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Ram Vempati
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21
Olympian/controllers/comcontrol/comcontrol.py
Normal file
21
Olympian/controllers/comcontrol/comcontrol.py
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@ -0,0 +1,21 @@
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import math
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from controller import Robot, Supervisor, Display
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import time
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supervisor = Supervisor()
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global TIMESTEP
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TIMESTEP = int(supervisor.getBasicTimeStep())
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startTime = time.time()
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robotNode = supervisor.getRoot()
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children = robotNode.getField("children")
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robot = children.getMFNode(5)
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right_torso_roll = supervisor.getDevice("Rev13")
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left_torso_roll = supervisor.getDevice("Rev21")
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right_ankle_roll = supervisor.getDevice("Rev16")
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left_ankle_roll = supervisor.getDevice("Rev24")
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for i in range(0, 1000):
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right_torso_roll.setPosition(-1 * i/1000)
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left_torso_roll.setPosition(-1 * i/1000)
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right_ankle_roll.setPosition(-1 * i/1000)
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left_ankle_roll.setPosition(-1 * i/1000)
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print(robot.getCenterOfMass())
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supervisor.step(TIMESTEP)
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105
Olympian/controllers/demo/demo.py
Normal file
105
Olympian/controllers/demo/demo.py
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@ -0,0 +1,105 @@
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import math
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from controller import Robot, Supervisor, Display
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import time
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import ikpy
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import ikpy.chain
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import numpy as np
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import ikpy.utils.plot as plot_utils
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from ikpy.urdf.utils import get_urdf_tree
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import matplotlib.pyplot as plt
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supervisor = Supervisor()
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global TIMESTEP
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TIMESTEP = int(supervisor.getBasicTimeStep())
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startTime = time.time()
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robotNode = supervisor.getRoot()
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children = robotNode.getField("children")
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robot = children.getMFNode(5)
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lThighPitch = supervisor.getDevice("Rev20")
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lKneePitch = supervisor.getDevice("Rev23")
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lArmRoll = supervisor.getDevice("Rev8")
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right_shoulder_roll = supervisor.getDevice("Rev4")
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left_shoulder_roll = supervisor.getDevice("Rev8")
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right_arm_uzi = supervisor.getDevice("Rev3")
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left_arm_uzi = supervisor.getDevice("Rev7")
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torso_pitch = supervisor.getDevice("Rev1")
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torso_roll = supervisor.getDevice("Rev2")
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# torso_yaw = supervisor.getDevice("Rev")
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right_torso_pitch = supervisor.getDevice("Rev12")
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left_torso_pitch = supervisor.getDevice("Rev20")
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right_torso_roll = supervisor.getDevice("Rev13")
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left_torso_roll = supervisor.getDevice("Rev21")
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right_knee_pitch = supervisor.getDevice("Rev15")
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left_knee_pitch = supervisor.getDevice("Rev23")
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right_ankle_pitch = supervisor.getDevice("Rev19")
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left_ankle_pitch = supervisor.getDevice("Rev25")
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right_ankle_roll = supervisor.getDevice("Rev16")
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left_ankle_roll = supervisor.getDevice("Rev24")
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print(lArmRoll.getAvailableTorque())
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# lArmRoll.setAvailableTorque(10)
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# lArmRoll.setTorque(-3)
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print(lArmRoll.getAvailableTorque())
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# lArmRoll.setPosition(-0.5*math.pi)
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left_torso_pitch.setAvailableTorque(10)
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right_torso_pitch.setAvailableTorque(10)
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right_torso_pitch.setPosition(0.5)
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# print(lThighPitch.getAvailableTorque())
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# print(lKneePitch.getAvailableTorque())
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# lThighPitch.setAvailableTorque(50)
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# lKneePitch.setAvailableTorque(50)
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# print(lThighPitch.getAvailableTorque())
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# print(lKneePitch.getAvailableTorque())
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# lThighPitch.setPosition(-0.2)
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# lKneePitch.setPosition(-0.2)
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# f = open("olympian.urdf", "w")
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# f.write(supervisor.getUrdf())
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# f.close()
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# get_urdf_tree("olympian.urdf", root_element="base_link", out_image_path="./out/olympian")
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# lLegChain = ikpy.chain.Chain.from_urdf_file("olympian.urdf" ,
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# # active_links_mask=[False,True,False,True,True,False,False,False],
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# base_elements=["base_link", "Rev20"]
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# )
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# fig, ax = plot_utils.init_3d_figure()
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# lLegChain.plot(lLegChain.inverse_kinematics_frame(lLegChain.forward_kinematics([0] * 7)), ax)
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# print(lLegChain)
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# plt.show()
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# device0 = supervisor.getDeviceByIndex(0)
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# device0.setPosition(0.3)
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# device6 = supervisor.getDeviceByIndex(6)
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# device6.setPosition(0.3)
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# device12 = supervisor.getDeviceByIndex(14)
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# device12.setPosition(-0.3)
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#TODO GET IKPY IN HERE AND LOOK AT UML DIAGRAM AND FIGURE OUT DEVICE NAMES
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212
Olympian/controllers/demo/olympian.urdf
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212
Olympian/controllers/demo/olympian.urdf
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@ -0,0 +1,212 @@
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<?xml version="1.0"?>
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<robot name="Olympian" xmlns:xacro="http://ros.org/wiki/xacro">
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<link name="base_link">
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</link>
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<joint name="Rev20" type="revolute">
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<parent link="base_link"/>
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<child link="Leg_Pitch_v5_2"/>
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<axis xyz="1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.2 0.812 0.1" rpy="0 0 0"/>
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</joint>
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<link name="Leg_Pitch_v5_2">
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</link>
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<joint name="Rev21" type="revolute">
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<parent link="Leg_Pitch_v5_2"/>
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<child link="Leg_Roll_v4_2"/>
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<axis xyz="0 0 -1"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.05 0 -0.075" rpy="0 0 0"/>
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</joint>
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<link name="Leg_Roll_v4_2">
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</link>
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<joint name="Rev22" type="revolute">
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<parent link="Leg_Roll_v4_2"/>
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<child link="Upper_Leg_v4_2"/>
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<axis xyz="0 -1 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0 -0.075 0.075" rpy="0 0 0"/>
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</joint>
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<link name="Upper_Leg_v4_2">
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</link>
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<joint name="Rev23" type="revolute">
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<parent link="Upper_Leg_v4_2"/>
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<child link="Lower_Leg_v6_2"/>
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<axis xyz="-1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.05 -0.2982 0" rpy="0 0 0"/>
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</joint>
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<link name="Lower_Leg_v6_2">
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</link>
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<joint name="Rev24" type="revolute">
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<parent link="Lower_Leg_v6_2"/>
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<child link="Ankle_Link_v5_2"/>
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<axis xyz="0 0 1"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="-0.05 -0.3532 -0.03" rpy="0 0 0"/>
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</joint>
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<link name="Ankle_Link_v5_2">
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</link>
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<joint name="Rev25" type="revolute">
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<parent link="Ankle_Link_v5_2"/>
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<child link="Foot_v4_2"/>
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<axis xyz="1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.02 -0.035 0.03" rpy="0 0 0"/>
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</joint>
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<link name="Foot_v4_2">
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</link>
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<joint name="Rev12" type="revolute">
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<parent link="base_link"/>
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<child link="Leg_Pitch_v5_1"/>
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<axis xyz="-1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0 0.812 0.1" rpy="0 0 0"/>
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</joint>
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<link name="Leg_Pitch_v5_1">
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</link>
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<joint name="Rev13" type="revolute">
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<parent link="Leg_Pitch_v5_1"/>
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<child link="Leg_Roll_v4_1"/>
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<axis xyz="0 0 -1"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="-0.05 0 -0.075" rpy="0 0 0"/>
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</joint>
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<link name="Leg_Roll_v4_1">
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</link>
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<joint name="Rev14" type="revolute">
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<parent link="Leg_Roll_v4_1"/>
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<child link="Upper_Leg_v4_1"/>
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<axis xyz="0 -1 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0 -0.075 0.075" rpy="0 0 0"/>
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</joint>
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<link name="Upper_Leg_v4_1">
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</link>
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<joint name="Rev15" type="revolute">
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<parent link="Upper_Leg_v4_1"/>
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<child link="Lower_Leg_v6_1"/>
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<axis xyz="1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="-0.05 -0.2982 0" rpy="0 0 0"/>
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</joint>
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<link name="Lower_Leg_v6_1">
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</link>
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<joint name="Rev16" type="revolute">
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<parent link="Lower_Leg_v6_1"/>
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<child link="Ankle_Link_v5_1"/>
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<axis xyz="0 0 1"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.05 -0.3532 -0.03" rpy="0 0 0"/>
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</joint>
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<link name="Ankle_Link_v5_1">
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</link>
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<joint name="Rev19" type="revolute">
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<parent link="Ankle_Link_v5_1"/>
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<child link="Foot_v4_1"/>
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<axis xyz="-1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="-0.02 -0.035 0.03" rpy="0 0 0"/>
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</joint>
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<link name="Foot_v4_1">
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</link>
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<joint name="Rev1" type="revolute">
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<parent link="base_link"/>
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<child link="Pelvis_v7_1"/>
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<axis xyz="1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.05 0.912 0.1" rpy="0 0 0"/>
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</joint>
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<link name="Pelvis_v7_1">
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</link>
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<joint name="Rev2" type="revolute">
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<parent link="Pelvis_v7_1"/>
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<child link="Chest_v13_1"/>
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<axis xyz="0 0 -1"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.05 0.075 -0.0375" rpy="0 0 0"/>
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</joint>
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<link name="Chest_v13_1">
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</link>
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<joint name="Rev7" type="revolute">
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<parent link="Chest_v13_1"/>
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<child link="Upper_Arm_Link_type_b_v9_2"/>
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<axis xyz="1 0 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.275 0.5164 0.0375" rpy="0 0 0"/>
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</joint>
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<link name="Upper_Arm_Link_type_b_v9_2">
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</link>
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<joint name="Rev8" type="revolute">
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<parent link="Upper_Arm_Link_type_b_v9_2"/>
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<child link="Upper_Arm_Roll_Link_v5_2"/>
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<axis xyz="0 0 -1"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0.075 -0.0125 -0.05" rpy="0 0 0"/>
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</joint>
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<link name="Upper_Arm_Roll_Link_v5_2">
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</link>
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<joint name="Rev9" type="revolute">
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<parent link="Upper_Arm_Roll_Link_v5_2"/>
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<child link="Upper_Arm_v10_3"/>
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<axis xyz="0 -1 0"/>
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<limit effort="10000" velocity="10"/>
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<origin xyz="0 -0.05635 0.05" rpy="0 0 0"/>
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</joint>
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<link name="Upper_Arm_v10_3">
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</link>
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<joint name="Rev10" type="revolute">
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<parent link="Upper_Arm_v10_3"/>
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||||
<child link="Lower_Arm_v8_2"/>
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<axis xyz="0 0 1"/>
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<limit effort="10000" velocity="10"/>
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||||
<origin xyz="0 -0.3675 -0.05" rpy="0 0 0"/>
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</joint>
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<link name="Lower_Arm_v8_2">
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</link>
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||||
<joint name="Rev3" type="revolute">
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<parent link="Chest_v13_1"/>
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||||
<child link="Upper_Arm_Link_type_b_v9_1"/>
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<axis xyz="-1 0 0"/>
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||||
<limit effort="10000" velocity="10"/>
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<origin xyz="-0.275 0.5164 0.0375" rpy="0 0 0"/>
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</joint>
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<link name="Upper_Arm_Link_type_b_v9_1">
|
||||
</link>
|
||||
<joint name="Rev4" type="revolute">
|
||||
<parent link="Upper_Arm_Link_type_b_v9_1"/>
|
||||
<child link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10000" velocity="10"/>
|
||||
<origin xyz="-0.075 -0.0125 -0.05" rpy="0 0 0"/>
|
||||
</joint>
|
||||
<link name="Upper_Arm_Roll_Link_v5_1">
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||||
</link>
|
||||
<joint name="Rev5" type="revolute">
|
||||
<parent link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<child link="Upper_Arm_v10_1"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="10000" velocity="10"/>
|
||||
<origin xyz="0 -0.05635 0.05" rpy="0 0 0"/>
|
||||
</joint>
|
||||
<link name="Upper_Arm_v10_1">
|
||||
</link>
|
||||
<joint name="Rev6" type="revolute">
|
||||
<parent link="Upper_Arm_v10_1"/>
|
||||
<child link="Lower_Arm_v8_1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10000" velocity="10"/>
|
||||
<origin xyz="0 -0.3675 0.05" rpy="0 0 0"/>
|
||||
</joint>
|
||||
<link name="Lower_Arm_v8_1">
|
||||
</link>
|
||||
<joint name="Rev11" type="revolute">
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Box_Head_v5_1"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="10000" velocity="10"/>
|
||||
<origin xyz="0 0.5664 0.0375" rpy="0 0 0"/>
|
||||
</joint>
|
||||
<link name="Box_Head_v5_1">
|
||||
</link>
|
||||
</robot>
|
||||
95
Olympian/controllers/demo/out/olympian
Normal file
95
Olympian/controllers/demo/out/olympian
Normal file
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|
@ -0,0 +1,95 @@
|
|||
digraph robot {
|
||||
link_base_link [label=base_link color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev20 [label=Rev20 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev20
|
||||
link_Leg_Pitch_v5_2 [label=Leg_Pitch_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev20 -> link_Leg_Pitch_v5_2
|
||||
joint_Rev21 [label=Rev21 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Pitch_v5_2 -> joint_Rev21
|
||||
link_Leg_Roll_v4_2 [label=Leg_Roll_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev21 -> link_Leg_Roll_v4_2
|
||||
joint_Rev22 [label=Rev22 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Roll_v4_2 -> joint_Rev22
|
||||
link_Upper_Leg_v4_2 [label=Upper_Leg_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev22 -> link_Upper_Leg_v4_2
|
||||
joint_Rev23 [label=Rev23 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Leg_v4_2 -> joint_Rev23
|
||||
link_Lower_Leg_v6_2 [label=Lower_Leg_v6_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev23 -> link_Lower_Leg_v6_2
|
||||
joint_Rev24 [label=Rev24 color=green fillcolor=lightgrey style=filled]
|
||||
link_Lower_Leg_v6_2 -> joint_Rev24
|
||||
link_Ankle_Link_v5_2 [label=Ankle_Link_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev24 -> link_Ankle_Link_v5_2
|
||||
joint_Rev25 [label=Rev25 color=green fillcolor=lightgrey style=filled]
|
||||
link_Ankle_Link_v5_2 -> joint_Rev25
|
||||
link_Foot_v4_2 [label=Foot_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev25 -> link_Foot_v4_2
|
||||
joint_Rev12 [label=Rev12 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev12
|
||||
link_Leg_Pitch_v5_1 [label=Leg_Pitch_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev12 -> link_Leg_Pitch_v5_1
|
||||
joint_Rev13 [label=Rev13 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Pitch_v5_1 -> joint_Rev13
|
||||
link_Leg_Roll_v4_1 [label=Leg_Roll_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev13 -> link_Leg_Roll_v4_1
|
||||
joint_Rev14 [label=Rev14 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Roll_v4_1 -> joint_Rev14
|
||||
link_Upper_Leg_v4_1 [label=Upper_Leg_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev14 -> link_Upper_Leg_v4_1
|
||||
joint_Rev15 [label=Rev15 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Leg_v4_1 -> joint_Rev15
|
||||
link_Lower_Leg_v6_1 [label=Lower_Leg_v6_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev15 -> link_Lower_Leg_v6_1
|
||||
joint_Rev16 [label=Rev16 color=green fillcolor=lightgrey style=filled]
|
||||
link_Lower_Leg_v6_1 -> joint_Rev16
|
||||
link_Ankle_Link_v5_1 [label=Ankle_Link_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev16 -> link_Ankle_Link_v5_1
|
||||
joint_Rev19 [label=Rev19 color=green fillcolor=lightgrey style=filled]
|
||||
link_Ankle_Link_v5_1 -> joint_Rev19
|
||||
link_Foot_v4_1 [label=Foot_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev19 -> link_Foot_v4_1
|
||||
joint_Rev1 [label=Rev1 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev1
|
||||
link_Pelvis_v7_1 [label=Pelvis_v7_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev1 -> link_Pelvis_v7_1
|
||||
joint_Rev2 [label=Rev2 color=green fillcolor=lightgrey style=filled]
|
||||
link_Pelvis_v7_1 -> joint_Rev2
|
||||
link_Chest_v13_1 [label=Chest_v13_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev2 -> link_Chest_v13_1
|
||||
joint_Rev7 [label=Rev7 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev7
|
||||
link_Upper_Arm_Link_type_b_v9_2 [label=Upper_Arm_Link_type_b_v9_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev7 -> link_Upper_Arm_Link_type_b_v9_2
|
||||
joint_Rev8 [label=Rev8 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Link_type_b_v9_2 -> joint_Rev8
|
||||
link_Upper_Arm_Roll_Link_v5_2 [label=Upper_Arm_Roll_Link_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev8 -> link_Upper_Arm_Roll_Link_v5_2
|
||||
joint_Rev9 [label=Rev9 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Roll_Link_v5_2 -> joint_Rev9
|
||||
link_Upper_Arm_v10_3 [label=Upper_Arm_v10_3 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev9 -> link_Upper_Arm_v10_3
|
||||
joint_Rev10 [label=Rev10 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_v10_3 -> joint_Rev10
|
||||
link_Lower_Arm_v8_2 [label=Lower_Arm_v8_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev10 -> link_Lower_Arm_v8_2
|
||||
joint_Rev3 [label=Rev3 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev3
|
||||
link_Upper_Arm_Link_type_b_v9_1 [label=Upper_Arm_Link_type_b_v9_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev3 -> link_Upper_Arm_Link_type_b_v9_1
|
||||
joint_Rev4 [label=Rev4 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Link_type_b_v9_1 -> joint_Rev4
|
||||
link_Upper_Arm_Roll_Link_v5_1 [label=Upper_Arm_Roll_Link_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev4 -> link_Upper_Arm_Roll_Link_v5_1
|
||||
joint_Rev5 [label=Rev5 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Roll_Link_v5_1 -> joint_Rev5
|
||||
link_Upper_Arm_v10_1 [label=Upper_Arm_v10_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev5 -> link_Upper_Arm_v10_1
|
||||
joint_Rev6 [label=Rev6 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_v10_1 -> joint_Rev6
|
||||
link_Lower_Arm_v8_1 [label=Lower_Arm_v8_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev6 -> link_Lower_Arm_v8_1
|
||||
joint_Rev11 [label=Rev11 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev11
|
||||
link_Box_Head_v5_1 [label=Box_Head_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev11 -> link_Box_Head_v5_1
|
||||
}
|
||||
BIN
Olympian/controllers/demo/out/olympian.pdf
Normal file
BIN
Olympian/controllers/demo/out/olympian.pdf
Normal file
Binary file not shown.
142
Olympian/controllers/gaitgentorquedemo/gaitgentorquedemo.py
Normal file
142
Olympian/controllers/gaitgentorquedemo/gaitgentorquedemo.py
Normal file
|
|
@ -0,0 +1,142 @@
|
|||
from controller import Robot, Supervisor, Display
|
||||
|
||||
import time
|
||||
|
||||
from shapely.geometry.polygon import Polygon
|
||||
from shapely.geometry.point import Point
|
||||
|
||||
# import tinyik #https://github.com/lanius/tinyik
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
import matplotlib
|
||||
import matplotlib.pyplot as plt
|
||||
from mpl_toolkits.mplot3d import Axes3D
|
||||
|
||||
import ikpy
|
||||
import ikpy.chain
|
||||
import numpy as np
|
||||
import ikpy.utils.plot as plot_utils
|
||||
from ikpy.urdf.utils import get_urdf_tree
|
||||
|
||||
from sklearn.preprocessing import PolynomialFeatures
|
||||
from sklearn.linear_model import LinearRegression
|
||||
from sklearn.metrics import mean_squared_error
|
||||
|
||||
import sympy as sym
|
||||
|
||||
|
||||
#robot - wb_supervisor_node
|
||||
#supervisor - wb_robot
|
||||
#so basically supervisor is the robot and robot is the supervisor
|
||||
#hooray for poor nomenclature
|
||||
import math
|
||||
#supervisor.getUrdf() - get urdf from proto (wow)
|
||||
supervisor = Supervisor()
|
||||
|
||||
global TIMESTEP
|
||||
TIMESTEP = int(supervisor.getBasicTimeStep())
|
||||
startTime = time.time()
|
||||
|
||||
robotNode = supervisor.getRoot()
|
||||
children = robotNode.getField("children")
|
||||
robot = children.getMFNode(5)
|
||||
|
||||
right_shoulder_roll = supervisor.getDevice("Rev4")
|
||||
left_shoulder_roll = supervisor.getDevice("Rev8")
|
||||
|
||||
right_arm_uzi = supervisor.getDevice("Rev3")
|
||||
left_arm_uzi = supervisor.getDevice("Rev7")
|
||||
|
||||
torso_pitch = supervisor.getDevice("Rev1")
|
||||
torso_roll = supervisor.getDevice("Rev2")
|
||||
# torso_yaw = supervisor.getDevice("Rev")
|
||||
|
||||
right_torso_pitch = supervisor.getDevice("Rev12")
|
||||
left_torso_pitch = supervisor.getDevice("Rev20")
|
||||
|
||||
right_torso_roll = supervisor.getDevice("Rev13")
|
||||
left_torso_roll = supervisor.getDevice("Rev21")
|
||||
|
||||
right_knee_pitch = supervisor.getDevice("Rev15")
|
||||
left_knee_pitch = supervisor.getDevice("Rev23")
|
||||
|
||||
|
||||
right_ankle_pitch = supervisor.getDevice("Rev19")
|
||||
left_ankle_pitch = supervisor.getDevice("Rev25")
|
||||
|
||||
right_ankle_roll = supervisor.getDevice("Rev16")
|
||||
|
||||
left_ankle_roll = supervisor.getDevice("Rev24")
|
||||
|
||||
def shiftTorsoLeft():
|
||||
value = 0
|
||||
print(robot.getCenterOfMass())
|
||||
while(robot.getCenterOfMass()[0] < 0.15):
|
||||
print(robot.getCenterOfMass())
|
||||
value += 0.005
|
||||
right_torso_roll.setPosition(value)
|
||||
left_torso_roll.setPosition(value)
|
||||
|
||||
right_ankle_roll.setPosition(value)
|
||||
left_ankle_roll.setPosition(value)
|
||||
|
||||
supervisor.step(TIMESTEP)
|
||||
|
||||
return value
|
||||
|
||||
def stepRightFoot():
|
||||
value = 0
|
||||
# print(robot.getCenterOfMass())
|
||||
while(value < 0.1):
|
||||
# print(robot.getCenterOfMass())
|
||||
value += 0.005
|
||||
right_torso_pitch.setPosition(value)
|
||||
right_knee_pitch.setPosition(value)
|
||||
right_ankle_pitch.setPosition(value * -1)
|
||||
|
||||
left_torso_pitch.setPosition(value)
|
||||
left_ankle_pitch.setPosition(value * -1)
|
||||
left_knee_pitch.setPosition(value * -1)
|
||||
# right_ankle_pitch.setPosition(value * -1)
|
||||
|
||||
supervisor.step(TIMESTEP)
|
||||
|
||||
def shiftTorsoRight(value):
|
||||
|
||||
print(robot.getCenterOfMass())
|
||||
while(robot.getCenterOfMass()[0] > 0.05):
|
||||
print(robot.getCenterOfMass())
|
||||
value -= 0.005
|
||||
right_torso_roll.setPosition(value)
|
||||
left_torso_roll.setPosition(value)
|
||||
|
||||
right_ankle_roll.setPosition(value)
|
||||
left_ankle_roll.setPosition(value)
|
||||
|
||||
supervisor.step(TIMESTEP)
|
||||
|
||||
def stepLeftFoot():
|
||||
value = 0.1
|
||||
# print(robot.getCenterOfMass())
|
||||
while(value > -0.1):
|
||||
# print(robot.getCenterOfMass())
|
||||
value -= 0.001
|
||||
right_torso_pitch.setPosition(value)
|
||||
right_knee_pitch.setPosition(value * -1)
|
||||
right_ankle_pitch.setPosition(value * -1)
|
||||
|
||||
left_torso_pitch.setPosition(value)
|
||||
left_ankle_pitch.setPosition(value * -1)
|
||||
left_knee_pitch.setPosition(value )
|
||||
# right_ankle_pitch.setPosition(value * -1)
|
||||
|
||||
supervisor.step(TIMESTEP)
|
||||
|
||||
torso_pitch.setPosition(0.3)
|
||||
|
||||
value = shiftTorsoLeft()
|
||||
stepRightFoot()
|
||||
shiftTorsoRight(value)
|
||||
# stepLeftFoot()
|
||||
314
Olympian/controllers/gaitgentorquedemo/gaitgentorquedemobad.py
Normal file
314
Olympian/controllers/gaitgentorquedemo/gaitgentorquedemobad.py
Normal file
|
|
@ -0,0 +1,314 @@
|
|||
from controller import Robot, Supervisor, Display
|
||||
|
||||
import time
|
||||
|
||||
from shapely.geometry.polygon import Polygon
|
||||
from shapely.geometry.point import Point
|
||||
|
||||
# import tinyik #https://github.com/lanius/tinyik
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
import matplotlib
|
||||
import matplotlib.pyplot as plt
|
||||
from mpl_toolkits.mplot3d import Axes3D
|
||||
|
||||
import ikpy
|
||||
import ikpy.chain
|
||||
import numpy as np
|
||||
import ikpy.utils.plot as plot_utils
|
||||
from ikpy.urdf.utils import get_urdf_tree
|
||||
|
||||
from sklearn.preprocessing import PolynomialFeatures
|
||||
from sklearn.linear_model import LinearRegression
|
||||
from sklearn.metrics import mean_squared_error
|
||||
|
||||
import sympy as sym
|
||||
|
||||
|
||||
#robot - wb_supervisor_node
|
||||
#supervisor - wb_robot
|
||||
#so basically supervisor is the robot and robot is the supervisor
|
||||
#hooray for poor nomenclature
|
||||
import math
|
||||
#supervisor.getUrdf() - get urdf from proto (wow)
|
||||
supervisor = Supervisor()
|
||||
|
||||
global TIMESTEP
|
||||
TIMESTEP = int(supervisor.getBasicTimeStep())
|
||||
startTime = time.time()
|
||||
|
||||
robotNode = supervisor.getRoot()
|
||||
children = robotNode.getField("children")
|
||||
robot = children.getMFNode(5)
|
||||
|
||||
right_shoulder_roll = supervisor.getDevice("Rev4")
|
||||
left_shoulder_roll = supervisor.getDevice("Rev8")
|
||||
|
||||
right_arm_uzi = supervisor.getDevice("Rev3")
|
||||
left_arm_uzi = supervisor.getDevice("Rev7")
|
||||
|
||||
torso_pitch = supervisor.getDevice("Rev1")
|
||||
torso_roll = supervisor.getDevice("Rev2")
|
||||
# torso_yaw = supervisor.getDevice("Rev")
|
||||
|
||||
right_torso_pitch = supervisor.getDevice("Rev12")
|
||||
left_torso_pitch = supervisor.getDevice("Rev20")
|
||||
|
||||
right_torso_roll = supervisor.getDevice("Rev13")
|
||||
left_torso_roll = supervisor.getDevice("Rev21")
|
||||
|
||||
right_knee_pitch = supervisor.getDevice("Rev15")
|
||||
left_knee_pitch = supervisor.getDevice("Rev23")
|
||||
|
||||
|
||||
right_ankle_pitch = supervisor.getDevice("Rev19")
|
||||
left_ankle_pitch = supervisor.getDevice("Rev25")
|
||||
|
||||
right_ankle_roll = supervisor.getDevice("Rev16")
|
||||
|
||||
left_ankle_roll = supervisor.getDevice("Rev24")
|
||||
|
||||
|
||||
|
||||
|
||||
ankleRollValue = 0.05
|
||||
ankleRollValue2 = 0.06
|
||||
def walk(value):
|
||||
|
||||
left_ankle_roll.setPosition(0)
|
||||
right_ankle_roll.setPosition(-1 * ankleRollValue)
|
||||
|
||||
# right_ankle_roll.setPosition(-1 * value/2)
|
||||
|
||||
# torso_yaw.setPosition(value/4)
|
||||
# torso_roll.setPosition(0.1 + value/50)
|
||||
|
||||
left_torso_pitch.setPosition(-1 * value)
|
||||
left_knee_pitch.setPosition(value * -1)
|
||||
|
||||
right_arm_uzi.setPosition(-1 * value)
|
||||
left_arm_uzi.setPosition(value)
|
||||
|
||||
def walk2(value1, value2):
|
||||
|
||||
left_ankle_roll.setPosition(ankleRollValue2)
|
||||
right_ankle_roll.setPosition(0)
|
||||
|
||||
# left_ankle_roll.setPosition(value2/2)
|
||||
# right_ankle_roll.setPosition(-1 * value1/2)
|
||||
|
||||
# torso_yaw.setPosition(value/4)
|
||||
|
||||
left_torso_pitch.setPosition(-1 * value1)
|
||||
left_knee_pitch.setPosition(value1 * -1)
|
||||
|
||||
right_torso_pitch.setPosition( value2)
|
||||
right_knee_pitch.setPosition(value2)
|
||||
|
||||
# torso_roll.setPosition(0.1 + value/50)
|
||||
# # left_ankle_pitch.setPosition(value)
|
||||
|
||||
right_arm_uzi.setPosition(-1 * value)
|
||||
left_arm_uzi.setPosition(value)
|
||||
|
||||
def walk3(value1, value2):
|
||||
|
||||
|
||||
|
||||
left_ankle_roll.setPosition(0)
|
||||
right_ankle_roll.setPosition(-1 * ankleRollValue2)
|
||||
|
||||
# left_ankle_roll.setPosition(value2/2)
|
||||
# right_ankle_roll.setPosition(-1 *value1/2)
|
||||
|
||||
# torso_yaw.setPosition(value/4)
|
||||
|
||||
left_torso_pitch.setPosition(-1 * value1)
|
||||
left_knee_pitch.setPosition(value1 * -1)
|
||||
|
||||
right_torso_pitch.setPosition(value2)
|
||||
right_knee_pitch.setPosition(value2)
|
||||
|
||||
right_arm_uzi.setPosition(-1 * value)
|
||||
left_arm_uzi.setPosition(value)
|
||||
# torso_roll.setPosition(0.1 + value/50)
|
||||
# # left_ankle_pitch.setPosition(value)
|
||||
|
||||
|
||||
first1 = True
|
||||
first2 = True
|
||||
first3 = True
|
||||
|
||||
value = 0
|
||||
value2 = 0
|
||||
|
||||
# increment = 0.001
|
||||
increment = 0.001
|
||||
|
||||
leftFoot = True
|
||||
|
||||
doneWithFirstStep = False
|
||||
|
||||
doneWithSecondStep = False
|
||||
|
||||
doneWithThirdStep = False
|
||||
|
||||
# coreValue = 0.25
|
||||
|
||||
|
||||
fallingForward = True
|
||||
|
||||
wantActuation = True
|
||||
|
||||
numOfCrosses = 0
|
||||
numOfCrosses2 = 0
|
||||
|
||||
coreValue = 0.25
|
||||
|
||||
tertiaryValue = 0.1
|
||||
|
||||
timeCompleted = 0
|
||||
|
||||
while supervisor.step(TIMESTEP) != -1:
|
||||
|
||||
|
||||
|
||||
# if(time.time() - startTime >= 1 and first1 == True):
|
||||
|
||||
|
||||
# right_shoulder_roll.setPosition(1.39)
|
||||
# left_shoulder_roll.setPosition(-1.39)
|
||||
|
||||
|
||||
|
||||
if(time.time() - startTime >= 2 and wantActuation == True):
|
||||
#torso_pitch.setPosition(0.25)
|
||||
torso_pitch.setPosition(0.3)
|
||||
|
||||
if(doneWithFirstStep == False):
|
||||
|
||||
value += increment
|
||||
walk(value)
|
||||
if(value >= coreValue ):
|
||||
|
||||
timeCompleted = time.time()
|
||||
|
||||
doneWithFirstStep = True
|
||||
|
||||
|
||||
|
||||
elif(doneWithFirstStep == True and doneWithSecondStep == False):
|
||||
|
||||
if (time.time() - timeCompleted >= 1):
|
||||
|
||||
value -= increment
|
||||
value2 += increment
|
||||
|
||||
walk2(value, value2)
|
||||
|
||||
if(value2 >= coreValue):
|
||||
|
||||
timeCompleted = time.time()
|
||||
doneWithSecondStep = True
|
||||
doneWithThirdStep = False
|
||||
|
||||
|
||||
|
||||
elif(doneWithFirstStep == True and doneWithThirdStep == False):
|
||||
|
||||
if(time.time() - timeCompleted >= 1):
|
||||
|
||||
value += increment
|
||||
value2 -= increment
|
||||
|
||||
walk3(value, value2)
|
||||
|
||||
if(value >= coreValue):
|
||||
|
||||
timeCompleted = time.time()
|
||||
doneWithThirdStep = True
|
||||
doneWithSecondStep = False
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# if(doneWithFirstStep == True and time.time() - startTime >= 5 and time.time() - startTime < 10):
|
||||
|
||||
# #break
|
||||
|
||||
# # if(numOfCrosses2 == 3):
|
||||
# # leftFoot = True
|
||||
|
||||
# if(value >= coreValue):
|
||||
# leftFoot = False
|
||||
# # elif(numOfCrosses == 3 and numOfCrosses2 != 3):
|
||||
# # leftFoot = False
|
||||
# # print("switching")
|
||||
|
||||
|
||||
# elif(value <= 0):
|
||||
|
||||
# value = 0.01
|
||||
# value2 = 0.25
|
||||
|
||||
# # leftFoot = True
|
||||
# # break
|
||||
# # print("switching")
|
||||
# if(leftFoot == True):
|
||||
|
||||
# value += increment
|
||||
# value2 -= increment
|
||||
# walk3(value, value2)
|
||||
|
||||
# elif(leftFoot == False):
|
||||
# # print("leftfoot false")
|
||||
|
||||
# value -= increment
|
||||
# value2 += increment
|
||||
# walk2(value, value2)
|
||||
|
||||
# elif(doneWithFirstStep == True and time.time() - startTime >= 10 and time.time() - startTime < 15):
|
||||
|
||||
# #break
|
||||
|
||||
# # if(numOfCrosses2 == 3):
|
||||
# # leftFoot = True
|
||||
|
||||
# if(value >= coreValue):
|
||||
# # leftFoot = True
|
||||
# break
|
||||
# # elif(numOfCrosses == 3 and numOfCrosses2 != 3):
|
||||
# # leftFoot = False
|
||||
# # print("switching")
|
||||
|
||||
|
||||
# elif(value <= 0):
|
||||
|
||||
# leftFoot = True
|
||||
# # break
|
||||
# # print("switching")
|
||||
# if(leftFoot == True):
|
||||
|
||||
# value += increment
|
||||
# value2 -= increment
|
||||
# walk3(value, value2)
|
||||
|
||||
# elif(leftFoot == False):
|
||||
# # print("leftfoot false")
|
||||
|
||||
# value -= increment
|
||||
# value2 += increment
|
||||
# walk2(value, value2)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
95
Olympian/controllers/gaitgentorquedemo/out/olympian
Normal file
95
Olympian/controllers/gaitgentorquedemo/out/olympian
Normal file
|
|
@ -0,0 +1,95 @@
|
|||
digraph robot {
|
||||
link_base_link [label=base_link color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev20 [label=Rev20 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev20
|
||||
link_Leg_Pitch_v5_2 [label=Leg_Pitch_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev20 -> link_Leg_Pitch_v5_2
|
||||
joint_Rev21 [label=Rev21 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Pitch_v5_2 -> joint_Rev21
|
||||
link_Leg_Roll_v4_2 [label=Leg_Roll_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev21 -> link_Leg_Roll_v4_2
|
||||
joint_Rev22 [label=Rev22 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Roll_v4_2 -> joint_Rev22
|
||||
link_Upper_Leg_v4_2 [label=Upper_Leg_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev22 -> link_Upper_Leg_v4_2
|
||||
joint_Rev23 [label=Rev23 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Leg_v4_2 -> joint_Rev23
|
||||
link_Lower_Leg_v6_2 [label=Lower_Leg_v6_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev23 -> link_Lower_Leg_v6_2
|
||||
joint_Rev24 [label=Rev24 color=green fillcolor=lightgrey style=filled]
|
||||
link_Lower_Leg_v6_2 -> joint_Rev24
|
||||
link_Ankle_Link_v5_2 [label=Ankle_Link_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev24 -> link_Ankle_Link_v5_2
|
||||
joint_Rev25 [label=Rev25 color=green fillcolor=lightgrey style=filled]
|
||||
link_Ankle_Link_v5_2 -> joint_Rev25
|
||||
link_Foot_v4_2 [label=Foot_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev25 -> link_Foot_v4_2
|
||||
joint_Rev12 [label=Rev12 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev12
|
||||
link_Leg_Pitch_v5_1 [label=Leg_Pitch_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev12 -> link_Leg_Pitch_v5_1
|
||||
joint_Rev13 [label=Rev13 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Pitch_v5_1 -> joint_Rev13
|
||||
link_Leg_Roll_v4_1 [label=Leg_Roll_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev13 -> link_Leg_Roll_v4_1
|
||||
joint_Rev14 [label=Rev14 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Roll_v4_1 -> joint_Rev14
|
||||
link_Upper_Leg_v4_1 [label=Upper_Leg_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev14 -> link_Upper_Leg_v4_1
|
||||
joint_Rev15 [label=Rev15 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Leg_v4_1 -> joint_Rev15
|
||||
link_Lower_Leg_v6_1 [label=Lower_Leg_v6_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev15 -> link_Lower_Leg_v6_1
|
||||
joint_Rev16 [label=Rev16 color=green fillcolor=lightgrey style=filled]
|
||||
link_Lower_Leg_v6_1 -> joint_Rev16
|
||||
link_Ankle_Link_v5_1 [label=Ankle_Link_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev16 -> link_Ankle_Link_v5_1
|
||||
joint_Rev19 [label=Rev19 color=green fillcolor=lightgrey style=filled]
|
||||
link_Ankle_Link_v5_1 -> joint_Rev19
|
||||
link_Foot_v4_1 [label=Foot_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev19 -> link_Foot_v4_1
|
||||
joint_Rev1 [label=Rev1 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev1
|
||||
link_Pelvis_v7_1 [label=Pelvis_v7_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev1 -> link_Pelvis_v7_1
|
||||
joint_Rev2 [label=Rev2 color=green fillcolor=lightgrey style=filled]
|
||||
link_Pelvis_v7_1 -> joint_Rev2
|
||||
link_Chest_v13_1 [label=Chest_v13_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev2 -> link_Chest_v13_1
|
||||
joint_Rev7 [label=Rev7 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev7
|
||||
link_Upper_Arm_Link_type_b_v9_2 [label=Upper_Arm_Link_type_b_v9_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev7 -> link_Upper_Arm_Link_type_b_v9_2
|
||||
joint_Rev8 [label=Rev8 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Link_type_b_v9_2 -> joint_Rev8
|
||||
link_Upper_Arm_Roll_Link_v5_2 [label=Upper_Arm_Roll_Link_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev8 -> link_Upper_Arm_Roll_Link_v5_2
|
||||
joint_Rev9 [label=Rev9 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Roll_Link_v5_2 -> joint_Rev9
|
||||
link_Upper_Arm_v10_3 [label=Upper_Arm_v10_3 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev9 -> link_Upper_Arm_v10_3
|
||||
joint_Rev10 [label=Rev10 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_v10_3 -> joint_Rev10
|
||||
link_Lower_Arm_v8_2 [label=Lower_Arm_v8_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev10 -> link_Lower_Arm_v8_2
|
||||
joint_Rev3 [label=Rev3 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev3
|
||||
link_Upper_Arm_Link_type_b_v9_1 [label=Upper_Arm_Link_type_b_v9_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev3 -> link_Upper_Arm_Link_type_b_v9_1
|
||||
joint_Rev4 [label=Rev4 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Link_type_b_v9_1 -> joint_Rev4
|
||||
link_Upper_Arm_Roll_Link_v5_1 [label=Upper_Arm_Roll_Link_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev4 -> link_Upper_Arm_Roll_Link_v5_1
|
||||
joint_Rev5 [label=Rev5 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Roll_Link_v5_1 -> joint_Rev5
|
||||
link_Upper_Arm_v10_1 [label=Upper_Arm_v10_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev5 -> link_Upper_Arm_v10_1
|
||||
joint_Rev6 [label=Rev6 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_v10_1 -> joint_Rev6
|
||||
link_Lower_Arm_v8_1 [label=Lower_Arm_v8_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev6 -> link_Lower_Arm_v8_1
|
||||
joint_Rev11 [label=Rev11 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev11
|
||||
link_Box_Head_v5_1 [label=Box_Head_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev11 -> link_Box_Head_v5_1
|
||||
}
|
||||
BIN
Olympian/controllers/gaitgentorquedemo/out/olympian.pdf
Normal file
BIN
Olympian/controllers/gaitgentorquedemo/out/olympian.pdf
Normal file
Binary file not shown.
95
Olympian/controllers/squatanalysis/out/olympian
Normal file
95
Olympian/controllers/squatanalysis/out/olympian
Normal file
|
|
@ -0,0 +1,95 @@
|
|||
digraph robot {
|
||||
link_base_link [label=base_link color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev20 [label=Rev20 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev20
|
||||
link_Leg_Pitch_v5_2 [label=Leg_Pitch_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev20 -> link_Leg_Pitch_v5_2
|
||||
joint_Rev21 [label=Rev21 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Pitch_v5_2 -> joint_Rev21
|
||||
link_Leg_Roll_v4_2 [label=Leg_Roll_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev21 -> link_Leg_Roll_v4_2
|
||||
joint_Rev22 [label=Rev22 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Roll_v4_2 -> joint_Rev22
|
||||
link_Upper_Leg_v4_2 [label=Upper_Leg_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev22 -> link_Upper_Leg_v4_2
|
||||
joint_Rev23 [label=Rev23 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Leg_v4_2 -> joint_Rev23
|
||||
link_Lower_Leg_v6_2 [label=Lower_Leg_v6_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev23 -> link_Lower_Leg_v6_2
|
||||
joint_Rev24 [label=Rev24 color=green fillcolor=lightgrey style=filled]
|
||||
link_Lower_Leg_v6_2 -> joint_Rev24
|
||||
link_Ankle_Link_v5_2 [label=Ankle_Link_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev24 -> link_Ankle_Link_v5_2
|
||||
joint_Rev25 [label=Rev25 color=green fillcolor=lightgrey style=filled]
|
||||
link_Ankle_Link_v5_2 -> joint_Rev25
|
||||
link_Foot_v4_2 [label=Foot_v4_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev25 -> link_Foot_v4_2
|
||||
joint_Rev12 [label=Rev12 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev12
|
||||
link_Leg_Pitch_v5_1 [label=Leg_Pitch_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev12 -> link_Leg_Pitch_v5_1
|
||||
joint_Rev13 [label=Rev13 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Pitch_v5_1 -> joint_Rev13
|
||||
link_Leg_Roll_v4_1 [label=Leg_Roll_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev13 -> link_Leg_Roll_v4_1
|
||||
joint_Rev14 [label=Rev14 color=green fillcolor=lightgrey style=filled]
|
||||
link_Leg_Roll_v4_1 -> joint_Rev14
|
||||
link_Upper_Leg_v4_1 [label=Upper_Leg_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev14 -> link_Upper_Leg_v4_1
|
||||
joint_Rev15 [label=Rev15 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Leg_v4_1 -> joint_Rev15
|
||||
link_Lower_Leg_v6_1 [label=Lower_Leg_v6_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev15 -> link_Lower_Leg_v6_1
|
||||
joint_Rev16 [label=Rev16 color=green fillcolor=lightgrey style=filled]
|
||||
link_Lower_Leg_v6_1 -> joint_Rev16
|
||||
link_Ankle_Link_v5_1 [label=Ankle_Link_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev16 -> link_Ankle_Link_v5_1
|
||||
joint_Rev19 [label=Rev19 color=green fillcolor=lightgrey style=filled]
|
||||
link_Ankle_Link_v5_1 -> joint_Rev19
|
||||
link_Foot_v4_1 [label=Foot_v4_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev19 -> link_Foot_v4_1
|
||||
joint_Rev1 [label=Rev1 color=green fillcolor=lightgrey style=filled]
|
||||
link_base_link -> joint_Rev1
|
||||
link_Pelvis_v7_1 [label=Pelvis_v7_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev1 -> link_Pelvis_v7_1
|
||||
joint_Rev2 [label=Rev2 color=green fillcolor=lightgrey style=filled]
|
||||
link_Pelvis_v7_1 -> joint_Rev2
|
||||
link_Chest_v13_1 [label=Chest_v13_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev2 -> link_Chest_v13_1
|
||||
joint_Rev7 [label=Rev7 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev7
|
||||
link_Upper_Arm_Link_type_b_v9_2 [label=Upper_Arm_Link_type_b_v9_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev7 -> link_Upper_Arm_Link_type_b_v9_2
|
||||
joint_Rev8 [label=Rev8 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Link_type_b_v9_2 -> joint_Rev8
|
||||
link_Upper_Arm_Roll_Link_v5_2 [label=Upper_Arm_Roll_Link_v5_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev8 -> link_Upper_Arm_Roll_Link_v5_2
|
||||
joint_Rev9 [label=Rev9 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Roll_Link_v5_2 -> joint_Rev9
|
||||
link_Upper_Arm_v10_3 [label=Upper_Arm_v10_3 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev9 -> link_Upper_Arm_v10_3
|
||||
joint_Rev10 [label=Rev10 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_v10_3 -> joint_Rev10
|
||||
link_Lower_Arm_v8_2 [label=Lower_Arm_v8_2 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev10 -> link_Lower_Arm_v8_2
|
||||
joint_Rev3 [label=Rev3 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev3
|
||||
link_Upper_Arm_Link_type_b_v9_1 [label=Upper_Arm_Link_type_b_v9_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev3 -> link_Upper_Arm_Link_type_b_v9_1
|
||||
joint_Rev4 [label=Rev4 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Link_type_b_v9_1 -> joint_Rev4
|
||||
link_Upper_Arm_Roll_Link_v5_1 [label=Upper_Arm_Roll_Link_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev4 -> link_Upper_Arm_Roll_Link_v5_1
|
||||
joint_Rev5 [label=Rev5 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_Roll_Link_v5_1 -> joint_Rev5
|
||||
link_Upper_Arm_v10_1 [label=Upper_Arm_v10_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev5 -> link_Upper_Arm_v10_1
|
||||
joint_Rev6 [label=Rev6 color=green fillcolor=lightgrey style=filled]
|
||||
link_Upper_Arm_v10_1 -> joint_Rev6
|
||||
link_Lower_Arm_v8_1 [label=Lower_Arm_v8_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev6 -> link_Lower_Arm_v8_1
|
||||
joint_Rev11 [label=Rev11 color=green fillcolor=lightgrey style=filled]
|
||||
link_Chest_v13_1 -> joint_Rev11
|
||||
link_Box_Head_v5_1 [label=Box_Head_v5_1 color=blue fillcolor=lightgrey shape=box style=filled]
|
||||
joint_Rev11 -> link_Box_Head_v5_1
|
||||
}
|
||||
BIN
Olympian/controllers/squatanalysis/out/olympian.pdf
Normal file
BIN
Olympian/controllers/squatanalysis/out/olympian.pdf
Normal file
Binary file not shown.
138
Olympian/controllers/squatanalysis/squatanalysis.py
Normal file
138
Olympian/controllers/squatanalysis/squatanalysis.py
Normal file
|
|
@ -0,0 +1,138 @@
|
|||
from controller import Robot, Supervisor, Display
|
||||
|
||||
import time
|
||||
|
||||
from shapely.geometry.polygon import Polygon
|
||||
from shapely.geometry.point import Point
|
||||
|
||||
# import tinyik #https://github.com/lanius/tinyik
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
import matplotlib
|
||||
import matplotlib.pyplot as plt
|
||||
from mpl_toolkits.mplot3d import Axes3D
|
||||
|
||||
import ikpy
|
||||
import ikpy.chain
|
||||
import numpy as np
|
||||
import ikpy.utils.plot as plot_utils
|
||||
from ikpy.urdf.utils import get_urdf_tree
|
||||
|
||||
from sklearn.preprocessing import PolynomialFeatures
|
||||
from sklearn.linear_model import LinearRegression
|
||||
from sklearn.metrics import mean_squared_error
|
||||
|
||||
import sympy as sym
|
||||
|
||||
|
||||
#robot - wb_supervisor_node
|
||||
#supervisor - wb_robot
|
||||
#so basically supervisor is the robot and robot is the supervisor
|
||||
#hooray for poor nomenclature
|
||||
import math
|
||||
#supervisor.getUrdf() - get urdf from proto (wow)
|
||||
supervisor = Supervisor()
|
||||
|
||||
global TIMESTEP
|
||||
TIMESTEP = int(supervisor.getBasicTimeStep())
|
||||
startTime = time.time()
|
||||
|
||||
robotNode = supervisor.getRoot()
|
||||
children = robotNode.getField("children")
|
||||
robot = children.getMFNode(5)
|
||||
|
||||
right_shoulder_roll = supervisor.getDevice("Rev4")
|
||||
left_shoulder_roll = supervisor.getDevice("Rev8")
|
||||
|
||||
right_arm_uzi = supervisor.getDevice("Rev3")
|
||||
left_arm_uzi = supervisor.getDevice("Rev7")
|
||||
|
||||
torso_pitch = supervisor.getDevice("Rev1")
|
||||
torso_roll = supervisor.getDevice("Rev2")
|
||||
# torso_yaw = supervisor.getDevice("Rev")
|
||||
|
||||
right_torso_pitch = supervisor.getDevice("Rev12")
|
||||
left_torso_pitch = supervisor.getDevice("Rev20")
|
||||
|
||||
right_torso_roll = supervisor.getDevice("Rev13")
|
||||
left_torso_roll = supervisor.getDevice("Rev21")
|
||||
|
||||
right_knee_pitch = supervisor.getDevice("Rev15")
|
||||
left_knee_pitch = supervisor.getDevice("Rev23")
|
||||
|
||||
|
||||
right_ankle_pitch = supervisor.getDevice("Rev19")
|
||||
left_ankle_pitch = supervisor.getDevice("Rev25")
|
||||
|
||||
right_ankle_roll = supervisor.getDevice("Rev16")
|
||||
|
||||
left_ankle_roll = supervisor.getDevice("Rev24")
|
||||
|
||||
|
||||
def squatDown():
|
||||
i = 0
|
||||
while(i < 0.7):
|
||||
i += 0.005
|
||||
|
||||
left_torso_pitch.setPosition(i*-1)
|
||||
right_torso_pitch.setPosition(i )
|
||||
|
||||
left_knee_pitch.setPosition(i * -2)
|
||||
right_knee_pitch.setPosition(i * 2)
|
||||
|
||||
left_ankle_pitch.setPosition(i * -1)
|
||||
right_ankle_pitch.setPosition(i)
|
||||
|
||||
|
||||
supervisor.step(TIMESTEP)
|
||||
|
||||
|
||||
def squat():
|
||||
i = 0
|
||||
while(i < 0.7):
|
||||
i += 0.005
|
||||
|
||||
left_torso_pitch.setPosition(i*-1)
|
||||
right_torso_pitch.setPosition(i )
|
||||
|
||||
left_knee_pitch.setPosition(i * -2)
|
||||
right_knee_pitch.setPosition(i * 2)
|
||||
|
||||
left_ankle_pitch.setPosition(i * -1)
|
||||
right_ankle_pitch.setPosition(i)
|
||||
|
||||
|
||||
supervisor.step(TIMESTEP)
|
||||
|
||||
while(i > 0):
|
||||
i -= 0.005
|
||||
|
||||
left_torso_pitch.setPosition(i*-1)
|
||||
right_torso_pitch.setPosition(i )
|
||||
|
||||
left_knee_pitch.setPosition(i * -2)
|
||||
right_knee_pitch.setPosition(i * 2)
|
||||
|
||||
left_ankle_pitch.setPosition(i * -1)
|
||||
right_ankle_pitch.setPosition(i)
|
||||
|
||||
|
||||
supervisor.step(TIMESTEP)
|
||||
|
||||
|
||||
testingTorque = 20 #nm
|
||||
left_torso_pitch.setAvailableTorque(testingTorque)
|
||||
right_torso_pitch.setAvailableTorque(testingTorque)
|
||||
|
||||
left_knee_pitch.setAvailableTorque(testingTorque)
|
||||
right_knee_pitch.setAvailableTorque(testingTorque)
|
||||
|
||||
left_ankle_pitch.setAvailableTorque(testingTorque)
|
||||
right_ankle_pitch.setAvailableTorque(testingTorque)
|
||||
|
||||
for i in range(0,5):
|
||||
squat()
|
||||
|
||||
# stepLeftFoot()
|
||||
1442
Olympian/protos/Olympian copy
Normal file
1442
Olympian/protos/Olympian copy
Normal file
File diff suppressed because one or more lines are too long
1442
Olympian/protos/Olympian.proto
Normal file
1442
Olympian/protos/Olympian.proto
Normal file
File diff suppressed because one or more lines are too long
19
Olympian/protos/hello_bullet.py
Normal file
19
Olympian/protos/hello_bullet.py
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
import pybullet as p
|
||||
import time
|
||||
import pybullet_data
|
||||
physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
|
||||
p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
|
||||
p.setGravity(0,0,-10)
|
||||
planeId = p.loadURDF("plane.urdf")
|
||||
cubeStartPos = [0,0,0]
|
||||
cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
|
||||
robotId = p.loadURDF("olympian.urdf",cubeStartPos, cubeStartOrientation,
|
||||
# useMaximalCoordinates=1, ## New feature in Pybullet
|
||||
flags=p.URDF_USE_INERTIA_FROM_FILE)
|
||||
for i in range (10000):
|
||||
p.stepSimulation()
|
||||
time.sleep(1./240.)
|
||||
cubePos, cubeOrn = p.getBasePositionAndOrientation(robotId)
|
||||
print(cubePos,cubeOrn)
|
||||
p.disconnect()
|
||||
|
||||
BIN
Olympian/protos/meshes/Ankle_Link_v5_1.stl
Normal file
BIN
Olympian/protos/meshes/Ankle_Link_v5_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Ankle_Link_v5_2.stl
Normal file
BIN
Olympian/protos/meshes/Ankle_Link_v5_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Box_Head_v5_1.stl
Normal file
BIN
Olympian/protos/meshes/Box_Head_v5_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Chest_v13_1.stl
Normal file
BIN
Olympian/protos/meshes/Chest_v13_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Foot_v4_1.stl
Normal file
BIN
Olympian/protos/meshes/Foot_v4_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Foot_v4_2.stl
Normal file
BIN
Olympian/protos/meshes/Foot_v4_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Leg_Pitch_v5_1.stl
Normal file
BIN
Olympian/protos/meshes/Leg_Pitch_v5_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Leg_Pitch_v5_2.stl
Normal file
BIN
Olympian/protos/meshes/Leg_Pitch_v5_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Leg_Roll_v4_1.stl
Normal file
BIN
Olympian/protos/meshes/Leg_Roll_v4_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Leg_Roll_v4_2.stl
Normal file
BIN
Olympian/protos/meshes/Leg_Roll_v4_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Lower_Arm_v8_1.stl
Normal file
BIN
Olympian/protos/meshes/Lower_Arm_v8_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Lower_Arm_v8_2.stl
Normal file
BIN
Olympian/protos/meshes/Lower_Arm_v8_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Lower_Leg_v6_1.stl
Normal file
BIN
Olympian/protos/meshes/Lower_Leg_v6_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Lower_Leg_v6_2.stl
Normal file
BIN
Olympian/protos/meshes/Lower_Leg_v6_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Pelvis_v7_1.stl
Normal file
BIN
Olympian/protos/meshes/Pelvis_v7_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Arm_Link_type_b_v9_1.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Arm_Link_type_b_v9_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Arm_Link_type_b_v9_2.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Arm_Link_type_b_v9_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Arm_Roll_Link_v5_1.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Arm_Roll_Link_v5_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Arm_Roll_Link_v5_2.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Arm_Roll_Link_v5_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Arm_v10_1.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Arm_v10_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Arm_v10_3.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Arm_v10_3.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Leg_v4_1.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Leg_v4_1.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/Upper_Leg_v4_2.stl
Normal file
BIN
Olympian/protos/meshes/Upper_Leg_v4_2.stl
Normal file
Binary file not shown.
BIN
Olympian/protos/meshes/base_link.stl
Normal file
BIN
Olympian/protos/meshes/base_link.stl
Normal file
Binary file not shown.
927
Olympian/protos/olympian.urdf
Normal file
927
Olympian/protos/olympian.urdf
Normal file
|
|
@ -0,0 +1,927 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot name="olympian">
|
||||
|
||||
<material name="silver">
|
||||
<color rgba="0.700 0.700 0.700 1.000"/>
|
||||
</material>
|
||||
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.10000000000000007 0.8721666232732109 0.09999999999999991"/>
|
||||
<mass value="1.1521008690150791"/>
|
||||
<inertia ixx="0.005223496631877045" ixy="1.3877787807814457e-17" ixz="-5.204170427930421e-18" iyy="0.008530264202422193" iyz="1.3877787807814457e-17" izz="0.00899190194325905"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Pelvis_v7_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0500000000000001 0.029353425629582097 -8.326672684688674e-17"/>
|
||||
<mass value="0.5947505206015595"/>
|
||||
<inertia ixx="0.001878872568180423" ixy="-6.938893903907228e-18" ixz="8.673617379884035e-19" iyy="0.0010976440297574865" iyz="0.0" izz="0.0020170369281690137"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.912 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.912 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Chest_v13_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-8.16883662474871e-05 0.29542660059637427 0.03749999999999985"/>
|
||||
<mass value="5.882339234080889"/>
|
||||
<inertia ixx="0.3281120038896237" ixy="-0.00011552947303483663" ixz="-4.85722573273506e-17" iyy="0.23780786856479746" iyz="0.0" izz="0.462024450225778"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.987 -0.0625"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.987 -0.0625"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Box_Head_v5_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="7.216449660063518e-16 0.12700000029388225 -7.494005416219807e-16"/>
|
||||
<mass value="0.4129840000000015"/>
|
||||
<inertia ixx="0.00953546956266682" ixy="0.0" ixz="-1.231653667943533e-16" iyy="0.009535469562666835" iyz="-6.938893903907228e-17" izz="0.009535469562666599"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -1.5534 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Box_Head_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -1.5534 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Box_Head_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Arm_Link_type_b_v9_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.03931045800644403 -0.01095588172168327 -1.1102230246251565e-16"/>
|
||||
<mass value="0.11011202726048713"/>
|
||||
<inertia ixx="0.00016930933911268875" ixy="-1.8614392972189642e-05" ixz="0.0" iyy="0.00022075846035969106" iyz="0.0" izz="0.00018206077085142214"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.175 -1.5034 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.175 -1.5034 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Arm_Roll_Link_v5_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.7755575615628914e-16 -0.022135117628713674 0.04999999999999977"/>
|
||||
<mass value="0.29143432706119626"/>
|
||||
<inertia ixx="0.001232763287600247" ixy="-1.3877787807814457e-17" ixz="0.0" iyy="0.0011938412922212066" iyz="0.0" izz="0.0002924682777396548"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.25 -1.4909 -0.05"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.25 -1.4909 -0.05"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Arm_v10_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-9.4696507857428e-09 -0.2073127422998453 -2.498001805406602e-16"/>
|
||||
<mass value="0.9419240929020993"/>
|
||||
<inertia ixx="0.019683528982801235" ixy="-1.6353899900956037e-09" ixz="5.370703881624195e-15" iyy="0.0034983199985584718" iyz="4.163336342344337e-17" izz="0.018812734327518177"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.25 -1.43455 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_v10_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.25 -1.43455 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_v10_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Lower_Arm_v8_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.6264767310758543e-14 -0.22711717106463236 -0.05000000000000018"/>
|
||||
<mass value="1.1287862597517475"/>
|
||||
<inertia ixx="0.025545638419054995" ixy="1.7486012637846216e-15" ixz="5.367234434672241e-15" iyy="0.0030604925430051527" iyz="0.0" izz="0.025477987567271376"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.25 -1.06705 -0.15"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.25 -1.06705 -0.15"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Lower_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Arm_Link_type_b_v9_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.039310458006444615 -0.01095588172168327 -2.3592239273284576e-16"/>
|
||||
<mass value="0.11011202726048713"/>
|
||||
<inertia ixx="0.00016930933911268875" ixy="1.861439297219658e-05" ixz="8.673617379884035e-19" iyy="0.00022075846035969626" iyz="3.469446951953614e-18" izz="0.00018206077085142214"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.375 -1.5034 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.375 -1.5034 -0.1"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Arm_Roll_Link_v5_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.1102230246251565e-16 -0.022135117628713674 0.04999999999999988"/>
|
||||
<mass value="0.29143432706119626"/>
|
||||
<inertia ixx="0.001232763287600247" ixy="-2.7755575615628914e-17" ixz="-3.469446951953614e-18" iyy="0.0011938412922212066" iyz="6.938893903907228e-18" izz="0.0002924682777396548"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.45 -1.4909 -0.05"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.45 -1.4909 -0.05"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Roll_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Upper_Arm_v10_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-9.469650730231649e-09 -0.2073127422998453 -1.249000902703301e-16"/>
|
||||
<mass value="0.9419240929020993"/>
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
<link name="Upper_Leg_v4_1">
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
|
||||
<link name="Lower_Leg_v6_1">
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
<link name="Ankle_Link_v5_1">
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
|
||||
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||||
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||||
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||||
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||||
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|
||||
|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
<joint name="Rev1" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.912 0.1"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Pelvis_v7_1"/>
|
||||
<axis xyz="1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev1_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev1">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev1_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
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|
||||
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|
||||
|
||||
<joint name="Rev2" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.075 -0.0375"/>
|
||||
<parent link="Pelvis_v7_1"/>
|
||||
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|
||||
<axis xyz="-0.0 -0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev2_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev2">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev2_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev11" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 0.5664 0.0375"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Box_Head_v5_1"/>
|
||||
<axis xyz="0.0 1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev11_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev11">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev11_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev3" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.275 0.5164 0.0375"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Upper_Arm_Link_type_b_v9_1"/>
|
||||
<axis xyz="-1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev3_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev3">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev3_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev4" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.075 -0.0125 -0.05"/>
|
||||
<parent link="Upper_Arm_Link_type_b_v9_1"/>
|
||||
<child link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<axis xyz="0.0 -0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev4_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev4">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev4_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev5" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.05635 0.05"/>
|
||||
<parent link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<child link="Upper_Arm_v10_1"/>
|
||||
<axis xyz="-0.0 -1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev5_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev5">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev5_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev6" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.3675 0.05"/>
|
||||
<parent link="Upper_Arm_v10_1"/>
|
||||
<child link="Lower_Arm_v8_1"/>
|
||||
<axis xyz="0.0 -0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev6_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev6">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev6_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev7" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.275 0.5164 0.0375"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Upper_Arm_Link_type_b_v9_2"/>
|
||||
<axis xyz="1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev7_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev7">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev7_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev8" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.075 -0.0125 -0.05"/>
|
||||
<parent link="Upper_Arm_Link_type_b_v9_2"/>
|
||||
<child link="Upper_Arm_Roll_Link_v5_2"/>
|
||||
<axis xyz="0.0 -0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev8_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev8">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev8_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev9" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.05635 0.05"/>
|
||||
<parent link="Upper_Arm_Roll_Link_v5_2"/>
|
||||
<child link="Upper_Arm_v10_3"/>
|
||||
<axis xyz="0.0 -1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev9_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev9">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev9_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev10" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.3675 -0.05"/>
|
||||
<parent link="Upper_Arm_v10_3"/>
|
||||
<child link="Lower_Arm_v8_2"/>
|
||||
<axis xyz="-0.0 0.0 1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev10_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev10">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev10_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev12" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 0.812 0.1"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Leg_Pitch_v5_1"/>
|
||||
<axis xyz="-1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev12_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev12">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev12_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev13" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 0.0 -0.075"/>
|
||||
<parent link="Leg_Pitch_v5_1"/>
|
||||
<child link="Leg_Roll_v4_1"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev13_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev13">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev13_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev14" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.075 0.075"/>
|
||||
<parent link="Leg_Roll_v4_1"/>
|
||||
<child link="Upper_Leg_v4_1"/>
|
||||
<axis xyz="0.0 -1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev14_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev14">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev14_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev15" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.2982 0.0"/>
|
||||
<parent link="Upper_Leg_v4_1"/>
|
||||
<child link="Lower_Leg_v6_1"/>
|
||||
<axis xyz="1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev15_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev15">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev15_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev16" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 -0.3532 -0.03"/>
|
||||
<parent link="Lower_Leg_v6_1"/>
|
||||
<child link="Ankle_Link_v5_1"/>
|
||||
<axis xyz="-0.0 0.0 1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev16_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev16">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev16_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev19" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.02 -0.035 0.03"/>
|
||||
<parent link="Ankle_Link_v5_1"/>
|
||||
<child link="Foot_v4_1"/>
|
||||
<axis xyz="-1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev19_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev19">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev19_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev20" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.2 0.812 0.1"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Leg_Pitch_v5_2"/>
|
||||
<axis xyz="1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev20_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev20">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev20_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev21" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.0 -0.075"/>
|
||||
<parent link="Leg_Pitch_v5_2"/>
|
||||
<child link="Leg_Roll_v4_2"/>
|
||||
<axis xyz="-0.0 -0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev21_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev21">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev21_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev22" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.075 0.075"/>
|
||||
<parent link="Leg_Roll_v4_2"/>
|
||||
<child link="Upper_Leg_v4_2"/>
|
||||
<axis xyz="0.0 -1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev22_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev22">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev22_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev23" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 -0.2982 0.0"/>
|
||||
<parent link="Upper_Leg_v4_2"/>
|
||||
<child link="Lower_Leg_v6_2"/>
|
||||
<axis xyz="-1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev23_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev23">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev23_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev24" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.3532 -0.03"/>
|
||||
<parent link="Lower_Leg_v6_2"/>
|
||||
<child link="Ankle_Link_v5_2"/>
|
||||
<axis xyz="-0.0 0.0 1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev24_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev24">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev24_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev25" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.02 -0.035 0.03"/>
|
||||
<parent link="Ankle_Link_v5_2"/>
|
||||
<child link="Foot_v4_2"/>
|
||||
<axis xyz="1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev25_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev25">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev25_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</robot>
|
||||
21
Olympian/worlds/Olympian.wbt
Normal file
21
Olympian/worlds/Olympian.wbt
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
#VRML_SIM R2021b utf8
|
||||
WorldInfo {
|
||||
coordinateSystem "NUE"
|
||||
}
|
||||
Viewpoint {
|
||||
orientation -0.327371148027798 0.9433342304028307 0.05430157630548854 0.3481123552732844
|
||||
position 2.1847428400064097 1.561713095144657 5.520447064408197
|
||||
}
|
||||
TexturedBackground {
|
||||
}
|
||||
TexturedBackgroundLight {
|
||||
}
|
||||
Floor {
|
||||
appearance Parquetry {
|
||||
type "dark strip"
|
||||
}
|
||||
}
|
||||
Olympian {
|
||||
controller "squatanalysis"
|
||||
supervisor TRUE
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user