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Add Atlas model

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This commit is contained in:
Aditya Vasantharao 2021-06-06 16:30:49 -04:00
parent df97475a65
commit 824d10299e
135 changed files with 85467 additions and 0 deletions
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23
simulation/atlas/controllers/Makefile Normal file
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# Copyright 1996-2020 Cyberbotics Ltd.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
TARGETS=hello_world_demo.Makefile
.PHONY: release debug profile clean
release debug profile clean: $(TARGETS)
%.Makefile:
+@echo "# make" $(MAKECMDGOALS) $(@:.Makefile=)
+@make -s -C $(@:.Makefile=) $(MAKECMDGOALS)

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simulation/atlas/controllers/hello_world_demo/Makefile Normal file
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# Copyright 1996-2020 Cyberbotics Ltd.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Webots Makefile system
#
# You may add some variable definitions hereafter to customize the build process
# See documentation in $(WEBOTS_HOME_PATH)/resources/Makefile.include
# Do not modify the following: this includes Webots global Makefile.include
null :=
space := $(null) $(null)
WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
include $(WEBOTS_HOME_PATH)/resources/Makefile.include

74
simulation/atlas/controllers/hello_world_demo/hello_world_demo.c Normal file
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/*
* Copyright 1996-2020 Cyberbotics Ltd.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* Description: Simple hello controller
*/
#include <webots/device.h>
#include <webots/motor.h>
#include <webots/robot.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#define TIME_STEP 16
void my_step() {
if (wb_robot_step(TIME_STEP) == -1) {
wb_robot_cleanup();
exit(EXIT_SUCCESS);
}
}
int main(int argc, char **argv) {
wb_robot_init();
// list devices
int n_devices = wb_robot_get_number_of_devices();
int i;
printf("Available devices:\n");
for (i = 0; i < n_devices; i++) {
WbDeviceTag tag = wb_robot_get_device_by_index(i);
const char *name = wb_device_get_name(tag);
printf(" Device #%d name = %s\n", i, name);
}
WbDeviceTag l_arm_shx = wb_robot_get_device("LArmShx");
WbDeviceTag r_arm_shx = wb_robot_get_device("RArmShx");
WbDeviceTag r_arm_elx = wb_robot_get_device("RArmElx");
double l_arm_shx_target = -1.396;
double r_arm_shx_target = -0.77;
int n_steps_to_achieve__target = 1000 / TIME_STEP; // 1 second
for (i = 0; i < n_steps_to_achieve__target; i++) {
double ratio = (double)i / n_steps_to_achieve__target;
wb_motor_set_position(l_arm_shx, l_arm_shx_target * ratio);
wb_motor_set_position(r_arm_shx, r_arm_shx_target * ratio);
my_step();
}
double initTime = wb_robot_get_time();
while (true) {
double time = wb_robot_get_time() - initTime;
wb_motor_set_position(r_arm_elx, 0.3 * sin(5 * time) - 0.3);
my_step();
};
return EXIT_FAILURE;
}

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simulation/atlas/controllers/hello_world_demo/hello_world_demo.exe Normal file
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simulation/atlas/controllers/test/test.py Normal file
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from controller import Supervisor
while True:
# all body names are found above in the body names list
body = Supervisor.getFromDef(body_name)
center_of_mass = body.getCenterOfMass()
print(center_of_mass)
# center_of_mass is a list with 3 values, the x y and z coord of the COM

11
simulation/atlas/protos/.Atlas.cache Normal file
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Webots Proto Cache File version 1.5
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licenseUrl: https://cyberbotics.com/webots_assets_license
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documentationUrl:
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licenseUrl: https://cyberbotics.com/webots_assets_license
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simulation/atlas/protos/.LFarmMesh.cache Normal file
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licenseUrl: https://cyberbotics.com/webots_assets_license
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11
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licenseUrl: https://cyberbotics.com/webots_assets_license
documentationUrl:
info: Extracted\sfrom:\nhttps://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_hand.dae\n

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license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
licenseUrl: https://cyberbotics.com/webots_assets_license
documentationUrl:
info: Extracted\sfrom:\nhttps://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf\n

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simulation/atlas/protos/.LLarmMesh.cache Normal file
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license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
licenseUrl: https://cyberbotics.com/webots_assets_license
documentationUrl:
info: Extracted\sfrom:\nhttps://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_larm.dae\n

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#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# documentation url: https://www.cyberbotics.com/doc/guide/atlas
# The "Atlas" is a humanoid robot developed by Boston Dynamics with funding and oversight from DARPA.
# Extracted from: https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO Atlas [
field SFVec3f translation 0 1 0 # Is `Transform.translation`.
field SFRotation rotation 1 0 0 -1.5708 # Is `Transform.rotation`.
field SFString name "Atlas" # Is `Solid.name`.
field SFString controller "hello_world_demo" # Is `Robot.controller`.
field MFString controllerArgs [] # Is `Robot.controllerArgs`.
field SFString customData "" # Is `Robot.customData`.
field SFBool supervisor FALSE # Is `Robot.supervisor`.
field SFBool synchronization TRUE # Is `Robot.synchronization`.
field MFNode pelvisSlot [] # Extends the robot with new nodes in the pelvis slot.
]
{
Robot {
translation IS translation
rotation IS rotation
children [
Group {
children IS pelvisSlot
}
PelvisSolid {
}
DEF BackLbz HingeJoint {
device RotationalMotor {
name "BackLbz"
maxVelocity 12
minPosition -0.610865
maxPosition 0.610865
maxTorque 124.016
}
jointParameters HingeJointParameters {
axis 0 0 1
anchor -0.0125 0 0
dampingConstant 0.1
}
endPoint Solid {
translation -0.0125 0 0
rotation 0 0 1 0
children [
LtorsoSolid {
}
DEF BackMby HingeJoint {
device RotationalMotor {
name "BackMby"
maxVelocity 12
minPosition -1.2
maxPosition 1.28
maxTorque 206.843
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0 0.09
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0.09
rotation 0 1 0 0
children [
MtorsoSolid {
}
DEF BackUbx HingeJoint {
device RotationalMotor {
name "BackUbx"
maxVelocity 12
minPosition -0.790809
maxPosition 0.790809
maxTorque 94.91
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0.05
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0.05
rotation 1 0 0 0
children [
UtorsoSolid {
}
DEF LArmUsy HingeJoint {
device RotationalMotor {
name "LArmUsy"
maxVelocity 12
minPosition -1.9635
maxPosition 1.9635
maxTorque 212
}
jointParameters HingeJointParameters {
axis 0 0.5 0.866025
anchor 0.024 0.221 0.289
dampingConstant 0.1
}
endPoint Solid {
translation 0.024 0.221 0.289
rotation 0 0.5 0.866025 0
children [
LClavSolid {
}
DEF LArmShx HingeJoint {
device RotationalMotor {
name "LArmShx"
maxVelocity 12
minPosition -1.39626
maxPosition 1.74533
maxTorque 170
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0.075 0.036
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.075 0.036
rotation 1 0 0 0
children [
LScapSolid {
}
DEF LArmEly HingeJoint {
device RotationalMotor {
name "LArmEly"
maxVelocity 12
minPosition 0
maxPosition 3.14159
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0.185 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.185 0
rotation 0 1 0 0
children [
LUarmSolid {
}
DEF LArmElx HingeJoint {
device RotationalMotor {
name "LArmElx"
maxVelocity 12
minPosition 0
maxPosition 2.35619
maxTorque 114
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0.121 0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.121 0.013
rotation 1 0 0 0
children [
LLarmSolid {
}
DEF LArmUwy HingeJoint {
device RotationalMotor {
name "LArmUwy"
maxVelocity 12
minPosition -1.571
maxPosition 1.571
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0.188 -0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.188 -0.013
rotation 0 1 0 0
children [
LFarmSolid {
}
DEF LArmMwx HingeJoint {
device RotationalMotor {
name "LArmMwx"
maxVelocity 12
minPosition -0.436
maxPosition 1.571
maxTorque 60
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0.058 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.058 0
rotation 1 0 0 0
children [
LHandSolid {
}
]
physics DEF DEFAULT_PHYSICS Physics {
density -1
mass 0.001
inertiaMatrix [ 1 1 1 0 0 0]
centerOfMass [0 0 0]
}
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "LArmUsy"
physics USE DEFAULT_PHYSICS
}
}
DEF NeckAy HingeJoint {
device RotationalMotor {
name "NeckAy"
maxVelocity 12
minPosition -0.610865238
maxPosition 1.13446401
maxTorque 5
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.01 0 0.43
dampingConstant 0.1
}
endPoint Solid {
translation 0.01 0 0.43
rotation 0 1 0 0
children [
HeadMesh {
}
]
name "NeckAy"
physics USE DEFAULT_PHYSICS
}
}
DEF RArmUsy HingeJoint {
device RotationalMotor {
name "RArmUsy"
maxVelocity 12
minPosition -1.9635
maxPosition 1.9635
maxTorque 212
}
jointParameters HingeJointParameters {
axis 0 0.5 -0.866025
anchor 0.024 -0.221 0.289
dampingConstant 0.1
}
endPoint Solid {
translation 0.024 -0.221 0.289
rotation 0 0.5 -0.866025 0
children [
RClavSolid {
}
DEF RArmShx HingeJoint {
device RotationalMotor {
name "RArmShx"
maxVelocity 12
minPosition -1.74533
maxPosition 1.39626
maxTorque 170
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 -0.075 0.036
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.075 0.036
rotation 1 0 0 0
children [
RScapSolid {
}
DEF RArmEly HingeJoint {
device RotationalMotor {
name "RArmEly"
maxVelocity 12
minPosition 0
maxPosition 3.14159
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 -0.185 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.185 0
rotation 0 1 0 0
children [
RUarmSolid {
}
DEF RArmElx HingeJoint {
device RotationalMotor {
name "RArmElx"
maxVelocity 12
minPosition -2.35619
maxPosition 0
maxTorque 114
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 -0.121 0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.121 0.013
rotation 1 0 0 0
children [
RLarmSolid {
}
DEF RArmUwy HingeJoint {
device RotationalMotor {
name "RArmUwy"
maxVelocity 12
minPosition -1.571
maxPosition 1.571
maxTorque 114
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 -0.188 -0.013
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.188 -0.013
rotation 0 1 0 0
children [
RFarmSolid {
}
DEF RArmMwx HingeJoint {
device RotationalMotor {
name "RArmMwx"
maxVelocity 12
minPosition -1.571
maxPosition 0.436
maxTorque 60
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 -0.058 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.058 0
rotation 1 0 0 0
children [
RHandSolid {
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "RArmUsy"
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "BackLbz"
physics USE DEFAULT_PHYSICS
}
}
DEF LLegUhz HingeJoint {
device RotationalMotor {
name "LLegUhz"
maxVelocity 12
minPosition -0.32
maxPosition 1.14
maxTorque 110
}
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 0.089 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0.089 0
rotation 0 0 1 0
children [
LUglutSolid {
}
DEF LLegMhx HingeJoint {
device RotationalMotor {
name "LLegMhx"
maxVelocity 12
minPosition -0.47
maxPosition 0.495
maxTorque 180
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
LLglutSolid {
}
DEF LLegLhy HingeJoint {
device RotationalMotor {
name "LLegLhy"
maxVelocity 12
minPosition -1.75
maxPosition 0.524
maxTorque 260
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.05 0 -0.05
dampingConstant 0.1
}
endPoint Solid {
translation 0.05 0 -0.05
rotation 0 1 0 0
children [
LUlegSolid {
}
DEF LLegKny HingeJoint {
device RotationalMotor {
name "LLegKny"
maxVelocity 12
minPosition 0
maxPosition 2.45
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor -0.05 0 -0.374
dampingConstant 0.1
}
endPoint Solid {
translation -0.05 0 -0.374
rotation 0 1 0 0
children [
LLlegSolid {
}
DEF LLegUay HingeJoint {
device RotationalMotor {
name "LLegUay"
maxVelocity 12
minPosition -0.698
maxPosition 0.698
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0 -0.422
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 -0.422
rotation 0 1 0 0
children [
LTalusSolid {
}
DEF LLegLax HingeJoint {
device RotationalMotor {
name "LLegLax"
maxVelocity 12
minPosition -0.436
maxPosition 0.436
maxTorque 90
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
LFootSolid {
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "LLegUhz"
physics USE DEFAULT_PHYSICS
}
}
DEF RLegUhz HingeJoint {
device RotationalMotor {
name "RLegUhz"
maxVelocity 12
minPosition -1.14
maxPosition 0.32
maxTorque 260
}
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.089 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 -0.089 0
rotation 0 0 1 0
children [
RUglutSolid {
}
DEF RLegMhx HingeJoint {
device RotationalMotor {
name "RLegMhx"
maxVelocity 12
minPosition -0.495
maxPosition 0.47
maxTorque 180
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
RLglutSolid {
}
DEF RLegLhy HingeJoint {
device RotationalMotor {
name "RLegLhy"
maxVelocity 12
minPosition -1.745
maxPosition 0.524
maxTorque 260
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.05 0 -0.05
dampingConstant 0.1
}
endPoint Solid {
translation 0.05 0 -0.05
rotation 0 1 0 0
children [
RUlegSolid {
}
DEF RLegKny HingeJoint {
device RotationalMotor {
name "RLegKny"
maxVelocity 12
minPosition 0
maxPosition 2.45
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor -0.05 0 -0.374
dampingConstant 0.1
}
endPoint Solid {
translation -0.05 0 -0.374
rotation 0 1 0 0
children [
RLlegSolid {
}
DEF RLegUay HingeJoint {
device RotationalMotor {
name "RLegUay"
maxVelocity 12
minPosition -0.698
maxPosition 0.698
maxTorque 220
}
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0 0 -0.422
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 -0.422
rotation 0 1 0 0
children [
RTalusSolid {
}
DEF RLegLax HingeJoint {
device RotationalMotor {
name "RLegLax"
maxVelocity 12
minPosition -0.436
maxPosition 0.436
maxTorque 90
}
jointParameters HingeJointParameters {
axis 1 0 0
anchor 0 0 0
dampingConstant 0.1
}
endPoint Solid {
translation 0 0 0
rotation 1 0 0 0
children [
RFootSolid {
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
physics USE DEFAULT_PHYSICS
}
}
]
name "RLegUhz"
physics USE DEFAULT_PHYSICS
}
}
]
name IS name
model "Boston Dynamics Atlas"
controller IS controller
controllerArgs IS controllerArgs
customData IS customData
supervisor IS supervisor
synchronization IS synchronization
physics USE DEFAULT_PHYSICS
}
}

18
simulation/atlas/protos/CarbonFiberAppearance.proto Normal file
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@ -0,0 +1,18 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
PROTO CarbonFiberAppearance [
]
{
PBRAppearance {
baseColorMap ImageTexture {
url [
"textures/atlas_carbon_fiber.jpg"
]
}
metalness 0
roughness 0.3
}
}

18
simulation/atlas/protos/DarkAppearance.proto Normal file
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@ -0,0 +1,18 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
PROTO DarkAppearance [
]
{
PBRAppearance {
baseColorMap ImageTexture {
url [
"textures/atlas_dark.jpg"
]
}
metalness 0
roughness 0.4
}
}

4493
simulation/atlas/protos/HeadMesh.proto Normal file
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File diff suppressed because it is too large Load Diff

1106
simulation/atlas/protos/LClavMesh.proto Normal file
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File diff suppressed because it is too large Load Diff

52
simulation/atlas/protos/LClavSolid.proto Normal file
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@ -0,0 +1,52 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LClavSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LClavMesh {
}
]
name "LClav"
boundingObject Group {
children [
Transform {
translation 0 0.0744 0.03657
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.045
height 0.1525
}
]
}
Transform {
translation 0 0.012 0.012
rotation 1.0 0.0 0.0 1.0464
children [
Cylinder {
radius 0.04
height 0.027
}
]
}
]
}
physics Physics {
density -1
mass 2.369
centerOfMass 0.014 0.058 0.029
inertiaMatrix [0.004 0.006 0.007, 0.001 0 0 ]
}
}
}

649
simulation/atlas/protos/LFarmMesh.proto Normal file
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@ -0,0 +1,649 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_farm.dae
PROTO LFarmMesh [
]
{
Group {
children [
Shape {
appearance RegularAppearance {
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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]
}
coordIndex [
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texCoord TextureCoordinate {
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creaseAngle 1
}
}
Shape {
appearance RegularAppearance {
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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52
simulation/atlas/protos/LFarmSolid.proto Normal file
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@ -0,0 +1,52 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LFarmSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LFarmMesh {
}
]
name "LFarm"
boundingObject Group {
children [
Transform {
translation 0 0.0174215 0
rotation 1.0 0.0 0.0 3.14079632679
children [
Cylinder {
radius 0.0458825
height 0.035181
}
]
}
Transform {
translation 0.000226 0.06028 0.0
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.0279
height 0.050472
}
]
}
]
}
physics Physics {
density -1
mass 0.981
centerOfMass 0 0.041 0
inertiaMatrix [0.003 0.001 0.003, 0 0 0 ]
}
}
}

1294
simulation/atlas/protos/LFootMesh.proto Normal file
View File

File diff suppressed because it is too large Load Diff

41
simulation/atlas/protos/LFootSolid.proto Normal file
View File

@ -0,0 +1,41 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LFootSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LFootMesh {
}
]
name "LFoot"
boundingObject Group {
children [
Transform {
translation 0.048 0 -0.076119
rotation 0.0 1.0 0.0 0.0
children [
Box {
size 0.26 0.124887 0.01
}
]
}
]
}
physics Physics {
density -1
mass 0.817
centerOfMass 0.027 0 -0.067
inertiaMatrix [0.001 0.0035 0.004, 0 0 0 ]
}
}
}

828
simulation/atlas/protos/LHandMesh.proto Normal file
View File

@ -0,0 +1,828 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_hand.dae
PROTO LHandMesh [
]
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62
simulation/atlas/protos/LHandSolid.proto Normal file
View File

@ -0,0 +1,62 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LHandSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
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rotation IS rotation
children [
LHandMesh {
}
]
name "LHand"
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height 0.055117
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}
physics Physics {
density -1
mass 2.263
centerOfMass 0 0.093 0
inertiaMatrix [0.01 0.002 0.01, 0 0 0 ]
}
}
}

902
simulation/atlas/protos/LLarmMesh.proto Normal file
View File

@ -0,0 +1,902 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_larm.dae
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]
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62
simulation/atlas/protos/LLarmSolid.proto Normal file
View File

@ -0,0 +1,62 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LLarmSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LLarmMesh {
}
]
name "LLarm"
boundingObject Group {
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children [
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radius 0.045
height 0.0161
}
]
}
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children [
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height 0.0161
}
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}
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children [
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height 0.188105
}
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}
]
}
physics Physics {
density -1
mass 2.148
centerOfMass -0.003 0.099 -0.014
inertiaMatrix [0.005 0.003 0.006, 0 0 0 ]
}
}
}

581
simulation/atlas/protos/LLglutMesh.proto Normal file
View File

@ -0,0 +1,581 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_lglut.dae
PROTO LLglutMesh [
]
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52
simulation/atlas/protos/LLglutSolid.proto Normal file
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@ -0,0 +1,52 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LLglutSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LLglutMesh {
}
]
name "LLglut"
boundingObject Group {
children [
Transform {
translation 0.049968 0.022488 -0.0501165
rotation 1.0 0.0 0.0 3.14079632679
children [
Cylinder {
radius 0.02009687
height 0.060306
}
]
}
Transform {
translation 0 0 0
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.02
height 0.12
}
]
}
]
}
physics Physics {
density -1
mass 0.69
centerOfMass 0.0133341 0.0170484 -0.0312052
inertiaMatrix [0.000691326 0.00126856 0.00106487, -2.24344e-05 2.50508e-06 0.000137862 ]
}
}
}

3901
simulation/atlas/protos/LLlegMesh.proto Normal file
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File diff suppressed because it is too large Load Diff

41
simulation/atlas/protos/LLlegSolid.proto Normal file
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@ -0,0 +1,41 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LLlegSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LLlegMesh {
}
]
name "LLleg"
boundingObject Group {
children [
Transform {
translation -0.00345 0.00295 -0.1913
rotation 0.0 1.0 0.0 0.0
children [
Box {
size 0.1465 0.1205 0.476
}
]
}
]
}
physics Physics {
density -1
mass 4.367
centerOfMass 0.001 0 -0.187
inertiaMatrix [0.077 0.076 0.01, 0 -0.003 0 ]
}
}
}

796
simulation/atlas/protos/LScapMesh.proto Normal file
View File

@ -0,0 +1,796 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_scap.dae
PROTO LScapMesh [
]
{
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children [
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appearance RegularAppearance {
}
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62
simulation/atlas/protos/LScapSolid.proto Normal file
View File

@ -0,0 +1,62 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LScapSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LScapMesh {
}
]
name "LScap"
boundingObject Group {
children [
Transform {
translation 0 0.118521 0
rotation 1.0 0.0 0.0 3.14079632679
children [
Cylinder {
radius 0.0418405
height 0.137492
}
]
}
Transform {
translation -0.0884125 0 0
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.048709
height 0.013937
}
]
}
Transform {
translation 0.0847565 0 0
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.048709
height 0.013737
}
]
}
]
}
physics Physics {
density -1
mass 2.707
centerOfMass -0.002 0.108 0
inertiaMatrix [0.01 0.005 0.013, 0 0 0 ]
}
}
}

572
simulation/atlas/protos/LTalusMesh.proto Normal file
View File

@ -0,0 +1,572 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_talus.dae
PROTO LTalusMesh [
]
{
Group {
children [
Shape {
appearance RegularAppearance {
}
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52
simulation/atlas/protos/LTalusSolid.proto Normal file
View File

@ -0,0 +1,52 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LTalusSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LTalusMesh {
}
]
name "LTalus"
boundingObject Group {
children [
Transform {
translation 0 0 0
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.010181
height 0.029542
}
]
}
Transform {
translation 0 0 0
rotation 1.0 0.0 0.0 3.14079632679
children [
Cylinder {
radius 0.010348
height 0.010059
}
]
}
]
}
physics Physics {
density -1
mass 0.817
centerOfMass 0 0 0
inertiaMatrix [0.001 0.0035 0.004, 0 0 0 ]
}
}
}

566
simulation/atlas/protos/LUarmMesh.proto Normal file
View File

@ -0,0 +1,566 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_uarm.dae
PROTO LUarmMesh [
]
{
Group {
children [
Shape {
appearance RegularAppearance {
}
geometry IndexedFaceSet {
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}

52
simulation/atlas/protos/LUarmSolid.proto Normal file
View File

@ -0,0 +1,52 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LUarmSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LUarmMesh {
}
]
name "LUarm"
boundingObject Group {
children [
Transform {
translation 0 0.0583385 0
rotation 1.0 0.0 0.0 3.14079632679
children [
Cylinder {
radius 0.0449
height 0.116677
}
]
}
Transform {
translation 0 0.1205235 0.00912975
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.04504847
height 0.088934
}
]
}
]
}
physics Physics {
density -1
mass 1.881
centerOfMass 0.007 0.114 0.008
inertiaMatrix [0.002 0.003 0.003, 0 0 0 ]
}
}
}

581
simulation/atlas/protos/LUglutMesh.proto Normal file
View File

@ -0,0 +1,581 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/a43aef617288746c30be76f58afe23a4c3108b5f/ros/atlas_description/meshes/l_uglut.dae
PROTO LUglutMesh [
]
{
Group {
children [
Shape {
appearance RegularAppearance {
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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appearance RegularAppearance {
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geometry IndexedFaceSet {
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52
simulation/atlas/protos/LUglutSolid.proto Normal file
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@ -0,0 +1,52 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LUglutSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LUglutMesh {
}
]
name "LUglut"
boundingObject Group {
children [
Transform {
translation 0 0 0
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.019096
height 0.078396
}
]
}
Transform {
translation 0 0 0
rotation 1.0 0.0 0.0 1.57
children [
Cylinder {
radius 0.019841
height 0.080842
}
]
}
]
}
physics Physics {
density -1
mass 0.5166
centerOfMass 0.00529262 -0.00344732 0.00313046
inertiaMatrix [0.00074276 0.000688179 0.00041242, -3.79607e-08 -2.79549e-05 -3.2735e-08 ]
}
}
}

3876
simulation/atlas/protos/LUlegMesh.proto Normal file
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72
simulation/atlas/protos/LUlegSolid.proto Normal file
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#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LUlegSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LUlegMesh {
}
]
name "LUleg"
boundingObject Group {
children [
Transform {
translation -0.0179 0.02085 -0.13
rotation 1.0 0.0 0.0 1.57
children [
Cylinder {
radius 0.1
height 0.10
}
]
}
Transform {
translation -0.03 0.01 -0.23
rotation 0.97789509712 -0.147912128259 0.147794388741 1.59235120797
children [
Cylinder {
radius 0.07
height 0.15
}
]
}
Transform {
translation -0.005 0.01 -0.23
rotation 0.97789509712 0.147912128259 -0.147794388741 1.59235120797
children [
Cylinder {
radius 0.07
height 0.15
}
]
}
Transform {
translation -0.02 0.03 -0.23
rotation 1.0 0.0 0.0 1.32
children [
Cylinder {
radius 0.07
height 0.15
}
]
}
]
}
physics Physics {
density -1
mass 7.34
centerOfMass 0 0 -0.21
inertiaMatrix [0.09 0.09 0.02, 0 0 0 ]
}
}
}

1187
simulation/atlas/protos/LtorsoMesh.proto Normal file
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35
simulation/atlas/protos/LtorsoSolid.proto Normal file
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#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO LtorsoSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
LtorsoMesh {
}
]
name "Ltorso"
boundingObject Group {
children [
Sphere {
radius 0.01
}
]
}
physics Physics {
density -1
mass 1.92
centerOfMass -0.0112984 -3.15366e-06 0.0746835
inertiaMatrix [0.0039092 0.00341694 0.00174492, -5.04491e-08 -0.000342157 4.87119e-07 ]
}
}
}

3540
simulation/atlas/protos/MtorsoMesh.proto Normal file
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62
simulation/atlas/protos/MtorsoSolid.proto Normal file
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@ -0,0 +1,62 @@
#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
PROTO MtorsoSolid [
field SFVec3f translation 0 0 0
field SFRotation rotation 0 1 0 0
]
{
Solid {
translation IS translation
rotation IS rotation
children [
MtorsoMesh {
}
]
name "Mtorso"
boundingObject Group {
children [
Transform {
translation 0 0 0
rotation 1.0 0.0 0.0 3.14079632679
children [
Cylinder {
radius 0.017
height 0.03
}
]
}
Transform {
translation 0.0285 0 0.05
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.015
height 0.02
}
]
}
Transform {
translation -0.0285 0 0.05
rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
children [
Cylinder {
radius 0.015
height 0.02
}
]
}
]
}
physics Physics {
density -1
mass 0.55
centerOfMass -0.00816266 -0.0131245 0.0305974
inertiaMatrix [0.000454181 0.000483282 0.000444215, -6.10764e-05 3.94009e-05 5.27463e-05 ]
}
}
}

3381
simulation/atlas/protos/PelvisMesh.proto Normal file
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