diff --git a/simulation/atlas/controllers/Makefile b/simulation/atlas/controllers/Makefile new file mode 100644 index 0000000..58d48b2 --- /dev/null +++ b/simulation/atlas/controllers/Makefile @@ -0,0 +1,23 @@ +# 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) diff --git a/simulation/atlas/controllers/hello_world_demo/Makefile b/simulation/atlas/controllers/hello_world_demo/Makefile new file mode 100644 index 0000000..6021823 --- /dev/null +++ b/simulation/atlas/controllers/hello_world_demo/Makefile @@ -0,0 +1,25 @@ +# 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 diff --git a/simulation/atlas/controllers/hello_world_demo/hello_world_demo.c b/simulation/atlas/controllers/hello_world_demo/hello_world_demo.c new file mode 100644 index 0000000..da816a9 --- /dev/null +++ b/simulation/atlas/controllers/hello_world_demo/hello_world_demo.c @@ -0,0 +1,74 @@ +/* + * 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 +#include +#include + +#include +#include +#include + +#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; +} diff --git a/simulation/atlas/controllers/hello_world_demo/hello_world_demo.exe b/simulation/atlas/controllers/hello_world_demo/hello_world_demo.exe new file mode 100644 index 0000000..86ae25f Binary files /dev/null and b/simulation/atlas/controllers/hello_world_demo/hello_world_demo.exe differ diff --git a/simulation/atlas/controllers/test/test.py b/simulation/atlas/controllers/test/test.py new file mode 100644 index 0000000..aab70ca --- /dev/null +++ b/simulation/atlas/controllers/test/test.py @@ -0,0 +1,9 @@ +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 + \ No newline at end of file diff --git a/simulation/atlas/protos/.Atlas.cache b/simulation/atlas/protos/.Atlas.cache new file mode 100644 index 0000000..5be2461 --- /dev/null +++ b/simulation/atlas/protos/.Atlas.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 15682c79e781302c431ea54fe1fe37ea +needsRobotAncestor: 1 +baseType: Robot +slotType: +parameters: translation,rotation,name,controller,controllerArgs,customData,supervisor,synchronization,pelvisSlot +tags: +license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +licenseUrl: https://cyberbotics.com/webots_assets_license +documentationUrl: https://www.cyberbotics.com/doc/guide/atlas +info: The\s"Atlas"\sis\sa\shumanoid\srobot\sdeveloped\sby\sBoston\sDynamics\swith\sfunding\sand\soversight\sfrom\sDARPA.\nExtracted\sfrom:\shttps://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf\n diff --git a/simulation/atlas/protos/.CarbonFiberAppearance.cache b/simulation/atlas/protos/.CarbonFiberAppearance.cache new file mode 100644 index 0000000..a923c26 --- /dev/null +++ b/simulation/atlas/protos/.CarbonFiberAppearance.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 5696ce83640a491c6bc8dd55483c5f3f +needsRobotAncestor: 0 +baseType: PBRAppearance +slotType: +parameters: +tags: hidden +license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +licenseUrl: https://cyberbotics.com/webots_assets_license +documentationUrl: +info: diff --git a/simulation/atlas/protos/.DarkAppearance.cache b/simulation/atlas/protos/.DarkAppearance.cache new file mode 100644 index 0000000..2952d16 --- /dev/null +++ b/simulation/atlas/protos/.DarkAppearance.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: de8ec1a886533bbfd05529ed3e5eb811 +needsRobotAncestor: 0 +baseType: PBRAppearance +slotType: +parameters: +tags: hidden +license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +licenseUrl: https://cyberbotics.com/webots_assets_license +documentationUrl: +info: diff --git a/simulation/atlas/protos/.HeadMesh.cache b/simulation/atlas/protos/.HeadMesh.cache new file mode 100644 index 0000000..f6e4912 --- /dev/null +++ b/simulation/atlas/protos/.HeadMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: ff63079bce1faadde603bd3f077469be +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/head.dae\n diff --git a/simulation/atlas/protos/.LClavMesh.cache b/simulation/atlas/protos/.LClavMesh.cache new file mode 100644 index 0000000..eb5173d --- /dev/null +++ b/simulation/atlas/protos/.LClavMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 7b0aa246250539f1f91c6912e5eb003d +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_clav.dae\n diff --git a/simulation/atlas/protos/.LClavSolid.cache b/simulation/atlas/protos/.LClavSolid.cache new file mode 100644 index 0000000..e55513f --- /dev/null +++ b/simulation/atlas/protos/.LClavSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: c3d3e9a5bc275ac9f5630f7f68d76306 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LFarmMesh.cache b/simulation/atlas/protos/.LFarmMesh.cache new file mode 100644 index 0000000..acecefc --- /dev/null +++ b/simulation/atlas/protos/.LFarmMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 4ebd637ac7b2b8af09be26b51c8f25d8 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_farm.dae\n diff --git a/simulation/atlas/protos/.LFarmSolid.cache b/simulation/atlas/protos/.LFarmSolid.cache new file mode 100644 index 0000000..3575774 --- /dev/null +++ b/simulation/atlas/protos/.LFarmSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: b08b890ca81b18143f2dc4a7f70cc247 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LFootMesh.cache b/simulation/atlas/protos/.LFootMesh.cache new file mode 100644 index 0000000..6d28372 --- /dev/null +++ b/simulation/atlas/protos/.LFootMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: ac1748823d4fea6461cd89cabc85599e +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_foot.dae\n diff --git a/simulation/atlas/protos/.LFootSolid.cache b/simulation/atlas/protos/.LFootSolid.cache new file mode 100644 index 0000000..943f9fb --- /dev/null +++ b/simulation/atlas/protos/.LFootSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 85f089b8b57022a3fe5c41f09e6f69f8 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LHandMesh.cache b/simulation/atlas/protos/.LHandMesh.cache new file mode 100644 index 0000000..aee2f90 --- /dev/null +++ b/simulation/atlas/protos/.LHandMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 291ee12bf4e288a96675751cd8946e44 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_hand.dae\n diff --git a/simulation/atlas/protos/.LHandSolid.cache b/simulation/atlas/protos/.LHandSolid.cache new file mode 100644 index 0000000..1a741ee --- /dev/null +++ b/simulation/atlas/protos/.LHandSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 287b886531f29947d7cc43b4de98908a +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LLarmMesh.cache b/simulation/atlas/protos/.LLarmMesh.cache new file mode 100644 index 0000000..059b358 --- /dev/null +++ b/simulation/atlas/protos/.LLarmMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: acb06c1478307172f7d5f4e777dd7001 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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 diff --git a/simulation/atlas/protos/.LLarmSolid.cache b/simulation/atlas/protos/.LLarmSolid.cache new file mode 100644 index 0000000..6c263b2 --- /dev/null +++ b/simulation/atlas/protos/.LLarmSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: bd46a96ad07bf67565a6547383b9f396 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LLglutMesh.cache b/simulation/atlas/protos/.LLglutMesh.cache new file mode 100644 index 0000000..9124d15 --- /dev/null +++ b/simulation/atlas/protos/.LLglutMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 54010b9cd8260be7bb6491ad055dcbbe +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_lglut.dae\n diff --git a/simulation/atlas/protos/.LLglutSolid.cache b/simulation/atlas/protos/.LLglutSolid.cache new file mode 100644 index 0000000..82cc027 --- /dev/null +++ b/simulation/atlas/protos/.LLglutSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: ac1864c641a044f1fadbcf2bf50ee178 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LLlegMesh.cache b/simulation/atlas/protos/.LLlegMesh.cache new file mode 100644 index 0000000..c398634 --- /dev/null +++ b/simulation/atlas/protos/.LLlegMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 48725c6fdca53f90e5aa8ee7bc5e26d1 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_lleg.dae\n diff --git a/simulation/atlas/protos/.LLlegSolid.cache b/simulation/atlas/protos/.LLlegSolid.cache new file mode 100644 index 0000000..714681b --- /dev/null +++ b/simulation/atlas/protos/.LLlegSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: c862161045c1b40efea562d6878c2b9e +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LScapMesh.cache b/simulation/atlas/protos/.LScapMesh.cache new file mode 100644 index 0000000..70f4826 --- /dev/null +++ b/simulation/atlas/protos/.LScapMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: fe63f9178176de625d4cee8b96c1892f +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_scap.dae\n diff --git a/simulation/atlas/protos/.LScapSolid.cache b/simulation/atlas/protos/.LScapSolid.cache new file mode 100644 index 0000000..ec1dda7 --- /dev/null +++ b/simulation/atlas/protos/.LScapSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: bf5d121a774828be377cd8b218c55091 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LTalusMesh.cache b/simulation/atlas/protos/.LTalusMesh.cache new file mode 100644 index 0000000..d34867b --- /dev/null +++ b/simulation/atlas/protos/.LTalusMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 207be872246106c60d566dac8ccf00e5 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_talus.dae\n diff --git a/simulation/atlas/protos/.LTalusSolid.cache b/simulation/atlas/protos/.LTalusSolid.cache new file mode 100644 index 0000000..1d6240f --- /dev/null +++ b/simulation/atlas/protos/.LTalusSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 3fba617979743f7ed81e5050fea0f762 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LUarmMesh.cache b/simulation/atlas/protos/.LUarmMesh.cache new file mode 100644 index 0000000..1eee42a --- /dev/null +++ b/simulation/atlas/protos/.LUarmMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: d31319efa55ca0b6864b02481465f756 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_uarm.dae\n diff --git a/simulation/atlas/protos/.LUarmSolid.cache b/simulation/atlas/protos/.LUarmSolid.cache new file mode 100644 index 0000000..0e1ea25 --- /dev/null +++ b/simulation/atlas/protos/.LUarmSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 61288d29135a9e46212a0107f054f86b +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LUglutMesh.cache b/simulation/atlas/protos/.LUglutMesh.cache new file mode 100644 index 0000000..645c0e3 --- /dev/null +++ b/simulation/atlas/protos/.LUglutMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 9ab77b3a9e079d9fbd45509a91d24ecd +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_uglut.dae\n diff --git a/simulation/atlas/protos/.LUglutSolid.cache b/simulation/atlas/protos/.LUglutSolid.cache new file mode 100644 index 0000000..c2bd0aa --- /dev/null +++ b/simulation/atlas/protos/.LUglutSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 0cf6b283f791090d1291fbc9c5ad2ef8 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LUlegMesh.cache b/simulation/atlas/protos/.LUlegMesh.cache new file mode 100644 index 0000000..c46a9d7 --- /dev/null +++ b/simulation/atlas/protos/.LUlegMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 8144a85c5933e9f937d12ad7f112a727 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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_uleg.dae\n diff --git a/simulation/atlas/protos/.LUlegSolid.cache b/simulation/atlas/protos/.LUlegSolid.cache new file mode 100644 index 0000000..f3a1b90 --- /dev/null +++ b/simulation/atlas/protos/.LUlegSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 5ce7ee6f23fa08e0ddd37b7d25c10f13 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.LtorsoMesh.cache b/simulation/atlas/protos/.LtorsoMesh.cache new file mode 100644 index 0000000..49f371a --- /dev/null +++ b/simulation/atlas/protos/.LtorsoMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: e300a7426352d4aacd98bb3ba0004687 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/ltorso.dae\n diff --git a/simulation/atlas/protos/.LtorsoSolid.cache b/simulation/atlas/protos/.LtorsoSolid.cache new file mode 100644 index 0000000..2add290 --- /dev/null +++ b/simulation/atlas/protos/.LtorsoSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: d2bdc6c7ddef9a4853c0b5a73d29a9ff +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.MtorsoMesh.cache b/simulation/atlas/protos/.MtorsoMesh.cache new file mode 100644 index 0000000..9852c2f --- /dev/null +++ b/simulation/atlas/protos/.MtorsoMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 7cc2494d103602e618fea919170898b1 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/mtorso.dae\n diff --git a/simulation/atlas/protos/.MtorsoSolid.cache b/simulation/atlas/protos/.MtorsoSolid.cache new file mode 100644 index 0000000..d4ae551 --- /dev/null +++ b/simulation/atlas/protos/.MtorsoSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 4e79b0883c52c60acaa7130377a3a479 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.PelvisMesh.cache b/simulation/atlas/protos/.PelvisMesh.cache new file mode 100644 index 0000000..dcbd6d8 --- /dev/null +++ b/simulation/atlas/protos/.PelvisMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: da4345b7678efed37b6f60be1170ea00 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/pelvis.dae\n diff --git a/simulation/atlas/protos/.PelvisSolid.cache b/simulation/atlas/protos/.PelvisSolid.cache new file mode 100644 index 0000000..7370813 --- /dev/null +++ b/simulation/atlas/protos/.PelvisSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 0defad1ae34ddbfb97684e90efa01306 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RClavMesh.cache b/simulation/atlas/protos/.RClavMesh.cache new file mode 100644 index 0000000..8ea4834 --- /dev/null +++ b/simulation/atlas/protos/.RClavMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 83ccae525d786abb00657a3decf95c8c +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_clav.dae\n diff --git a/simulation/atlas/protos/.RClavSolid.cache b/simulation/atlas/protos/.RClavSolid.cache new file mode 100644 index 0000000..119ecea --- /dev/null +++ b/simulation/atlas/protos/.RClavSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: ebaef60727f1db5f902b0a8ebe4c946f +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RFarmMesh.cache b/simulation/atlas/protos/.RFarmMesh.cache new file mode 100644 index 0000000..4d9fc8b --- /dev/null +++ b/simulation/atlas/protos/.RFarmMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: b79a987d5f5c139c3af54dc5c614678c +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_farm.dae\n diff --git a/simulation/atlas/protos/.RFarmSolid.cache b/simulation/atlas/protos/.RFarmSolid.cache new file mode 100644 index 0000000..a931e90 --- /dev/null +++ b/simulation/atlas/protos/.RFarmSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 0524ede24ae6d71c923ea5c6373edd4a +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RFootMesh.cache b/simulation/atlas/protos/.RFootMesh.cache new file mode 100644 index 0000000..fbde8e9 --- /dev/null +++ b/simulation/atlas/protos/.RFootMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 2e1b978cfcba92f75c0fa5f50a2b3f37 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_foot.dae\n diff --git a/simulation/atlas/protos/.RFootSolid.cache b/simulation/atlas/protos/.RFootSolid.cache new file mode 100644 index 0000000..dcdc525 --- /dev/null +++ b/simulation/atlas/protos/.RFootSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 22240e83ed32e9f14ccf50a02a8e02db +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RHandMesh.cache b/simulation/atlas/protos/.RHandMesh.cache new file mode 100644 index 0000000..8d9ff3d --- /dev/null +++ b/simulation/atlas/protos/.RHandMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 86c2dd740f906bd9fdd01b2071fd5430 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_hand.dae\n diff --git a/simulation/atlas/protos/.RHandSolid.cache b/simulation/atlas/protos/.RHandSolid.cache new file mode 100644 index 0000000..48c76db --- /dev/null +++ b/simulation/atlas/protos/.RHandSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 3428422d6980f6576b83dbebcbb6d81e +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RLarmMesh.cache b/simulation/atlas/protos/.RLarmMesh.cache new file mode 100644 index 0000000..f8bfe2f --- /dev/null +++ b/simulation/atlas/protos/.RLarmMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 4b275a60561d7c06ac86b3041fd6dd90 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_larm.dae\n diff --git a/simulation/atlas/protos/.RLarmSolid.cache b/simulation/atlas/protos/.RLarmSolid.cache new file mode 100644 index 0000000..85d2f6e --- /dev/null +++ b/simulation/atlas/protos/.RLarmSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 1583fe4470848752f9d00ad3c9f2466c +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RLglutMesh.cache b/simulation/atlas/protos/.RLglutMesh.cache new file mode 100644 index 0000000..323bdc9 --- /dev/null +++ b/simulation/atlas/protos/.RLglutMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: ce693bf1f64f72ca63b60b0f29a93cfa +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_lglut.dae\n diff --git a/simulation/atlas/protos/.RLglutSolid.cache b/simulation/atlas/protos/.RLglutSolid.cache new file mode 100644 index 0000000..4ce4b5d --- /dev/null +++ b/simulation/atlas/protos/.RLglutSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: fba50d6ba2eea796da8e48c7ae5014c8 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RLlegMesh.cache b/simulation/atlas/protos/.RLlegMesh.cache new file mode 100644 index 0000000..cbb44b5 --- /dev/null +++ b/simulation/atlas/protos/.RLlegMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: be970f8ed6f7375ebdc3922281bed0f7 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_lleg.dae\n diff --git a/simulation/atlas/protos/.RLlegSolid.cache b/simulation/atlas/protos/.RLlegSolid.cache new file mode 100644 index 0000000..e820ff5 --- /dev/null +++ b/simulation/atlas/protos/.RLlegSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 4dc0edc53a3010ceca88cb3327a1186f +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RLugMesh.cache b/simulation/atlas/protos/.RLugMesh.cache new file mode 100644 index 0000000..d7663c5 --- /dev/null +++ b/simulation/atlas/protos/.RLugMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 4e403d96d4ea7fe08c02c30717d4e260 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_lug.dae\n diff --git a/simulation/atlas/protos/.RScapMesh.cache b/simulation/atlas/protos/.RScapMesh.cache new file mode 100644 index 0000000..159b8c7 --- /dev/null +++ b/simulation/atlas/protos/.RScapMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 9944d53dda4a7ebb45e9e8e03866323b +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_scap.dae\n diff --git a/simulation/atlas/protos/.RScapSolid.cache b/simulation/atlas/protos/.RScapSolid.cache new file mode 100644 index 0000000..ac237a1 --- /dev/null +++ b/simulation/atlas/protos/.RScapSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: d863184f3695a256a4db8046142a1c8e +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RTalusMesh.cache b/simulation/atlas/protos/.RTalusMesh.cache new file mode 100644 index 0000000..e81b137 --- /dev/null +++ b/simulation/atlas/protos/.RTalusMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: ac70ae0f2c6cac75e1c1a2aa6ffc87d4 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_talus.dae\n diff --git a/simulation/atlas/protos/.RTalusSolid.cache b/simulation/atlas/protos/.RTalusSolid.cache new file mode 100644 index 0000000..5fb143f --- /dev/null +++ b/simulation/atlas/protos/.RTalusSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 870305c872f1635ddc3e457f46901fd4 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RUarmMesh.cache b/simulation/atlas/protos/.RUarmMesh.cache new file mode 100644 index 0000000..93c2107 --- /dev/null +++ b/simulation/atlas/protos/.RUarmMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 67d50bdb4342d0c9db456a2043591c23 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_uarm.dae\n diff --git a/simulation/atlas/protos/.RUarmSolid.cache b/simulation/atlas/protos/.RUarmSolid.cache new file mode 100644 index 0000000..95b5b2a --- /dev/null +++ b/simulation/atlas/protos/.RUarmSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 0f52bd10f9b07f69dcf08e978f42649b +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RUglutMesh.cache b/simulation/atlas/protos/.RUglutMesh.cache new file mode 100644 index 0000000..ca86bc7 --- /dev/null +++ b/simulation/atlas/protos/.RUglutMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 42d01e2a2a218e0584c67885d127921e +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_uglut.dae\n diff --git a/simulation/atlas/protos/.RUglutSolid.cache b/simulation/atlas/protos/.RUglutSolid.cache new file mode 100644 index 0000000..94c49b2 --- /dev/null +++ b/simulation/atlas/protos/.RUglutSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: e6c24de4ebd0feb89051b6ccf538d3b9 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RUlegMesh.cache b/simulation/atlas/protos/.RUlegMesh.cache new file mode 100644 index 0000000..bbe3200 --- /dev/null +++ b/simulation/atlas/protos/.RUlegMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: f663901d42c2204c1c57880c7b8e8851 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/r_uleg.dae\n diff --git a/simulation/atlas/protos/.RUlegSolid.cache b/simulation/atlas/protos/.RUlegSolid.cache new file mode 100644 index 0000000..2d735ab --- /dev/null +++ b/simulation/atlas/protos/.RUlegSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 23269509823d13f1ec5bd338a46a1465 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/.RegularAppearance.cache b/simulation/atlas/protos/.RegularAppearance.cache new file mode 100644 index 0000000..d66d666 --- /dev/null +++ b/simulation/atlas/protos/.RegularAppearance.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 525255c2710efc3962a9281eff16d4fa +needsRobotAncestor: 0 +baseType: PBRAppearance +slotType: +parameters: +tags: hidden +license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +licenseUrl: https://cyberbotics.com/webots_assets_license +documentationUrl: +info: diff --git a/simulation/atlas/protos/.UtorsoMesh.cache b/simulation/atlas/protos/.UtorsoMesh.cache new file mode 100644 index 0000000..ad629d1 --- /dev/null +++ b/simulation/atlas/protos/.UtorsoMesh.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: fcc4cfedae0390d282b37e46812ba9e0 +needsRobotAncestor: 0 +baseType: Group +slotType: +parameters: +tags: hidden +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/utorso.dae\n diff --git a/simulation/atlas/protos/.UtorsoSolid.cache b/simulation/atlas/protos/.UtorsoSolid.cache new file mode 100644 index 0000000..af4300d --- /dev/null +++ b/simulation/atlas/protos/.UtorsoSolid.cache @@ -0,0 +1,11 @@ +Webots Proto Cache File version 1.5 +protoFileHash: 3628aa0d30cfd094490fcd030e80dad9 +needsRobotAncestor: 0 +baseType: Solid +slotType: +parameters: translation,rotation +tags: hidden +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 diff --git a/simulation/atlas/protos/Atlas.proto b/simulation/atlas/protos/Atlas.proto new file mode 100644 index 0000000..b2c1094 --- /dev/null +++ b/simulation/atlas/protos/Atlas.proto @@ -0,0 +1,694 @@ +#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 + } +} diff --git a/simulation/atlas/protos/CarbonFiberAppearance.proto b/simulation/atlas/protos/CarbonFiberAppearance.proto new file mode 100644 index 0000000..6c9ed48 --- /dev/null +++ b/simulation/atlas/protos/CarbonFiberAppearance.proto @@ -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 +} +} diff --git a/simulation/atlas/protos/DarkAppearance.proto b/simulation/atlas/protos/DarkAppearance.proto new file mode 100644 index 0000000..0711707 --- /dev/null +++ b/simulation/atlas/protos/DarkAppearance.proto @@ -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 + } +} diff --git a/simulation/atlas/protos/HeadMesh.proto b/simulation/atlas/protos/HeadMesh.proto new file mode 100644 index 0000000..892624e --- /dev/null +++ b/simulation/atlas/protos/HeadMesh.proto @@ -0,0 +1,4493 @@ +#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/head.dae + +PROTO HeadMesh [ +] +{ +Group { + children [ + Shape { + appearance DarkAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +-0.024673 0.091406 0.096031 +-0.024673 0.084906 0.097161 +0.049725 0.091406 0.096031 +0.049725 0.084906 0.097161 +-0.024673 0.097266 0.09203 +0.049725 0.097266 0.09203 +-0.024673 0.102351 0.077288 +0.049725 0.102351 0.077288 +-0.024673 0.100756 0.076272 +0.049725 0.100756 0.076272 +0.049725 0.102351 0.077288 +-0.024673 0.09467 0.075033 +0.049725 0.09467 0.075033 +-0.024672 0.084906 0.074336 +0.049725 0.084906 0.074336 +0.049725 0.084704 0.07435 +-0.024673 0.075142 0.075033 +0.049725 0.075142 0.075033 +-0.024673 0.069057 0.076272 +0.049725 0.069057 0.076272 +-0.024673 0.067462 0.077288 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/dev/null +++ b/simulation/atlas/protos/LClavSolid.proto @@ -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 ] + } +} +} diff --git a/simulation/atlas/protos/LFarmMesh.proto b/simulation/atlas/protos/LFarmMesh.proto new file mode 100644 index 0000000..6196967 --- /dev/null +++ b/simulation/atlas/protos/LFarmMesh.proto @@ -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 [ +-0.033047 0.058732 -0.0013 +-0.030457 0.017747 -0.014324 +-0.033047 0.017747 -0.0013 +-0.030457 0.058732 -0.014324 +-0.02308 0.017747 -0.025364 +-0.02308 0.058732 -0.025364 +-0.012041 0.017747 -0.032741 +-0.012041 0.058732 -0.032741 +0.000982 0.017747 -0.035331 +0.000982 0.058732 -0.035331 +0.000982 0.058732 -0.035331 +0.014005 0.017747 -0.032741 +0.000982 0.017747 -0.035331 +0.014005 0.058732 -0.032741 +0.025045 0.017747 -0.025364 +0.025045 0.058732 -0.025364 +0.032422 0.017747 -0.014324 +0.032422 0.058732 -0.014324 +0.035012 0.017747 -0.0013 +0.032422 0.058732 -0.014324 +0.035012 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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 ] + } +} +} diff --git a/simulation/atlas/protos/LFootMesh.proto b/simulation/atlas/protos/LFootMesh.proto new file mode 100644 index 0000000..2c8f8e2 --- /dev/null +++ b/simulation/atlas/protos/LFootMesh.proto @@ -0,0 +1,1294 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 ] + } +} +} diff --git a/simulation/atlas/protos/LHandMesh.proto b/simulation/atlas/protos/LHandMesh.proto new file mode 100644 index 0000000..3229129 --- /dev/null +++ b/simulation/atlas/protos/LHandMesh.proto @@ -0,0 +1,828 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + LHandMesh { + } + ] + name "LHand" + boundingObject Group { + children [ + Transform { + translation 0 0.0526955 0.0 + rotation 1.0 0.0 0.0 3.14079632679 + children [ + Cylinder { + radius 0.035939 + height 0.055117 + } + ] + } + Transform { + translation 0.034375 0.002643 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.035939 + height 0.019 + } + ] + } + Transform { + translation -0.0365945 0.002643 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.035939 + height 0.019 + } + ] + } + ] + } + physics Physics { + density -1 + mass 2.263 + centerOfMass 0 0.093 0 + inertiaMatrix [0.01 0.002 0.01, 0 0 0 ] + } +} +} diff --git a/simulation/atlas/protos/LLarmMesh.proto b/simulation/atlas/protos/LLarmMesh.proto new file mode 100644 index 0000000..f8ceaf1 --- /dev/null +++ b/simulation/atlas/protos/LLarmMesh.proto @@ -0,0 +1,902 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 { + children [ + Transform { + translation 0.056065 0 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.045 + height 0.0161 + } + ] + } + Transform { + translation -0.0556155 0 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.045 + height 0.0161 + } + ] + } + Transform { + translation 0 0.0940525 0.0 + rotation 1.0 0.0 0.0 3.14079632679 + children [ + Cylinder { + radius 0.045 + height 0.188105 + } + ] + } + ] + } + physics Physics { + density -1 + mass 2.148 + centerOfMass -0.003 0.099 -0.014 + inertiaMatrix [0.005 0.003 0.006, 0 0 0 ] + } +} +} diff --git a/simulation/atlas/protos/LLglutMesh.proto b/simulation/atlas/protos/LLglutMesh.proto new file mode 100644 index 0000000..4828a7f --- /dev/null +++ b/simulation/atlas/protos/LLglutMesh.proto @@ -0,0 +1,581 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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+++ b/simulation/atlas/protos/LLglutSolid.proto @@ -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 ] + } +} +} diff --git a/simulation/atlas/protos/LLlegMesh.proto b/simulation/atlas/protos/LLlegMesh.proto new file mode 100644 index 0000000..3c3038e --- /dev/null +++ b/simulation/atlas/protos/LLlegMesh.proto @@ -0,0 +1,3901 @@ +#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_lleg.dae + +PROTO LLlegMesh [ +] +{ +Group { + children [ + Shape { + appearance RegularAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +-0.031125 0.050353 -0.048762 +0.011486 0.028559 -0.374417 +-0.023508 0.027901 -0.374424 +0.042752 0.051942 -0.047136 +-0.025375 0.028243 -0.374237 +-0.05289 0.033274 -0.245631 +-0.056678 0.034222 -0.222845 +-0.023508 0.027901 -0.374424 +-0.025375 0.028243 -0.374237 +-0.056678 0.034222 -0.222845 +-0.055067 0.036319 -0.177357 +-0.058079 0.035222 -0.200088 +-0.05224 0.037411 -0.154654 +-0.052691 0.024406 -0.153208 +-0.031577 0.033586 -0.048762 +-0.033404 -0.033063 -0.048762 +-0.053913 -0.024806 -0.153208 +-0.033856 -0.049983 -0.048762 +-0.054364 -0.037811 -0.154654 +-0.025508 0.015179 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455 -1 +476 367 368 -1 +455 468 467 -1 +455 368 468 -1 + ] + creaseAngle 1 + } + } + ] +} +} diff --git a/simulation/atlas/protos/LLlegSolid.proto b/simulation/atlas/protos/LLlegSolid.proto new file mode 100644 index 0000000..c1c9193 --- /dev/null +++ b/simulation/atlas/protos/LLlegSolid.proto @@ -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 ] + } +} +} diff --git a/simulation/atlas/protos/LScapMesh.proto b/simulation/atlas/protos/LScapMesh.proto new file mode 100644 index 0000000..d5c5975 --- /dev/null +++ b/simulation/atlas/protos/LScapMesh.proto @@ -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 [ +] +{ +Group { + children [ + Shape { + appearance RegularAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +-0.095381 -0.024342 -0.039857 +-0.095381 0.04334 -0.048776 +-0.095381 -0.008171 -0.048709 +-0.095381 0.04334 -0.000627 +-0.095381 -0.036513 -0.026506 +-0.095381 0.04334 0.047523 +-0.095381 -0.043039 -0.00966 +-0.095381 -0.008171 0.047452 +-0.095381 -0.043039 -0.000628 +-0.095381 -0.024342 0.038601 +-0.095381 -0.043039 0.008405 +-0.095381 -0.036513 0.025251 +-0.095381 0.04334 -0.000627 +-0.047356 0.063712 0.047523 +-0.047356 0.063712 -0.000627 +-0.047356 0.063712 -0.048776 +0.091625 -0.043039 0.008405 +0.091625 -0.024342 0.038601 +0.091625 -0.036513 0.025251 +0.091625 -0.043039 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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 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 ] + } +} +} diff --git a/simulation/atlas/protos/LTalusMesh.proto b/simulation/atlas/protos/LTalusMesh.proto new file mode 100644 index 0000000..82aa831 --- /dev/null +++ b/simulation/atlas/protos/LTalusMesh.proto @@ -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 { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +0.007057 0.00973 -0.006592 +0.000257 -3.2e-05 -0.009425 +4.5e-05 -3.2e-05 -0.009496 +4.5e-05 0.00973 0.010339 +4.5e-05 -3.2e-05 0.010341 +0.000257 -3.2e-05 0.010269 +0.007059 -0.009733 0.007438 +0.007061 -0.010059 0.007441 +0.009956 -0.010051 0.000423 +0.009961 -0.009733 0.000423 +0.007055 0.01 0.007434 +0.007057 0.00973 0.007436 +0.009954 0.01 0.000423 +0.009959 0.00973 0.000423 +0.007059 -0.009733 -0.006594 +0.007061 -0.010059 -0.006596 +0.009959 0.00973 0.000423 +0.007057 0.00973 -0.006592 +0.009954 0.01 0.000423 +0.007055 0.01 -0.00659 +4.5e-05 -0.009733 -0.009498 +0.007059 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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 ] + } +} +} diff --git a/simulation/atlas/protos/LUarmMesh.proto b/simulation/atlas/protos/LUarmMesh.proto new file mode 100644 index 0000000..9cd1723 --- /dev/null +++ b/simulation/atlas/protos/LUarmMesh.proto @@ -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 { + coord Coordinate { + point [ +-0.045202 0.000334 -0.003915 +-0.042134 0.000334 0.012497 +-0.045202 0.116677 -0.003915 +-0.042134 0.116677 0.012497 +-0.033343 0.000334 0.026694 +-0.033343 0.116677 0.026694 +-0.020018 0.000334 0.036757 +-0.020018 0.116677 0.036757 +-0.003959 0.000334 0.041326 +-0.003959 0.116677 0.041326 +0.012668 0.000334 0.039786 +0.012668 0.116677 0.039786 +0.027615 0.000334 0.032343 +0.027615 0.116677 0.032343 +0.038863 0.000334 0.020003 +0.038863 0.116677 0.020003 +0.044895 0.000334 0.004432 +0.044895 0.116677 0.004432 +0.044895 0.000334 -0.012264 +0.044895 0.116677 -0.012264 +0.038863 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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 ] + } +} +} diff --git a/simulation/atlas/protos/LUglutMesh.proto b/simulation/atlas/protos/LUglutMesh.proto new file mode 100644 index 0000000..85bac47 --- /dev/null +++ b/simulation/atlas/protos/LUglutMesh.proto @@ -0,0 +1,581 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 ] + } +} +} diff --git a/simulation/atlas/protos/LUlegMesh.proto b/simulation/atlas/protos/LUlegMesh.proto new file mode 100644 index 0000000..4a8d9d7 --- /dev/null +++ b/simulation/atlas/protos/LUlegMesh.proto @@ -0,0 +1,3876 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 ] + } +} +} diff --git a/simulation/atlas/protos/LtorsoMesh.proto b/simulation/atlas/protos/LtorsoMesh.proto new file mode 100644 index 0000000..e7dbb35 --- /dev/null +++ b/simulation/atlas/protos/LtorsoMesh.proto @@ -0,0 +1,1187 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 ] + } +} +} diff --git a/simulation/atlas/protos/MtorsoMesh.proto b/simulation/atlas/protos/MtorsoMesh.proto new file mode 100644 index 0000000..39070cc --- /dev/null +++ b/simulation/atlas/protos/MtorsoMesh.proto @@ -0,0 +1,3540 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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b/simulation/atlas/protos/MtorsoSolid.proto @@ -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 ] + } +} +} diff --git a/simulation/atlas/protos/PelvisMesh.proto b/simulation/atlas/protos/PelvisMesh.proto new file mode 100644 index 0000000..0baa7fe --- /dev/null +++ b/simulation/atlas/protos/PelvisMesh.proto @@ -0,0 +1,3381 @@ +#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/pelvis.dae + +PROTO PelvisMesh [ +] +{ +Group { + children [ + Shape { + appearance CarbonFiberAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +-0.092529 -0.017011 -0.107731 +-0.092086 -0.02498 -0.107121 +-0.113204 -0.028391 -0.087599 +-0.114278 -0.019385 -0.088778 +-0.093089 -0.001585 -0.108719 +-0.114912 -0.001585 -0.089799 +-0.069076 -0.016462 -0.119079 +-0.068471 -0.024268 -0.118139 +-0.069722 -0.001585 -0.119957 +-0.039073 -0.017225 -0.126722 +-0.038536 -0.024509 -0.125904 +-0.039379 -0.001585 -0.127587 +0.003262 -0.017754 -0.132423 +0.003435 -0.024437 -0.131946 +0.002647 -0.001585 -0.133472 +-0.092529 0.013846 -0.107731 +-0.114278 0.01622 -0.088778 +-0.092086 0.021817 -0.107122 +-0.113204 0.025228 -0.087599 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0000000..acb0499 --- /dev/null +++ b/simulation/atlas/protos/PelvisSolid.proto @@ -0,0 +1,72 @@ +#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 PelvisSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + PelvisMesh { + } + ] + name "pelvis" + boundingObject Group { + children [ + Transform { + translation 0.046 0.0 -0.02 + rotation 1.0 0.0 0.0 3.14079632679 + children [ + Cylinder { + radius 0.092 + height 0.03 + } + ] + } + Transform { + translation -0.03 0.0 -0.02 + rotation 1.0 0.0 0.0 3.14079632679 + children [ + Cylinder { + radius 0.092 + height 0.03 + } + ] + } + Transform { + translation 0 0.042 0.06 + rotation 1.0 0.0 0.0 1.57 + children [ + Cylinder { + radius 0.130 + height 0.022 + } + ] + } + Transform { + translation 0 -0.042 0.06 + rotation 1.0 0.0 0.0 1.57 + children [ + Cylinder { + radius 0.130 + height 0.022 + } + ] + } + ] + } + physics Physics { + density -1 + mass 14.2529 + centerOfMass 0.0111 0 0.0271 + inertiaMatrix [0.1244 0.0958 0.1167, 0.0008 -0.0007 -0.0005 ] + } +} +} diff --git a/simulation/atlas/protos/RClavMesh.proto b/simulation/atlas/protos/RClavMesh.proto new file mode 100644 index 0000000..4717031 --- /dev/null +++ b/simulation/atlas/protos/RClavMesh.proto @@ -0,0 +1,1100 @@ +#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/r_clav.dae + +PROTO RClavMesh [ +] +{ +Group { + children [ + Shape { + appearance RegularAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +0.075285 -0.120289 0.0365746 +-0.077206 -0.117181 0.0532021 +-0.077206 -0.120289 0.0365746 +0.075285 -0.117181 0.0532021 +-0.077206 -0.108276 0.0675844 +0.075285 -0.108276 0.0675844 +-0.077206 -0.0947775 0.0777775 +0.075285 -0.0947775 0.0777775 +0.075285 -0.0785082 0.0824062 +-0.077206 -0.0785082 0.0824062 +0.075285 -0.0616654 0.0808456 +-0.077206 -0.0616654 0.0808456 +-0.077206 -0.0465227 0.0733057 +0.075285 -0.0465227 0.0733057 +-0.077206 -0.0351266 0.060805 +0.075285 -0.0351266 0.060805 +-0.077206 -0.0290169 0.0450328 +0.075285 -0.0290169 0.0450328 +0.075285 -0.0290173 0.0281174 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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 RClavSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RClavMesh { + } + ] + name "RClav" + 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 2.0936 + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RFarmMesh.proto b/simulation/atlas/protos/RFarmMesh.proto new file mode 100644 index 0000000..fd64395 --- /dev/null +++ b/simulation/atlas/protos/RFarmMesh.proto @@ -0,0 +1,649 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 RFarmSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RFarmMesh { + } + ] + name "RFarm" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RFootMesh.proto b/simulation/atlas/protos/RFootMesh.proto new file mode 100644 index 0000000..af7cd36 --- /dev/null +++ b/simulation/atlas/protos/RFootMesh.proto @@ -0,0 +1,1304 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 RFootSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RFootMesh { + } + ] + name "RFoot" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RHandMesh.proto b/simulation/atlas/protos/RHandMesh.proto new file mode 100644 index 0000000..7d081c0 --- /dev/null +++ b/simulation/atlas/protos/RHandMesh.proto @@ -0,0 +1,824 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 RHandSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RHandMesh { + } + ] + name "RHand" + boundingObject Group { + children [ + Transform { + translation 0 -0.0526955 0.0 + rotation 1.0 0.0 0.0 3.14079632679 + children [ + Cylinder { + radius 0.035939 + height 0.055117 + } + ] + } + Transform { + translation 0.034375 -0.002643 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.035939 + height 0.019 + } + ] + } + Transform { + translation -0.0365945 -0.002643 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.035939 + height 0.019 + } + ] + } + ] + } + physics Physics { + density -1 + mass 2.263 + centerOfMass 0 -0.093 0 + inertiaMatrix [0.01 0.002 0.01, 0 0 0 ] + } +} +} diff --git a/simulation/atlas/protos/RLarmMesh.proto b/simulation/atlas/protos/RLarmMesh.proto new file mode 100644 index 0000000..2eaa780 --- /dev/null +++ b/simulation/atlas/protos/RLarmMesh.proto @@ -0,0 +1,788 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 RLarmSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RLarmMesh { + } + ] + name "RLarm" + boundingObject Group { + children [ + Transform { + translation 0.056065 0 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.045 + height 0.0161 + } + ] + } + Transform { + translation -0.0556155 0 0 + rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 + children [ + Cylinder { + radius 0.045 + height 0.0161 + } + ] + } + Transform { + translation 0 -0.0940525 0.0 + rotation 1.0 0.0 0.0 3.14079632679 + children [ + Cylinder { + radius 0.045 + height 0.188105 + } + ] + } + ] + } + physics Physics { + density -1 + mass 2.148 + centerOfMass -0.003 -0.099 -0.014 + inertiaMatrix [0.005 0.003 0.006, 0 0 0 ] + } +} +} diff --git a/simulation/atlas/protos/RLglutMesh.proto b/simulation/atlas/protos/RLglutMesh.proto new file mode 100644 index 0000000..81f55f4 --- /dev/null +++ b/simulation/atlas/protos/RLglutMesh.proto @@ -0,0 +1,603 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 RLglutSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RLglutMesh { + } + ] + name "RLglut" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RLlegMesh.proto b/simulation/atlas/protos/RLlegMesh.proto new file mode 100644 index 0000000..59deb2b --- /dev/null +++ b/simulation/atlas/protos/RLlegMesh.proto @@ -0,0 +1,3901 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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455 -1 +476 367 368 -1 +455 468 467 -1 +455 368 468 -1 + ] + creaseAngle 1 + } + } + ] +} +} diff --git a/simulation/atlas/protos/RLlegSolid.proto b/simulation/atlas/protos/RLlegSolid.proto new file mode 100644 index 0000000..c6af21a --- /dev/null +++ b/simulation/atlas/protos/RLlegSolid.proto @@ -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 RLlegSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RLlegMesh { + } + ] + name "RLleg" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RLugMesh.proto b/simulation/atlas/protos/RLugMesh.proto new file mode 100644 index 0000000..4d0976b --- /dev/null +++ b/simulation/atlas/protos/RLugMesh.proto @@ -0,0 +1,85 @@ +#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/r_lug.dae + +PROTO RLugMesh [ +] +{ +Group { + children [ + Shape { + appearance CarbonFiberAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + -0.07545 -0.094087 -0.069541 -0.099105 -0.076 -0.110567 -0.089966 -0.090008 -0.110765 -0.07545 -0.094087 -0.069541 -0.092746 -0.078167 -0.071025 -0.105514 -0.07307 -0.14873 -0.096897 -0.086457 -0.151631 -0.108663 -0.068372 -0.178871 -0.097017 -0.081671 -0.184834 -0.092746 -0.078167 -0.071025 -0.107211 -0.055685 -0.111137 -0.105887 -0.057579 -0.078705 -0.112736 -0.053619 -0.145552 -0.115386 -0.049256 -0.1653 -0.105887 -0.057579 -0.078705 -0.113073 -0.032867 -0.110858 -0.110213 -0.033852 -0.089019 -0.11602 -0.031864 -0.143001 -0.117537 -0.03016 -0.161793 -0.115024 -0.008757 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a/simulation/atlas/protos/RScapSolid.proto b/simulation/atlas/protos/RScapSolid.proto new file mode 100644 index 0000000..dadee3d --- /dev/null +++ b/simulation/atlas/protos/RScapSolid.proto @@ -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 RScapSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RScapMesh { + } + ] + name "RScap" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RTalusMesh.proto b/simulation/atlas/protos/RTalusMesh.proto new file mode 100644 index 0000000..635147d --- /dev/null +++ b/simulation/atlas/protos/RTalusMesh.proto @@ -0,0 +1,615 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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b/simulation/atlas/protos/RTalusSolid.proto new file mode 100644 index 0000000..8d2b2f7 --- /dev/null +++ b/simulation/atlas/protos/RTalusSolid.proto @@ -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 RTalusSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RTalusMesh { + } + ] + name "RTalus" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RUarmMesh.proto b/simulation/atlas/protos/RUarmMesh.proto new file mode 100644 index 0000000..1b3fe39 --- /dev/null +++ b/simulation/atlas/protos/RUarmMesh.proto @@ -0,0 +1,566 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 RUarmSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RUarmMesh { + } + ] + name "RUarm" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RUglutMesh.proto b/simulation/atlas/protos/RUglutMesh.proto new file mode 100644 index 0000000..e2c278d --- /dev/null +++ b/simulation/atlas/protos/RUglutMesh.proto @@ -0,0 +1,583 @@ +#VRML_SIM R2021a utf8 +# license: Copyright Cyberbotics Ltd. 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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 RUglutSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RUglutMesh { + } + ] + name "RUglut" + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RUlegMesh.proto b/simulation/atlas/protos/RUlegMesh.proto new file mode 100644 index 0000000..191514d --- /dev/null +++ b/simulation/atlas/protos/RUlegMesh.proto @@ -0,0 +1,3876 @@ +#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/r_uleg.dae + +PROTO RUlegMesh [ +] +{ +Group { + children [ + Shape { + appearance CarbonFiberAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +-0.089966 -0.090008 -0.110765 +-0.099105 -0.076 -0.110567 +-0.07545 -0.094087 -0.069541 +-0.092746 -0.078167 -0.071025 +-0.096897 -0.086457 -0.151631 +-0.105514 -0.07307 -0.14873 +-0.097017 -0.081671 -0.184834 +-0.108663 -0.068372 -0.178871 +-0.107211 -0.055685 -0.111137 +-0.092746 -0.078167 -0.071025 +-0.105887 -0.057579 -0.078705 +-0.112736 -0.053619 -0.145552 +-0.115386 -0.049256 -0.1653 +-0.113073 -0.032867 -0.110858 +-0.105887 -0.057579 -0.078705 +-0.110213 -0.033852 -0.089019 +-0.11602 -0.031864 -0.143001 +-0.117537 -0.03016 -0.161793 +-0.115024 -0.008757 -0.110149 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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 RUlegSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + RUlegMesh { + } + ] + name "RUleg" + 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 1.82 + 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 ] + } +} +} diff --git a/simulation/atlas/protos/RegularAppearance.proto b/simulation/atlas/protos/RegularAppearance.proto new file mode 100644 index 0000000..fbcb056 --- /dev/null +++ b/simulation/atlas/protos/RegularAppearance.proto @@ -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 RegularAppearance [ +] +{ + PBRAppearance { + baseColorMap ImageTexture { + url [ + "textures/atlas.jpg" + ] + } + roughness 0.3 + metalness 0 + } +} diff --git a/simulation/atlas/protos/UtorsoMesh.proto b/simulation/atlas/protos/UtorsoMesh.proto new file mode 100644 index 0000000..7f281e1 --- /dev/null +++ b/simulation/atlas/protos/UtorsoMesh.proto @@ -0,0 +1,38390 @@ +#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/utorso.dae + +PROTO UtorsoMesh [ +] +{ +Group { + children [ + Shape { + appearance DarkAppearance { + } + geometry IndexedFaceSet { + coord Coordinate { + point [ +0.094604 -0.086487 0.048886 +0.096008 -0.086487 0.043881 +0.094604 0.086792 0.048886 +0.096008 0.086792 0.043881 +0.091003 -0.086487 0.052487 +0.094604 -0.086487 0.048886 +0.091003 0.086792 0.052487 +0.094604 0.086792 0.048886 +0.086121 -0.086487 0.053891 +0.086121 0.086792 0.053891 +0.081116 -0.086487 0.052487 +0.081116 0.086792 0.052487 +0.077515 -0.086487 0.048886 +0.077515 0.086792 0.048886 +0.076202 -0.086487 0.043881 +0.077515 -0.086487 0.048886 +0.076202 0.086792 0.043881 +0.077515 -0.086487 0.038998 +0.077515 0.086792 0.038998 +0.081116 -0.086487 0.035397 +0.077515 -0.086487 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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 UtorsoSolid [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 +] +{ +Solid { + translation IS translation + rotation IS rotation + children [ + UtorsoMesh { + } + ] + name "Utorso" + boundingObject Group { + children [ + Transform { + translation 0.0446 0 0.1869 + rotation 0.0 1.0 0.0 0.0 + children [ + Box { + size 0.3188 0.24 0.3162 + } + ] + } + Transform { + translation 0.024 0.16 0.18 + rotation 1.0 0.0 0.0 1.0464 + children [ + Cylinder { + radius 0.0363 + height 0.22375 + } + ] + } + Transform { + translation 0.024 -0.16 0.18 + rotation 1.0 0.0 0.0 2.0936 + children [ + Cylinder { + radius 0.0363 + height 0.22375 + } + ] + } + ] + } + physics Physics { + density -1 + mass 18.484 + centerOfMass 0.02 -0.001 0.211 + inertiaMatrix [0.395 1.089 0.327, 0 0.083 -0.003 ] + } +} +} diff --git a/simulation/atlas/protos/icons/Atlas.png b/simulation/atlas/protos/icons/Atlas.png new file mode 100644 index 0000000..fd9ffa8 Binary files /dev/null and b/simulation/atlas/protos/icons/Atlas.png differ diff --git a/simulation/atlas/protos/textures/atlas.jpg b/simulation/atlas/protos/textures/atlas.jpg new file mode 100644 index 0000000..cb56907 Binary files /dev/null and b/simulation/atlas/protos/textures/atlas.jpg differ diff --git a/simulation/atlas/protos/textures/atlas_carbon_fiber.jpg b/simulation/atlas/protos/textures/atlas_carbon_fiber.jpg new file mode 100644 index 0000000..21c31b8 Binary files /dev/null and b/simulation/atlas/protos/textures/atlas_carbon_fiber.jpg differ diff --git a/simulation/atlas/protos/textures/atlas_dark.jpg b/simulation/atlas/protos/textures/atlas_dark.jpg new file mode 100644 index 0000000..4efc2fa Binary files /dev/null and b/simulation/atlas/protos/textures/atlas_dark.jpg differ diff --git a/simulation/atlas/worlds/.atlas.wbproj b/simulation/atlas/worlds/.atlas.wbproj new file mode 100644 index 0000000..6bd9f9e --- /dev/null +++ b/simulation/atlas/worlds/.atlas.wbproj @@ -0,0 +1,9 @@ +Webots Project File version R2021a +perspectives: 000000ff00000000fd00000003000000000000015000000360fc0200000001fb00000012005300630065006e006500540072006500650100000000000003600000012f00ffffff00000001000001cb00000280fc0200000001fb0000001400540065007800740045006400690074006f0072010000000000000280000000ab00ffffff000000030000053b000000dafc0100000001fb0000000e0043006f006e0073006f006c006501000001560000053b0000005100ffffff0000036a0000028000000004000000040000000100000008fc00000000 +simulationViewPerspectives: 000000ff00000000000000020000016c000004a001000000060100000001 +sceneTreePerspectives: 000000ff0000000000000002000001c60000011201000000060100000002 +maximizedDockId: -1 +centralWidgetVisible: 1 +orthographicViewHeight: 1 +textFiles: 0 "controllers/hello_world_demo/hello_world_demo.c" +consoles: Console:All:All diff --git a/simulation/atlas/worlds/atlas.wbt b/simulation/atlas/worlds/atlas.wbt new file mode 100644 index 0000000..5f94414 --- /dev/null +++ b/simulation/atlas/worlds/atlas.wbt @@ -0,0 +1,24 @@ +#VRML_SIM R2021a utf8 +WorldInfo { + info [ + "Atlas sample" + ] + CFM 1e-07 + ERP 0.8 + basicTimeStep 8 + coordinateSystem "NUE" + lineScale 0.25 +} +Viewpoint { + orientation 0.07361487165598588 -0.9880371064661203 -0.13551209140563525 4.208435019952087 + position 4.007193926491309 2.1969755916188816 -2.1227761648514134 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { + size 1000 1000 +} +Atlas { +}