1.07005"/>
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<geometry>
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<mesh filename="meshes/Lower_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Upper_Arm_Link_type_b_v9_2">
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<inertial>
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<origin rpy="0 0 0" xyz="2.5118795932144167e-15 0.039310458006443616 -0.010955881721682825"/>
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<mass value="0.11011202726048713"/>
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||||
<inertia ixx="0.00018206077085147765" ixy="-1.3010426069826053e-18" ixz="-3.469446951953614e-18" iyy="0.00016930933911263324" iyz="1.8614392972175764e-05" izz="0.00022075846035969453"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.1 -0.275 -1.5064"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Link_type_b_v9_2.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.1 -0.275 -1.5064"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Link_type_b_v9_2.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Upper_Arm_Roll_Link_v5_2">
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<inertial>
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<origin rpy="0 0 0" xyz="0.0500000000000025 -1.0547118733938987e-15 -0.022135117628713452"/>
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<mass value="0.29143432706119626"/>
|
||||
<inertia ixx="0.0002924682777396548" ixy="0.0" ixz="0.0" iyy="0.001232763287599914" iyz="-5.551115123125783e-17" izz="0.0011938412922211997"/>
|
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</inertial>
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||||
<visual>
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<origin rpy="0 0 0" xyz="-0.05 -0.35 -1.4939"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Roll_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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||||
<material/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 0 0" xyz="-0.05 -0.35 -1.4939"/>
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<geometry>
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<mesh filename="meshes/Upper_Arm_Roll_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Upper_Arm_v10_3">
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="2.6922908347160046e-15 -9.469651840454674e-09 -0.2073127422998453"/>
|
||||
<mass value="0.9419240929020993"/>
|
||||
<inertia ixx="0.018812734327517955" ixy="5.370703881624195e-15" ixz="1.3877787807814457e-17" iyy="0.019683528982801457" iyz="-1.6353899900956037e-09" izz="0.0034983199985584718"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.35 -1.43755"/>
|
||||
<geometry>
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||||
<mesh filename="meshes/Upper_Arm_v10_3.stl" scale="0.001 0.001 0.001"/>
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||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.35 -1.43755"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_v10_3.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
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||||
</collision>
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||||
</link>
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||||
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||||
<link name="Lower_Arm_v8_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.05000000000000264 -1.7263968032921184e-14 -0.22711717106463192"/>
|
||||
<mass value="1.1287862597517475"/>
|
||||
<inertia ixx="0.025477987567271376" ixy="5.3637649877202875e-15" ixz="0.0" iyy="0.02554563841905466" iyz="1.7763568394002505e-15" izz="0.003060492543005139"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.35 -1.07005"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Arm_v8_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.35 -1.07005"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Arm_v8_2.stl" scale="0.001 0.001 0.001"/>
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||||
</geometry>
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||||
</collision>
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</link>
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<link name="Leg_Pitch_v5_1">
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="2.7478019859472624e-15 -0.04683508876022918 0.003164911239771362"/>
|
||||
<mass value="0.3280666863874879"/>
|
||||
<inertia ixx="0.0009464761938969279" ixy="0.0" ixz="6.938893903907228e-18" iyy="0.0010883631339250188" iyz="5.307553597741488e-05" izz="0.0010883631339250258"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.1 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Pitch_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.1 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Pitch_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Leg_Roll_v4_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.07500000000000276 2.498001805406602e-16 -0.035223067053444135"/>
|
||||
<mass value="1.3532798434145876"/>
|
||||
<inertia ixx="0.002693883608054004" ixy="3.469446951953614e-18" ixz="0.0" iyy="0.008928053332240449" iyz="0.0" izz="0.00837264452845498"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.025 0.15 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Roll_v4_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.025 0.15 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Roll_v4_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Leg_v4_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.4702462297909733e-15 1.6653345369377348e-16 -0.15757232755407302"/>
|
||||
<mass value="1.7214182603818151"/>
|
||||
<inertia ixx="0.024564314520888808" ixy="-3.469446951953614e-18" ixz="2.7755575615628914e-17" iyy="0.023647064861463507" iyz="-2.7755575615628914e-17" izz="0.01202868114191328"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
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|
||||
<geometry>
|
||||
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|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.15 -0.74"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Leg_v4_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Lower_Leg_v6_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.345346139520643e-15 0.04999999999999144 -0.14147821247779985"/>
|
||||
<mass value="1.4272888897799032"/>
|
||||
<inertia ixx="0.020278823604420432" ixy="-2.2169766022983595e-15" ixz="2.0816681711721685e-17" iyy="0.02027203031763286" iyz="-1.3183898417423734e-15" izz="0.003070799531336911"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.2 -0.4418"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Leg_v6_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.2 -0.4418"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Leg_v6_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Ankle_Link_v5_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.03000000000000269 5.551115123125783e-16 -0.014239102534719814"/>
|
||||
<mass value="0.02966359637804546"/>
|
||||
<inertia ixx="2.6914982867941393e-05" ixy="0.0" ixz="-1.0842021724855044e-19" iyy="3.13471723067344e-05" iyz="5.421010862427522e-20" izz="1.4582407636994869e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.07 0.15 -0.0886"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Ankle_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.07 0.15 -0.0886"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Ankle_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Foot_v4_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.03625642783113289 0.019685521169741094 -0.0403940100478858"/>
|
||||
<mass value="0.8921618023336354"/>
|
||||
<inertia ixx="0.001976748372483468" ixy="2.766319069119616e-06" ixz="0.0001489881145850828" iyy="0.005514801902865209" iyz="-1.2922841769059251e-06" izz="0.00723725227735432"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.17 -0.0536"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Foot_v4_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.17 -0.0536"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Foot_v4_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Leg_Pitch_v5_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.3869795029440866e-15 0.046835088760228516 0.003164911239771251"/>
|
||||
<mass value="0.3280666863874879"/>
|
||||
<inertia ixx="0.0009464761938969557" ixy="-8.673617379884035e-19" ixz="3.469446951953614e-18" iyy="0.001088363133924991" iyz="-5.307553597740794e-05" izz="0.0010883631339250258"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.1 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Pitch_v5_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.1 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Pitch_v5_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Leg_Roll_v4_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.07500000000000273 -2.7755575615628914e-16 -0.03522306705344391"/>
|
||||
<mass value="1.3532798434145876"/>
|
||||
<inertia ixx="0.002693883608054115" ixy="-6.938893903907228e-18" ixz="1.3877787807814457e-17" iyy="0.008928053332240782" iyz="0.0" izz="0.008372644528454966"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.025 -0.15 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Roll_v4_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.025 -0.15 -0.815"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Leg_Roll_v4_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Leg_v4_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.5118795932144167e-15 -1.1102230246251565e-16 -0.15757232755407302"/>
|
||||
<mass value="1.7214182603818151"/>
|
||||
<inertia ixx="0.02456431452088903" ixy="0.0" ixz="-1.3877787807814457e-17" iyy="0.023647064861463618" iyz="0.0" izz="0.012028681141913286"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.15 -0.74"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Leg_v4_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.15 -0.74"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Leg_v4_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Lower_Leg_v6_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.761679773755077e-15 -0.05000000000000848 -0.14147821247779996"/>
|
||||
<mass value="1.4272888897799032"/>
|
||||
<inertia ixx="0.020278823604420404" ixy="-2.1961599205866378e-15" ixz="1.3877787807814457e-17" iyy="0.02027203031763286" iyz="-1.2906342661267445e-15" izz="0.003070799531336904"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.2 -0.4418"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.2 -0.4418"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Ankle_Link_v5_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.030000000000002913 1.6653345369377348e-16 -0.014239102534719814"/>
|
||||
<mass value="0.02966359637804546"/>
|
||||
<inertia ixx="2.6914982867941284e-05" ixy="1.0842021724855044e-19" ixz="-1.0842021724855044e-19" iyy="3.13471723067344e-05" iyz="0.0" izz="1.4582407636994869e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.07 -0.15 -0.0886"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.07 -0.15 -0.0886"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Foot_v4_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.03625642783113234 -0.02031447883025933 -0.04039401004788552"/>
|
||||
<mass value="0.8921618023336354"/>
|
||||
<inertia ixx="0.001976748372483454" ixy="2.7663190691230855e-06" ixz="0.00014898811458507067" iyy="0.00551480190286522" iyz="-1.2922841769050578e-06" izz="0.007237252277354382"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.17 -0.0536"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.17 -0.0536"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="Rev1" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.1 -0.05 0.915"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Pelvis_v7_1"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev1_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev1">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev1_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev2" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.0375 0.05 0.075"/>
|
||||
<parent link="Pelvis_v7_1"/>
|
||||
<child link="Chest_v13_1"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev2_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev2">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev2_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev11" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0375 0.0 0.5664"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Box_Head_v5_1"/>
|
||||
<axis xyz="-0.0 -0.0 1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev11_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev11">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev11_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev3" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0375 -0.275 0.5164"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Upper_Arm_Link_type_b_v9_1"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev3_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev3">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev3_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev4" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.075 -0.0125"/>
|
||||
<parent link="Upper_Arm_Link_type_b_v9_1"/>
|
||||
<child link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<axis xyz="-1.0 -0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev4_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev4">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev4_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev5" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
|
||||
<parent link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<child link="Upper_Arm_v10_1"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev5_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev5">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev5_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev6" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.0 -0.3675"/>
|
||||
<parent link="Upper_Arm_v10_1"/>
|
||||
<child link="Lower_Arm_v8_1"/>
|
||||
<axis xyz="-1.0 -0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev6_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev6">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev6_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev7" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0375 0.275 0.5164"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Upper_Arm_Link_type_b_v9_2"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev7_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev7">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev7_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev8" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 0.075 -0.0125"/>
|
||||
<parent link="Upper_Arm_Link_type_b_v9_2"/>
|
||||
<child link="Upper_Arm_Roll_Link_v5_2"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev8_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev8">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev8_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev9" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
|
||||
<parent link="Upper_Arm_Roll_Link_v5_2"/>
|
||||
<child link="Upper_Arm_v10_3"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev9_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev9">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev9_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev10" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 0.0 -0.3675"/>
|
||||
<parent link="Upper_Arm_v10_3"/>
|
||||
<child link="Lower_Arm_v8_2"/>
|
||||
<axis xyz="1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev10_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev10">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev10_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev12" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.1 -0.1 0.815"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Leg_Pitch_v5_1"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev12_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev12">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev12_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev13" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.075 -0.05 0.0"/>
|
||||
<parent link="Leg_Pitch_v5_1"/>
|
||||
<child link="Leg_Roll_v4_1"/>
|
||||
<axis xyz="-1.0 -0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev13_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev13">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev13_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev14" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
|
||||
<parent link="Leg_Roll_v4_1"/>
|
||||
<child link="Upper_Leg_v4_1"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev14_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev14">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev14_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev15" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.05 -0.2982"/>
|
||||
<parent link="Upper_Leg_v4_1"/>
|
||||
<child link="Lower_Leg_v6_1"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev15_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev15">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev15_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev16" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.03 0.05 -0.3532"/>
|
||||
<parent link="Lower_Leg_v6_1"/>
|
||||
<child link="Ankle_Link_v5_1"/>
|
||||
<axis xyz="1.0 0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev16_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev16">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev16_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev19" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.03 -0.02 -0.035"/>
|
||||
<parent link="Ankle_Link_v5_1"/>
|
||||
<child link="Foot_v4_1"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev19_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev19">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev19_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev20" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.1 0.1 0.815"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Leg_Pitch_v5_2"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev20_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev20">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev20_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev21" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.075 0.05 0.0"/>
|
||||
<parent link="Leg_Pitch_v5_2"/>
|
||||
<child link="Leg_Roll_v4_2"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev21_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev21">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev21_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev22" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
|
||||
<parent link="Leg_Roll_v4_2"/>
|
||||
<child link="Upper_Leg_v4_2"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev22_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev22">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev22_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev23" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 0.05 -0.2982"/>
|
||||
<parent link="Upper_Leg_v4_2"/>
|
||||
<child link="Lower_Leg_v6_2"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev23_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev23">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev23_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev24" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.03 -0.05 -0.3532"/>
|
||||
<parent link="Lower_Leg_v6_2"/>
|
||||
<child link="Ankle_Link_v5_2"/>
|
||||
<axis xyz="1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev24_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev24">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev24_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev25" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.03 0.02 -0.035"/>
|
||||
<parent link="Ankle_Link_v5_2"/>
|
||||
<child link="Foot_v4_2"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev25_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev25">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev25_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</robot>
|
||||
299
Control System/gaitGen/step.py
Normal file
299
Control System/gaitGen/step.py
Normal file
|
|
@ -0,0 +1,299 @@
|
|||
import pybullet as p
|
||||
import time
|
||||
import pybullet_data
|
||||
import math
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
|
||||
|
||||
print("hi")
|
||||
|
||||
p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
|
||||
p.setGravity(0,0,-9.8)
|
||||
planeId = p.loadURDF("plane.urdf") #where is plane.urdf
|
||||
startPos = [0,0,0]
|
||||
#sphereId = p.loadURDF("sphere.urdf")
|
||||
startOrientation = p.getQuaternionFromEuler([0,0,0])
|
||||
robotId = p.loadURDF("olympian.urdf",startPos, startOrientation,
|
||||
# useMaximalCoordinates=1, ## New feature in Pybullet
|
||||
flags=p.URDF_USE_INERTIA_FROM_FILE)
|
||||
|
||||
print("==========SIMULATION ENABLED================")
|
||||
|
||||
#GET JOINT INFO
|
||||
|
||||
print(p.getNumJoints(robotId))
|
||||
for i in range(0, p.getNumJoints(robotId)-1):
|
||||
print(p.getJointInfo(robotId, i)[0:13])
|
||||
|
||||
|
||||
listOfJointIndeces = []
|
||||
for i in range(0, p.getNumJoints(robotId)):
|
||||
listOfJointIndeces.append(i)
|
||||
#why not use list(range())?
|
||||
#also why have 0
|
||||
|
||||
def calcCOM():
|
||||
|
||||
#CALCULATE COM
|
||||
masstimesxpossum = 0.0
|
||||
masstimesypossum = 0.0
|
||||
masstimeszpossum = 0.0
|
||||
masssum = 0.0
|
||||
for i in range(0, p.getNumJoints(robotId) -1):
|
||||
|
||||
# if(i >= 0):
|
||||
# print(p.getJointInfo(robotId, i)[0:13])
|
||||
|
||||
wheight = p.getDynamicsInfo(robotId, i)[0]
|
||||
xpos = p.getLinkState(robotId, i)[0][0]
|
||||
ypos = p.getLinkState(robotId, i)[0][1]
|
||||
zpos = p.getLinkState(robotId, i)[0][2]
|
||||
|
||||
masstimesxpossum += (wheight * xpos)
|
||||
masstimesypossum += (wheight * ypos)
|
||||
masstimeszpossum += (wheight * zpos)
|
||||
masssum += wheight
|
||||
|
||||
# print(wheight)
|
||||
# print(xpos)
|
||||
# print(ypos)
|
||||
# print(zpos)
|
||||
# print("\n")
|
||||
p.stepSimulation()
|
||||
com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
|
||||
|
||||
#print("mass: " + str(masssum))
|
||||
#print("center of mass: " + str(com))
|
||||
#print("\n")
|
||||
return com
|
||||
|
||||
#INVERSE KINEMATICS
|
||||
#GET JOINT ANGLES NEEDED TO MOVE LINK 10 to (0. 0.6, 2)
|
||||
#FORCE IS 25NM for every link bc im too lazy to custom set it for every link
|
||||
#IT FALLS BECAUSE its a lot of torque exerted in a small amount of time
|
||||
|
||||
torque = 100
|
||||
newi = []
|
||||
comPos = []
|
||||
comPos2 = []
|
||||
|
||||
|
||||
|
||||
holdingTorque = 100
|
||||
actuationTorque = 10
|
||||
torqueList = [holdingTorque]*23
|
||||
|
||||
file = open("xValues.txt", "r")
|
||||
xValues = []
|
||||
for word in file.readlines():
|
||||
xValues.append(float(word.rstrip('\n')))
|
||||
file = open("zValues.txt", "r")
|
||||
zValues = []
|
||||
for word in file.readlines():
|
||||
zValues.append(float(word.rstrip('\n')))
|
||||
|
||||
def shiftFoot():
|
||||
|
||||
leftAnkle = p.getJointState(robotId, 21)[0]
|
||||
leftThigh = p.getJointState(robotId, 18)[0]
|
||||
print(leftAnkle)
|
||||
print(leftThigh)
|
||||
|
||||
for i in range(0, 50):
|
||||
positionsList = [0]*23
|
||||
angleNeeded = calculateAngleNeeded()
|
||||
comPos.append(calcCOM())
|
||||
newi.insert(0, i)
|
||||
positionsList[21] = angleNeeded/50 * i #left ankle
|
||||
positionsList[15] = angleNeeded/50 * i #right ankle
|
||||
positionsList[18] = angleNeeded/50 * i#left thigh
|
||||
positionsList[12] = angleNeeded/50 * i#right thigh
|
||||
|
||||
#positionsList[14] = 0.3/50 * i
|
||||
forceArray = [torque]*23
|
||||
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
|
||||
p.stepSimulation()
|
||||
|
||||
''
|
||||
for i in range(0, 50):
|
||||
comPos.append(calcCOM())
|
||||
newi.insert(0, i)
|
||||
angleNeeded = 0.5
|
||||
|
||||
positionsList[11] = 0.2598371070140097/50 * i #thigh pitch
|
||||
positionsList[14] = 0.8123194567657278/50 * i #knee
|
||||
positionsList[16] = 0.4891906071331436/50 * i#ankle
|
||||
|
||||
#positionsList[14] = 0.3/50 * i
|
||||
forceArray = [torque]*23
|
||||
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
|
||||
p.stepSimulation()
|
||||
|
||||
|
||||
positionsList = [0]*23
|
||||
|
||||
firstY = p.getLinkState(robotId, 15)[0][1]
|
||||
firstZ = p.getLinkState(robotId, 15)[0][2]
|
||||
|
||||
|
||||
for i in range(0, len(xValues)//20):
|
||||
"""
|
||||
comPos.append(calcCOM())
|
||||
newi.insert(0, i)
|
||||
angleNeeded = calculateAngleNeeded()
|
||||
positionsList[21] = angleNeeded/len(xValues) * i #left ankle
|
||||
#positionsList[15] = angleNeeded/len(xValues) * i #right ankle
|
||||
positionsList[18] = angleNeeded/len(xValues) * i#left thigh
|
||||
#positionsList[12] = angleNeeded/len(xValues) * i#right thigh
|
||||
forceArray = [torque]*23
|
||||
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
|
||||
p.stepSimulation()
|
||||
"""
|
||||
#thighs are 12 and 18
|
||||
angleNeeded = calculateAngleNeeded()
|
||||
ikList = p.calculateInverseKinematics(robotId, 15, [xValues[20*i], firstY, zValues[20*i]+(len(xValues)-20*i)/len(xValues)*firstZ])
|
||||
|
||||
positionsList = list(ikList)
|
||||
#print("uwu")
|
||||
#print(positionsList[11])
|
||||
#print(positionsList[14])
|
||||
#print(positionsList[16])
|
||||
#positionsList[11] = 0.5*(len(xValues)-i)/len(xValues)+positionsList[11]*(i/len(xValues))
|
||||
#positionsList[14] = 1*(len(xValues)-i)/len(xValues)+positionsList[14]*(i/len(xValues))
|
||||
#positionsList[16] = 0.5*(len(xValues)-i)/len(xValues)+positionsList[16]*(i/len(xValues))
|
||||
positionsList[21] = angleNeeded*(len(xValues)-8*i)/len(xValues)
|
||||
positionsList[18] = angleNeeded*(len(xValues)-8*i)/len(xValues)
|
||||
ankleAngle = calculateAnkleAngle()
|
||||
|
||||
positionsList[15] = (math.pi/2-ankleAngle*np.sign(ankleAngle))*np.sign(ankleAngle)/len(xValues)*i*20
|
||||
ankleAngle = calculateOtherAnkleAngle()
|
||||
positionsList[16] = 0.4891906071331436*(len(xValues)-(i*20))/len(xValues)+ankleAngle/len(xValues)*i*20
|
||||
pelvisAngle = calculatePelvisAngle()
|
||||
print(pelvisAngle)
|
||||
positionsList[0] = -1*pelvisAngle
|
||||
#positionsList[15] = (math.pi-ankleAngle*np.sign(ankleAngle))*np.sign(ankleAngle)/len(xValues)*i
|
||||
'''
|
||||
if((ankleAngle)<0):
|
||||
positionsList[15] = -1*(math.pi-(abs(ankleAngle)))/len(xValues)*i
|
||||
else:
|
||||
positionsList[15] = math.pi-(abs(ankleAngle))/len(xValues)*i
|
||||
'''
|
||||
#positionsList[16] =
|
||||
#positionsList[15] = (math.pi-calculateAnkleAngle())/len(xValues)*i
|
||||
# positionsList[0] = math.pi / 4
|
||||
forceArray = [torque]*23
|
||||
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
|
||||
p.stepSimulation()
|
||||
|
||||
for i in range(50000):
|
||||
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL, targetPositions = positionsList, forces = forceArray)
|
||||
p.stepSimulation()
|
||||
|
||||
def calculateAngleNeeded():
|
||||
anklePos = p.getLinkState(robotId, 21)[0]
|
||||
comPos = calcCOM()
|
||||
hipPos = p.getLinkState(robotId, 18)[0]
|
||||
ankleCom = (comPos[1]-anklePos[1], comPos[2]-anklePos[2])
|
||||
ankleHip = (hipPos[1]-anklePos[1], hipPos[2]-anklePos[2])
|
||||
cosAngle = (ankleCom[0]*ankleHip[0] + ankleCom[1]*ankleHip[1])/(np.sqrt((ankleCom[0]**2+ankleCom[1]**2))*np.sqrt((ankleHip[0]**2 + ankleHip[1]**2)))
|
||||
angle = np.arccos(cosAngle)
|
||||
#print(angle)
|
||||
return angle
|
||||
|
||||
def calculateAnkleAngle():
|
||||
anklePos = p.getLinkState(robotId, 15)[0]
|
||||
kneePos = p.getLinkState(robotId, 14)[0]
|
||||
angle = np.arctan((kneePos[2]-anklePos[2])/(kneePos[1]-anklePos[1]))
|
||||
print("thing " + str(angle))
|
||||
return angle
|
||||
|
||||
def calculateOtherAnkleAngle():
|
||||
anklePos = p.getLinkState(robotId, 15)[0]
|
||||
kneePos = p.getLinkState(robotId, 14)[0]
|
||||
angle = np.arctan((kneePos[0]-anklePos[0])/(kneePos[2]-anklePos[2]))
|
||||
print("thing " + str(angle))
|
||||
return angle
|
||||
|
||||
def calculatePelvisAngle():
|
||||
pelvisPos = p.getLinkState(robotId, 0)[0]
|
||||
chestPos = p.getLinkState(robotId, 1)[0]
|
||||
print(chestPos)
|
||||
print(pelvisPos)
|
||||
angle = np.arctan((chestPos[0]-pelvisPos[0])/(chestPos[2]-pelvisPos[2]))
|
||||
return angle
|
||||
|
||||
shiftFoot()
|
||||
|
||||
print(p.getLinkState(robotId, 21)[0][1]-calcCOM()[1])
|
||||
|
||||
print(str(p.getLinkState(robotId, 21)) + "HIIII")
|
||||
|
||||
for i in range(1000000):
|
||||
p.stepSimulation()
|
||||
|
||||
"""
|
||||
for i in range(0, len(xValues), 1):
|
||||
ikList = p.calculateInverseKinematics(robotId, 15, [xValues[i], 0, zValues[i]])
|
||||
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL,
|
||||
targetPositions = ikList, forces = torqueList)
|
||||
p.stepSimulation()
|
||||
time.sleep(1./240.)
|
||||
|
||||
for i in range(10000):
|
||||
p.stepSimulation()
|
||||
time.sleep(1./240.)
|
||||
"""
|
||||
|
||||
z = list(range(len(xValues)))
|
||||
area = 3 # 0 to 15 point radii
|
||||
|
||||
plt.scatter(z, zValues, s=area, alpha=0.5)
|
||||
#plt.show()
|
||||
|
||||
#ikList = p.calculateInverseKinematics(robotId, 10, [0,0.6,2] )
|
||||
|
||||
"""
|
||||
p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL,
|
||||
targetPositions = ikList, forces = torqueList)
|
||||
|
||||
|
||||
#CALCULATE COM
|
||||
masstimesxpossum = 0.0
|
||||
masstimesypossum = 0.0
|
||||
masstimeszpossum = 0.0
|
||||
masssum = 0.0
|
||||
for i in range(0, p.getNumJoints(robotId) -1):
|
||||
|
||||
if(i >= 0):
|
||||
print(p.getJointInfo(robotId, i)[0:13])
|
||||
|
||||
wheight = p.getDynamicsInfo(robotId, i)[0]
|
||||
xpos = p.getLinkState(robotId, i)[0][0]
|
||||
ypos = p.getLinkState(robotId, i)[0][1]
|
||||
zpos = p.getLinkState(robotId, i)[0][2]
|
||||
|
||||
masstimesxpossum += (wheight * xpos)
|
||||
masstimesypossum += (wheight * ypos)
|
||||
masstimeszpossum += (wheight * zpos)
|
||||
masssum += wheight
|
||||
|
||||
print(wheight) #what is wheight
|
||||
print(xpos)
|
||||
print(ypos)
|
||||
print(zpos)
|
||||
print("\n")
|
||||
|
||||
com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
|
||||
print("==========COM APROX EQUALS===========")
|
||||
print(com)
|
||||
print("\n")
|
||||
#STEP SIMULATION
|
||||
for i in range(0,10000):
|
||||
p.stepSimulation()
|
||||
time.sleep(1./240.)
|
||||
|
||||
|
||||
print("========REALTIME SIMULATION DISABLED===============")
|
||||
# p.calculateInverseKinematics(robotId, )
|
||||
"""
|
||||
301
Control System/gaitGen/timeX.txt
Normal file
301
Control System/gaitGen/timeX.txt
Normal file
|
|
@ -0,0 +1,301 @@
|
|||
0
|
||||
0.01
|
||||
0.02
|
||||
0.03
|
||||
0.04
|
||||
0.05
|
||||
0.06
|
||||
0.07
|
||||
0.08
|
||||
0.09
|
||||
0.1
|
||||
0.11
|
||||
0.12
|
||||
0.13
|
||||
0.14
|
||||
0.15
|
||||
0.16
|
||||
0.17
|
||||
0.18
|
||||
0.19
|
||||
0.2
|
||||
0.21
|
||||
0.22
|
||||
0.23
|
||||
0.24
|
||||
0.25
|
||||
0.26
|
||||
0.27
|
||||
0.28
|
||||
0.29
|
||||
0.3
|
||||
0.31
|
||||
0.32
|
||||
0.33
|
||||
0.34
|
||||
0.35
|
||||
0.36
|
||||
0.37
|
||||
0.38
|
||||
0.39
|
||||
0.4
|
||||
0.41
|
||||
0.42
|
||||
0.43
|
||||
0.44
|
||||
0.45
|
||||
0.46
|
||||
0.47
|
||||
0.48
|
||||
0.49
|
||||
0.5
|
||||
0.51
|
||||
0.52
|
||||
0.53
|
||||
0.54
|
||||
0.55
|
||||
0.56
|
||||
0.57
|
||||
0.58
|
||||
0.59
|
||||
0.6
|
||||
0.61
|
||||
0.62
|
||||
0.63
|
||||
0.64
|
||||
0.65
|
||||
0.66
|
||||
0.67
|
||||
0.68
|
||||
0.69
|
||||
0.7
|
||||
0.71
|
||||
0.72
|
||||
0.73
|
||||
0.74
|
||||
0.75
|
||||
0.76
|
||||
0.77
|
||||
0.78
|
||||
0.79
|
||||
0.8
|
||||
0.81
|
||||
0.82
|
||||
0.83
|
||||
0.84
|
||||
0.85
|
||||
0.86
|
||||
0.87
|
||||
0.88
|
||||
0.89
|
||||
0.9
|
||||
0.91
|
||||
0.92
|
||||
0.93
|
||||
0.94
|
||||
0.95
|
||||
0.96
|
||||
0.97
|
||||
0.98
|
||||
0.99
|
||||
1.0
|
||||
1.01
|
||||
1.02
|
||||
1.03
|
||||
1.04
|
||||
1.05
|
||||
1.06
|
||||
1.07
|
||||
1.08
|
||||
1.09
|
||||
1.1
|
||||
1.11
|
||||
1.12
|
||||
1.13
|
||||
1.14
|
||||
1.15
|
||||
1.16
|
||||
1.17
|
||||
1.18
|
||||
1.19
|
||||
1.2
|
||||
1.21
|
||||
1.22
|
||||
1.23
|
||||
1.24
|
||||
1.25
|
||||
1.26
|
||||
1.27
|
||||
1.28
|
||||
1.29
|
||||
1.3
|
||||
1.31
|
||||
1.32
|
||||
1.33
|
||||
1.34
|
||||
1.35
|
||||
1.36
|
||||
1.37
|
||||
1.38
|
||||
1.39
|
||||
1.4
|
||||
1.41
|
||||
1.42
|
||||
1.43
|
||||
1.44
|
||||
1.45
|
||||
1.46
|
||||
1.47
|
||||
1.48
|
||||
1.49
|
||||
1.5
|
||||
1.51
|
||||
1.52
|
||||
1.53
|
||||
1.54
|
||||
1.55
|
||||
1.56
|
||||
1.57
|
||||
1.58
|
||||
1.59
|
||||
1.6
|
||||
1.61
|
||||
1.62
|
||||
1.63
|
||||
1.64
|
||||
1.65
|
||||
1.66
|
||||
1.67
|
||||
1.68
|
||||
1.69
|
||||
1.7
|
||||
1.71
|
||||
1.72
|
||||
1.73
|
||||
1.74
|
||||
1.75
|
||||
1.76
|
||||
1.77
|
||||
1.78
|
||||
1.79
|
||||
1.8
|
||||
1.81
|
||||
1.82
|
||||
1.83
|
||||
1.84
|
||||
1.85
|
||||
1.86
|
||||
1.87
|
||||
1.88
|
||||
1.89
|
||||
1.9
|
||||
1.91
|
||||
1.92
|
||||
1.93
|
||||
1.94
|
||||
1.95
|
||||
1.96
|
||||
1.97
|
||||
1.98
|
||||
1.99
|
||||
2.0
|
||||
2.01
|
||||
2.02
|
||||
2.03
|
||||
2.04
|
||||
2.05
|
||||
2.06
|
||||
2.07
|
||||
2.08
|
||||
2.09
|
||||
2.1
|
||||
2.11
|
||||
2.12
|
||||
2.13
|
||||
2.14
|
||||
2.15
|
||||
2.16
|
||||
2.17
|
||||
2.18
|
||||
2.19
|
||||
2.2
|
||||
2.21
|
||||
2.22
|
||||
2.23
|
||||
2.24
|
||||
2.25
|
||||
2.26
|
||||
2.27
|
||||
2.28
|
||||
2.29
|
||||
2.3
|
||||
2.31
|
||||
2.32
|
||||
2.33
|
||||
2.34
|
||||
2.35
|
||||
2.36
|
||||
2.37
|
||||
2.38
|
||||
2.39
|
||||
2.4
|
||||
2.41
|
||||
2.42
|
||||
2.43
|
||||
2.44
|
||||
2.45
|
||||
2.46
|
||||
2.47
|
||||
2.48
|
||||
2.49
|
||||
2.5
|
||||
2.51
|
||||
2.52
|
||||
2.53
|
||||
2.54
|
||||
2.55
|
||||
2.56
|
||||
2.57
|
||||
2.58
|
||||
2.59
|
||||
2.6
|
||||
2.61
|
||||
2.62
|
||||
2.63
|
||||
2.64
|
||||
2.65
|
||||
2.66
|
||||
2.67
|
||||
2.68
|
||||
2.69
|
||||
2.7
|
||||
2.71
|
||||
2.72
|
||||
2.73
|
||||
2.74
|
||||
2.75
|
||||
2.76
|
||||
2.77
|
||||
2.78
|
||||
2.79
|
||||
2.8
|
||||
2.81
|
||||
2.82
|
||||
2.83
|
||||
2.84
|
||||
2.85
|
||||
2.86
|
||||
2.87
|
||||
2.88
|
||||
2.89
|
||||
2.9
|
||||
2.91
|
||||
2.92
|
||||
2.93
|
||||
2.94
|
||||
2.95
|
||||
2.96
|
||||
2.97
|
||||
2.98
|
||||
2.99
|
||||
3.0
|
||||
301
Control System/gaitGen/timeZ.txt
Normal file
301
Control System/gaitGen/timeZ.txt
Normal file
|
|
@ -0,0 +1,301 @@
|
|||
0
|
||||
0.01
|
||||
0.02
|
||||
0.03
|
||||
0.04
|
||||
0.05
|
||||
0.06
|
||||
0.07
|
||||
0.08
|
||||
0.09
|
||||
0.1
|
||||
0.11
|
||||
0.12
|
||||
0.13
|
||||
0.14
|
||||
0.15
|
||||
0.16
|
||||
0.17
|
||||
0.18
|
||||
0.19
|
||||
0.2
|
||||
0.21
|
||||
0.22
|
||||
0.23
|
||||
0.24
|
||||
0.25
|
||||
0.26
|
||||
0.27
|
||||
0.28
|
||||
0.29
|
||||
0.3
|
||||
0.31
|
||||
0.32
|
||||
0.33
|
||||
0.34
|
||||
0.35
|
||||
0.36
|
||||
0.37
|
||||
0.38
|
||||
0.39
|
||||
0.4
|
||||
0.41
|
||||
0.42
|
||||
0.43
|
||||
0.44
|
||||
0.45
|
||||
0.46
|
||||
0.47
|
||||
0.48
|
||||
0.49
|
||||
0.5
|
||||
0.51
|
||||
0.52
|
||||
0.53
|
||||
0.54
|
||||
0.55
|
||||
0.56
|
||||
0.57
|
||||
0.58
|
||||
0.59
|
||||
0.6
|
||||
0.61
|
||||
0.62
|
||||
0.63
|
||||
0.64
|
||||
0.65
|
||||
0.66
|
||||
0.67
|
||||
0.68
|
||||
0.69
|
||||
0.7
|
||||
0.71
|
||||
0.72
|
||||
0.73
|
||||
0.74
|
||||
0.75
|
||||
0.76
|
||||
0.77
|
||||
0.78
|
||||
0.79
|
||||
0.8
|
||||
0.81
|
||||
0.82
|
||||
0.83
|
||||
0.84
|
||||
0.85
|
||||
0.86
|
||||
0.87
|
||||
0.88
|
||||
0.89
|
||||
0.9
|
||||
0.91
|
||||
0.92
|
||||
0.93
|
||||
0.94
|
||||
0.95
|
||||
0.96
|
||||
0.97
|
||||
0.98
|
||||
0.99
|
||||
1.0
|
||||
1.01
|
||||
1.02
|
||||
1.03
|
||||
1.04
|
||||
1.05
|
||||
1.06
|
||||
1.07
|
||||
1.08
|
||||
1.09
|
||||
1.1
|
||||
1.11
|
||||
1.12
|
||||
1.13
|
||||
1.14
|
||||
1.15
|
||||
1.16
|
||||
1.17
|
||||
1.18
|
||||
1.19
|
||||
1.2
|
||||
1.21
|
||||
1.22
|
||||
1.23
|
||||
1.24
|
||||
1.25
|
||||
1.26
|
||||
1.27
|
||||
1.28
|
||||
1.29
|
||||
1.3
|
||||
1.31
|
||||
1.32
|
||||
1.33
|
||||
1.34
|
||||
1.35
|
||||
1.36
|
||||
1.37
|
||||
1.38
|
||||
1.39
|
||||
1.4
|
||||
1.41
|
||||
1.42
|
||||
1.43
|
||||
1.44
|
||||
1.45
|
||||
1.46
|
||||
1.47
|
||||
1.48
|
||||
1.49
|
||||
1.5
|
||||
1.51
|
||||
1.52
|
||||
1.53
|
||||
1.54
|
||||
1.55
|
||||
1.56
|
||||
1.57
|
||||
1.58
|
||||
1.59
|
||||
1.6
|
||||
1.61
|
||||
1.62
|
||||
1.63
|
||||
1.64
|
||||
1.65
|
||||
1.66
|
||||
1.67
|
||||
1.68
|
||||
1.69
|
||||
1.7
|
||||
1.71
|
||||
1.72
|
||||
1.73
|
||||
1.74
|
||||
1.75
|
||||
1.76
|
||||
1.77
|
||||
1.78
|
||||
1.79
|
||||
1.8
|
||||
1.81
|
||||
1.82
|
||||
1.83
|
||||
1.84
|
||||
1.85
|
||||
1.86
|
||||
1.87
|
||||
1.88
|
||||
1.89
|
||||
1.9
|
||||
1.91
|
||||
1.92
|
||||
1.93
|
||||
1.94
|
||||
1.95
|
||||
1.96
|
||||
1.97
|
||||
1.98
|
||||
1.99
|
||||
2.0
|
||||
2.01
|
||||
2.02
|
||||
2.03
|
||||
2.04
|
||||
2.05
|
||||
2.06
|
||||
2.07
|
||||
2.08
|
||||
2.09
|
||||
2.1
|
||||
2.11
|
||||
2.12
|
||||
2.13
|
||||
2.14
|
||||
2.15
|
||||
2.16
|
||||
2.17
|
||||
2.18
|
||||
2.19
|
||||
2.2
|
||||
2.21
|
||||
2.22
|
||||
2.23
|
||||
2.24
|
||||
2.25
|
||||
2.26
|
||||
2.27
|
||||
2.28
|
||||
2.29
|
||||
2.3
|
||||
2.31
|
||||
2.32
|
||||
2.33
|
||||
2.34
|
||||
2.35
|
||||
2.36
|
||||
2.37
|
||||
2.38
|
||||
2.39
|
||||
2.4
|
||||
2.41
|
||||
2.42
|
||||
2.43
|
||||
2.44
|
||||
2.45
|
||||
2.46
|
||||
2.47
|
||||
2.48
|
||||
2.49
|
||||
2.5
|
||||
2.51
|
||||
2.52
|
||||
2.53
|
||||
2.54
|
||||
2.55
|
||||
2.56
|
||||
2.57
|
||||
2.58
|
||||
2.59
|
||||
2.6
|
||||
2.61
|
||||
2.62
|
||||
2.63
|
||||
2.64
|
||||
2.65
|
||||
2.66
|
||||
2.67
|
||||
2.68
|
||||
2.69
|
||||
2.7
|
||||
2.71
|
||||
2.72
|
||||
2.73
|
||||
2.74
|
||||
2.75
|
||||
2.76
|
||||
2.77
|
||||
2.78
|
||||
2.79
|
||||
2.8
|
||||
2.81
|
||||
2.82
|
||||
2.83
|
||||
2.84
|
||||
2.85
|
||||
2.86
|
||||
2.87
|
||||
2.88
|
||||
2.89
|
||||
2.9
|
||||
2.91
|
||||
2.92
|
||||
2.93
|
||||
2.94
|
||||
2.95
|
||||
2.96
|
||||
2.97
|
||||
2.98
|
||||
2.99
|
||||
3.0
|
||||
8
Control System/gaitGen/urdf.py
Normal file
8
Control System/gaitGen/urdf.py
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
from urdfpy import URDF
|
||||
|
||||
robot = URDF.load('olympian.urdf')
|
||||
|
||||
for link in robot.links:
|
||||
print(link.name)
|
||||
|
||||
print(robot.base_link.name)
|
||||
301
Control System/gaitGen/xValues.txt
Normal file
301
Control System/gaitGen/xValues.txt
Normal file
|
|
@ -0,0 +1,301 @@
|
|||
0.0
|
||||
1.4621315464749193e-07
|
||||
1.1696282759916451e-06
|
||||
3.947062560952751e-06
|
||||
9.354563835677412e-06
|
||||
1.8267026292003927e-05
|
||||
3.155780672995691e-05
|
||||
5.009834147459355e-05
|
||||
7.475776413522206e-05
|
||||
0.00010640252437467412
|
||||
0.0001458960078558648
|
||||
0.00019409815753227908
|
||||
0.00025186509644859953
|
||||
0.00032004875221680607
|
||||
0.00039949648333261964
|
||||
0.0004910507074960234
|
||||
0.0005955485320989981
|
||||
0.0007138213870426305
|
||||
0.0008466946600443892
|
||||
0.0009949873345958607
|
||||
0.0011595116307294845
|
||||
0.0013410726487520092
|
||||
0.0015404680161009016
|
||||
0.0017584875374785994
|
||||
0.001995912848418005
|
||||
0.0022535170724313977
|
||||
0.0025320644818928317
|
||||
0.0028323101628030672
|
||||
0.0031549996835838617
|
||||
0.003500868768047026
|
||||
0.003870642972681651
|
||||
0.004265037368401052
|
||||
0.0046847562268890475
|
||||
0.005130492711683053
|
||||
0.005602928574129737
|
||||
0.006102733854346301
|
||||
0.00663056658731874
|
||||
0.007187072514265952
|
||||
0.007772884799396335
|
||||
0.008388623752180926
|
||||
0.009034896555265307
|
||||
0.009712296998139136
|
||||
0.010421405216680515
|
||||
0.011162787438689148
|
||||
0.011936995735520178
|
||||
0.012744567779927413
|
||||
0.01358602661022229
|
||||
0.014461880400851945
|
||||
0.015372622239497244
|
||||
0.016318729910788046
|
||||
0.01730066568673118
|
||||
0.018318876123942687
|
||||
0.01937379186777323
|
||||
0.020465827463412897
|
||||
0.021595381174057945
|
||||
0.02276283480621942
|
||||
0.02396855354225015
|
||||
0.02521288578016373
|
||||
0.02649616298081571
|
||||
0.027818699522513785
|
||||
0.029180792563121144
|
||||
0.030582721909713173
|
||||
0.0320247498958449
|
||||
0.03350712126648277
|
||||
0.035030063070651374
|
||||
0.03659378456184233
|
||||
0.03819847710622874
|
||||
0.039844314098725686
|
||||
0.04153145088693344
|
||||
0.043260024702996905
|
||||
0.04503015460341113
|
||||
0.04684194141679901
|
||||
0.04869546769968476
|
||||
0.050590797700281645
|
||||
0.052527977330310824
|
||||
0.054507034144862784
|
||||
0.05652797733031083
|
||||
0.05859079770028165
|
||||
0.06069546769968477
|
||||
0.06284194141679902
|
||||
0.06503015460341113
|
||||
0.06726002470299691
|
||||
0.06953145088693341
|
||||
0.07184431409872565
|
||||
0.0741984771062287
|
||||
0.07659378456184229
|
||||
0.07903006307065134
|
||||
0.08150712126648274
|
||||
0.08402474989584491
|
||||
0.08658272190971318
|
||||
0.08918079256312114
|
||||
0.0918186995225138
|
||||
0.09449616298081573
|
||||
0.09721288578016374
|
||||
0.0999685535422501
|
||||
0.10276283480621937
|
||||
0.10559538117405791
|
||||
0.10846582746341286
|
||||
0.1113737918677732
|
||||
0.11431887612394266
|
||||
0.11730066568673116
|
||||
0.12031872991078801
|
||||
0.12337262223949721
|
||||
0.12646188040085193
|
||||
0.12958602661022225
|
||||
0.1327445677799274
|
||||
0.13593699573552015
|
||||
0.13916278743868915
|
||||
0.1424214052166805
|
||||
0.14571229699813915
|
||||
0.1490348965552653
|
||||
0.15238862375218093
|
||||
0.15577288479939633
|
||||
0.1591870725142659
|
||||
0.16263056658731867
|
||||
0.16610273385434624
|
||||
0.16960292857412967
|
||||
0.17313049271168296
|
||||
0.17668475622688895
|
||||
0.180265037368401
|
||||
0.18387064297268157
|
||||
0.18750086876804695
|
||||
0.1911549996835838
|
||||
0.194832310162803
|
||||
0.19853206448189276
|
||||
0.20225351707243133
|
||||
0.20599591284841798
|
||||
0.20975848753747856
|
||||
0.21354046801610088
|
||||
0.217341072648752
|
||||
0.22115951163072947
|
||||
0.22499498733459586
|
||||
0.22884669466004437
|
||||
0.23271382138704264
|
||||
0.23659554853209902
|
||||
0.24049105070749602
|
||||
0.24439949648333265
|
||||
0.24832004875221683
|
||||
0.25225186509644854
|
||||
0.2561940981575322
|
||||
0.2601458960078558
|
||||
0.2641064025243746
|
||||
0.26807475776413514
|
||||
0.27205009834147453
|
||||
0.2760315578067299
|
||||
0.28001826702629196
|
||||
0.28400935456383564
|
||||
0.28800394706256094
|
||||
0.29200116962827594
|
||||
0.2960001462131546
|
||||
0.3
|
||||
0.3039998537868453
|
||||
0.30799883037172393
|
||||
0.311996052937439
|
||||
0.3159906454361643
|
||||
0.31998173297370797
|
||||
0.32396844219327003
|
||||
0.3279499016585254
|
||||
0.3319252422358647
|
||||
0.3358935974756253
|
||||
0.3398541039921441
|
||||
0.34380590184246773
|
||||
0.3477481349035514
|
||||
0.35167995124778306
|
||||
0.3556005035166673
|
||||
0.3595089492925039
|
||||
0.3634044514679009
|
||||
0.3672861786129573
|
||||
0.37115330533995555
|
||||
0.3750050126654041
|
||||
0.3788404883692704
|
||||
0.38265892735124796
|
||||
0.38645953198389904
|
||||
0.39024151246252137
|
||||
0.39400408715158197
|
||||
0.39774648292756853
|
||||
0.4014679355181071
|
||||
0.40516768983719686
|
||||
0.40884500031641613
|
||||
0.4124991312319529
|
||||
0.41612935702731835
|
||||
0.41973496263159893
|
||||
0.4233152437731109
|
||||
0.42686950728831696
|
||||
0.43039707142587025
|
||||
0.43389726614565366
|
||||
0.43736943341268125
|
||||
0.44081292748573403
|
||||
0.44422711520060354
|
||||
0.447611376247819
|
||||
0.4509651034447346
|
||||
0.4542877030018608
|
||||
0.4575785947833194
|
||||
0.46083721256131077
|
||||
0.4640630042644797
|
||||
0.46725543222007254
|
||||
0.47041397338977764
|
||||
0.473538119599148
|
||||
0.4766273777605027
|
||||
0.4796812700892119
|
||||
0.4826993343132687
|
||||
0.48568112387605716
|
||||
0.48862620813222674
|
||||
0.491534172536587
|
||||
0.494404618825942
|
||||
0.4972371651937805
|
||||
0.5000314464577498
|
||||
0.5027871142198361
|
||||
0.5055038370191842
|
||||
0.5081813004774861
|
||||
0.5108192074368788
|
||||
0.5134172780902867
|
||||
0.515975250104155
|
||||
0.5184928787335171
|
||||
0.5209699369293487
|
||||
0.5234062154381576
|
||||
0.5258015228937712
|
||||
0.5281556859012743
|
||||
0.5304685491130665
|
||||
0.532739975297003
|
||||
0.5349698453965889
|
||||
0.5371580585832009
|
||||
0.5393045323003153
|
||||
0.5414092022997183
|
||||
0.5434720226696892
|
||||
0.5454929658551372
|
||||
0.5474720226696891
|
||||
0.5494092022997183
|
||||
0.5513045323003152
|
||||
0.553158058583201
|
||||
0.5549698453965888
|
||||
0.556739975297003
|
||||
0.5584685491130665
|
||||
0.5601556859012743
|
||||
0.5618015228937712
|
||||
0.5634062154381577
|
||||
0.5649699369293486
|
||||
0.5664928787335173
|
||||
0.5679752501041551
|
||||
0.5694172780902869
|
||||
0.5708192074368788
|
||||
0.5721813004774862
|
||||
0.5735038370191843
|
||||
0.5747871142198363
|
||||
0.5760314464577498
|
||||
0.5772371651937807
|
||||
0.578404618825942
|
||||
0.5795341725365871
|
||||
0.5806262081322268
|
||||
0.5816811238760573
|
||||
0.5826993343132688
|
||||
0.5836812700892119
|
||||
0.5846273777605028
|
||||
0.585538119599148
|
||||
0.5864139733897777
|
||||
0.5872554322200726
|
||||
0.5880630042644799
|
||||
0.5888372125613108
|
||||
0.5895785947833195
|
||||
0.5902877030018608
|
||||
0.5909651034447347
|
||||
0.591611376247819
|
||||
0.5922271152006038
|
||||
0.592812927485734
|
||||
0.5933694334126813
|
||||
0.5938972661456536
|
||||
0.5943970714258703
|
||||
0.5948695072883169
|
||||
0.595315243773111
|
||||
0.5957349626315989
|
||||
0.5961293570273184
|
||||
0.596499131231953
|
||||
0.5968450003164162
|
||||
0.5971676898371969
|
||||
0.5974679355181072
|
||||
0.5977464829275686
|
||||
0.598004087151582
|
||||
0.5982415124625213
|
||||
0.5984595319838991
|
||||
0.5986589273512479
|
||||
0.5988404883692705
|
||||
0.5990050126654041
|
||||
0.5991533053399556
|
||||
0.5992861786129573
|
||||
0.599404451467901
|
||||
0.599508949292504
|
||||
0.5996005035166674
|
||||
0.5996799512477832
|
||||
0.5997481349035514
|
||||
0.5998059018424677
|
||||
0.5998541039921441
|
||||
0.5998935974756253
|
||||
0.5999252422358647
|
||||
0.5999499016585254
|
||||
0.5999684421932701
|
||||
0.5999817329737079
|
||||
0.5999906454361643
|
||||
0.599996052937439
|
||||
0.599998830371724
|
||||
0.5999998537868453
|
||||
0.6
|
||||
301
Control System/gaitGen/zValues.txt
Normal file
301
Control System/gaitGen/zValues.txt
Normal file
|
|
@ -0,0 +1,301 @@
|
|||
0.0
|
||||
7.79752183994141e-07
|
||||
6.236375890451319e-06
|
||||
2.1038537819973585e-05
|
||||
4.9838509423480795e-05
|
||||
9.726400523724608e-05
|
||||
0.00016791006429906982
|
||||
0.0002663309888884177
|
||||
0.0003970323547326689
|
||||
0.0005644631066962641
|
||||
0.0007730077538196621
|
||||
0.0010269786774006057
|
||||
0.001330608565612009
|
||||
0.0016880429879285591
|
||||
0.0021033331223892435
|
||||
0.0025804286484544456
|
||||
0.003123170817926034
|
||||
0.0037352857160864936
|
||||
0.004420377724879167
|
||||
0.005181923199597559
|
||||
0.006023264370176876
|
||||
0.006947603477787008
|
||||
0.00795799715701346
|
||||
0.009057351073481532
|
||||
0.010248414826331508
|
||||
0.011533777124487464
|
||||
0.012915861245182153
|
||||
0.01439692078270531
|
||||
0.015979035694833436
|
||||
0.01766410865387715
|
||||
0.019453861708747446
|
||||
0.02134983326389662
|
||||
0.02335337538043425
|
||||
0.02546565140415251
|
||||
0.0276876339246223
|
||||
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||||
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||||
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||||
0.19466744641885064
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||||
0.2
|
||||
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||||
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||||
0.21597896146217999
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||||
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0.3136093155931851
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0.32179955620884587
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0.3257508054214845
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0.39999376362410954
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0.4
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||||
0.399999220247816
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0.39999376362410954
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0.39997896146218004
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||||
0.3999501614905765
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||||
0.3989730213225994
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||||
0.398669391434388
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||||
0.39831195701207145
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0.39789666687761077
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||||
0.3974195713515456
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||||
0.39687682918207395
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||||
0.3962647142839135
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0.3955796222751209
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0.3948180768004025
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0.39397673562982316
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0.393052396522213
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||||
0.39204200284298657
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||||
0.39094264892651853
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||||
0.38975158517366854
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||||
0.3884662228755126
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||||
0.3870841387548179
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||||
0.38560307921729475
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||||
0.3840209643051666
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||||
0.3823358913461229
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||||
0.3805461382912526
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||||
0.3786501667361034
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||||
0.3766466246195658
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||||
0.37453434859584755
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||||
0.3723123660753777
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||||
0.36997989693105926
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||||
0.36753635486687686
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||||
0.36498134844645946
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||||
0.36231468177979287
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||||
0.35953635486687685
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||||
0.35664656359772606
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||||
0.35364569940871116
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||||
0.35053434859584753
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||||
0.34731329128623256
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||||
0.3439835000694368
|
||||
0.3405461382912526
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||||
0.3370025580127896
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||||
0.3333542976385
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||||
0.32960307921729476
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||||
0.3257508054214846
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||||
0.3217995562088459
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||||
0.3177515851736687
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||||
0.3136093155931853
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||||
0.30937533617632007
|
||||
0.30505239652221305
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||||
0.30064340229648995
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||||
0.2961514101337358
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0.291579622275121
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0.28693138095058024
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0.24226963431193416
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0.22656940266142944
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0.22128349482390997
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0.21597896146217999
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0.2106604302907763
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0.20533255358114932
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||||
0.20000000000000007
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0.19466744641885092
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0.18933956970922394
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0.18402103853782015
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||||
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0.1681679100642991
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0.16293299765555525
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0.13733060856561208
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||||
0.09935659770351024
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||||
0.09494760347778708
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||||
0.09062466382368017
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||||
0.08639068440681497
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||||
0.0822484148263315
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||||
0.07820044379115432
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||||
0.07424919457851575
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||||
0.07039692078270532
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||||
0.06664570236150025
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||||
0.06299744198721058
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||||
0.05945386170874756
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||||
0.056016499930563346
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||||
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||||
0.04946565140415249
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||||
0.04635430059128898
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||||
0.04335343640227407
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||||
0.04046364513312328
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||||
0.037685318220207265
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||||
0.03501865155354067
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||||
0.032463645133123165
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||||
0.030020103068940762
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||||
0.027687633924622257
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||||
0.02546565140415258
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||||
0.02335337538043425
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||||
0.021349833263896723
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||||
0.01945386170874741
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||||
0.01766410865387713
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||||
0.015979035694833388
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||||
0.01439692078270538
|
||||
0.01291586124518218
|
||||
0.011533777124487554
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||||
0.010248414826331542
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||||
0.00905735107348149
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||||
0.007957997157013508
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||||
0.006947603477787001
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||||
0.006023264370176973
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||||
0.005181923199597649
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||||
0.004420377724879132
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||||
0.0037352857160865005
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||||
0.003123170817926013
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||||
0.0025804286484544248
|
||||
0.002103333122389306
|
||||
0.001688042987928573
|
||||
0.001330608565611957
|
||||
0.0010269786774005363
|
||||
0.0007730077538196101
|
||||
0.0005644631066962225
|
||||
0.0003970323547326515
|
||||
0.0002663309888885079
|
||||
0.00016791006429905941
|
||||
9.726400523724088e-05
|
||||
4.983850942352763e-05
|
||||
2.1038537819983993e-05
|
||||
6.236375890478207e-06
|
||||
7.797521840435806e-07
|
||||
0.0
|
||||
Loading…
Reference in New Issue
Block a user