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Ram Vempati
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3b380371f4
20
bullet.py
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20
bullet.py
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import pybullet as p
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import time
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import pybullet_data
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physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
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p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
|
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p.setGravity(0,0,-10)
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planeId = p.loadURDF("plane.urdf")
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cubeStartPos = [0,0,0]
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cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
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robotId = p.loadURDF("olympian.urdf",cubeStartPos, cubeStartOrientation,
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# useMaximalCoordinates=1, ## New feature in Pybullet
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flags=p.URDF_USE_INERTIA_FROM_FILE)
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for i in range (100000):
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p.stepSimulation()
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time.sleep(1./240.)
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cubePos, cubeOrn = p.getBasePositionAndOrientation(robotId)
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print(cubePos,cubeOrn)
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p.disconnect()
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82
hello_bullet.py
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82
hello_bullet.py
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import pybullet as p
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import time
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import pybullet_data
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import math
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physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
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p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
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p.setGravity(0,0,-10)
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planeId = p.loadURDF("plane.urdf")
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startPos = [0,0,0]
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startOrientation = p.getQuaternionFromEuler([0,0,0])
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robotId = p.loadURDF("olympian.urdf",startPos, startOrientation,
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# useMaximalCoordinates=1, ## New feature in Pybullet
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flags=p.URDF_USE_INERTIA_FROM_FILE)
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print("==========SIMULATION ENABLED================")
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#GET JOINT INFO
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print(p.getNumJoints(robotId))
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for i in range(0, p.getNumJoints(robotId)-1):
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print(p.getJointInfo(robotId, i)[0:13])
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#ACTUATE LINK 4 0.5 * pi RADIANS with 15NM of TORQUE
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p.setJointMotorControl2(robotId, 4, controlMode = p.POSITION_CONTROL, targetPosition = 0.5 * math.pi, force = 15)
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listOfJointIndeces = []
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for i in range(0, p.getNumJoints(robotId)):
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listOfJointIndeces.append(i)
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#INVERSE KINEMATICS
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#GET JOINT ANGLES NEEDED TO MOVE LINK 10 to (0. 0.6, 2)
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#FORCE IS 25NM for every link bc im too lazy to custom set it for every link
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#IT FALLS BECAUSE its a lot of torque exerted in a small amount of time
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ikList = p.calculateInverseKinematics(robotId, 10, [0,0.6,2] )
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p.setJointMotorControlArray(robotId, listOfJointIndeces, p.POSITION_CONTROL,
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targetPositions = ikList, forces = [25]*23)
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#CALCULATE COM
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masstimesxpossum = 0.0
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masstimesypossum = 0.0
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masstimeszpossum = 0.0
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masssum = 0.0
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for i in range(0, p.getNumJoints(robotId) -1):
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if(i >= 0):
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print(p.getJointInfo(robotId, i)[0:13])
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wheight = p.getDynamicsInfo(robotId, i)[0]
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xpos = p.getLinkState(robotId, i)[0][0]
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ypos = p.getLinkState(robotId, i)[0][1]
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zpos = p.getLinkState(robotId, i)[0][2]
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masstimesxpossum += (wheight * xpos)
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masstimesypossum += (wheight * ypos)
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masstimeszpossum += (wheight * zpos)
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masssum += wheight
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print(wheight)
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print(xpos)
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print(ypos)
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print(zpos)
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print("\n")
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com = (masstimesxpossum/masssum, masstimesypossum/masssum, masstimeszpossum/masssum)
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print("==========COM APROX EQUALS===========")
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print(com)
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print("\n")
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#STEP SIMULATION
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for i in range(0,10000):
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p.stepSimulation()
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time.sleep(1./240.)
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print("========REALTIME SIMULATION DISABLED===============")
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# p.calculateInverseKinematics(robotId, )
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meshes/Ankle_Link_v5_1.stl
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meshes/Ankle_Link_v5_1.stl
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meshes/Ankle_Link_v5_2.stl
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meshes/Ankle_Link_v5_2.stl
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meshes/Box_Head_v5_1.stl
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meshes/Box_Head_v5_1.stl
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meshes/Chest_v13_1.stl
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meshes/Chest_v13_1.stl
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meshes/Foot_v4_1.stl
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meshes/Foot_v4_1.stl
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meshes/Foot_v4_2.stl
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meshes/Foot_v4_2.stl
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meshes/Leg_Pitch_v5_1.stl
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meshes/Leg_Pitch_v5_1.stl
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meshes/Leg_Pitch_v5_2.stl
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meshes/Leg_Pitch_v5_2.stl
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meshes/Leg_Roll_v4_1.stl
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meshes/Leg_Roll_v4_1.stl
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meshes/Leg_Roll_v4_2.stl
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meshes/Leg_Roll_v4_2.stl
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meshes/Lower_Arm_v8_1.stl
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meshes/Lower_Arm_v8_1.stl
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meshes/Lower_Arm_v8_2.stl
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meshes/Lower_Arm_v8_2.stl
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meshes/Lower_Leg_v6_1.stl
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meshes/Lower_Leg_v6_1.stl
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meshes/Lower_Leg_v6_2.stl
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meshes/Lower_Leg_v6_2.stl
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meshes/Pelvis_v7_1.stl
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meshes/Pelvis_v7_1.stl
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meshes/Upper_Arm_Link_type_b_v9_1.stl
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meshes/Upper_Arm_Link_type_b_v9_1.stl
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meshes/Upper_Arm_Link_type_b_v9_2.stl
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meshes/Upper_Arm_Link_type_b_v9_2.stl
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meshes/Upper_Arm_Roll_Link_v5_1.stl
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meshes/Upper_Arm_Roll_Link_v5_1.stl
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meshes/Upper_Arm_Roll_Link_v5_2.stl
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meshes/Upper_Arm_Roll_Link_v5_2.stl
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meshes/Upper_Arm_v10_1.stl
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meshes/Upper_Arm_v10_1.stl
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meshes/Upper_Arm_v10_3.stl
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meshes/Upper_Arm_v10_3.stl
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meshes/Upper_Leg_v4_1.stl
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meshes/Upper_Leg_v4_1.stl
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meshes/Upper_Leg_v4_2.stl
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meshes/Upper_Leg_v4_2.stl
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meshes/base_link.stl
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meshes/base_link.stl
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olympian.pdf
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olympian.pdf
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927
olympian.urdf
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927
olympian.urdf
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@ -0,0 +1,927 @@
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<?xml version="1.0" ?>
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<robot name="olympian">
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<material name="silver">
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<color rgba="0.700 0.700 0.700 1.000"/>
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</material>
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.10000000000000274 -1.5987211554602254e-16 0.8751666232732108"/>
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||||
<mass value="1.1521008690150791"/>
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||||
<inertia ixx="0.008991901943259162" ixy="-9.892367496064471e-18" ixz="0.0" iyy="0.005223496631877156" iyz="-6.132347048742014e-19" izz="0.008530264202422316"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Pelvis_v7_1">
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<inertial>
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<origin rpy="0 0 0" xyz="2.789435349370706e-15 0.049999999999999864 0.029353425629582097"/>
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||||
<mass value="0.5947505206015595"/>
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||||
<inertia ixx="0.0020170369281689027" ixy="-2.806717788186033e-19" ixz="6.938893903907228e-18" iyy="0.001878872568180201" iyz="-2.3514580861105255e-19" izz="0.0010976440297574977"/>
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</inertial>
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||||
<visual>
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<origin rpy="0 0 0" xyz="-0.1 0.05 -0.915"/>
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<geometry>
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<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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<material/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 0 0" xyz="-0.1 0.05 -0.915"/>
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<geometry>
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<mesh filename="meshes/Pelvis_v7_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="Chest_v13_1">
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<inertial>
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||||
<origin rpy="0 0 0" xyz="0.03750000000000275 -8.168836624811604e-05 0.2954266005963746"/>
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||||
<mass value="5.882339234080889"/>
|
||||
<inertia ixx="0.462024450225778" ixy="-1.2945373939476923e-16" ixz="-5.551115123125783e-16" iyy="0.3281120038896219" iyz="-0.0001155294730347088" izz="0.23780786856479988"/>
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||||
</inertial>
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||||
<visual>
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||||
<origin rpy="0 0 0" xyz="-0.0625 0.0 -0.99"/>
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<geometry>
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<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
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||||
</geometry>
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||||
<material name="silver"/>
|
||||
<material/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.0625 0.0 -0.99"/>
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||||
<geometry>
|
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<mesh filename="meshes/Chest_v13_1.stl" scale="0.001 0.001 0.001"/>
|
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</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="Box_Head_v5_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.8735013540549517e-15 2.486899575160351e-16 0.12700000029388225"/>
|
||||
<mass value="0.4129840000000015"/>
|
||||
<inertia ixx="0.00953546956266682" ixy="-1.2615370792445878e-16" ixz="-8.326672684688674e-17" iyy="0.009535469562667043" iyz="-9.005388077923778e-18" izz="0.009535469562666902"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.0 -1.5564"/>
|
||||
<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 0.0 -1.5564"/>
|
||||
<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="3.011479954295737e-15 -0.03931045800644434 -0.010955881721682825"/>
|
||||
<mass value="0.11011202726048713"/>
|
||||
<inertia ixx="0.00018206077085142214" ixy="0.0" ixz="0.0" iyy="0.00016930933911268875" iyz="-1.861439297221046e-05" izz="0.00022075846035968932"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.275 -1.5064"/>
|
||||
<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="-0.1 0.275 -1.5064"/>
|
||||
<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="0.05000000000000271 7.771561172376096e-16 -0.022135117628713896"/>
|
||||
<mass value="0.29143432706119626"/>
|
||||
<inertia ixx="0.0002924682777393217" ixy="1.734723475976807e-18" ixz="-6.938893903907228e-18" iyy="0.001232763287599803" iyz="-2.7755575615628914e-17" izz="0.0011938412922212135"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.05 0.35 -1.4939"/>
|
||||
<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="-0.05 0.35 -1.4939"/>
|
||||
<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="2.706168622523819e-15 -9.46964984205323e-09 -0.20731274229984487"/>
|
||||
<mass value="0.9419240929020993"/>
|
||||
<inertia ixx="0.018812734327517955" ixy="5.35682609381638e-15" ixz="2.7755575615628914e-17" iyy="0.019683528982801013" iyz="-1.6353901011179062e-09" izz="0.00349831999855843"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0.35 -1.43755"/>
|
||||
<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="-0.1 0.35 -1.43755"/>
|
||||
<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="-0.04999999999999716 -1.5210055437364645e-14 -0.22711717106463214"/>
|
||||
<mass value="1.1287862597517475"/>
|
||||
<inertia ixx="0.025477987567271376" ixy="5.370703881624195e-15" ixz="-1.3877787807814457e-17" iyy="0.025545638419054773" iyz="1.887379141862766e-15" izz="0.0030604925430051666"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.15 0.35 -1.07005"/>
|
||||
<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="-0.15 0.35 -1.07005"/>
|
||||
<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="2.5118795932144167e-15 0.039310458006443616 -0.010955881721682825"/>
|
||||
<mass value="0.11011202726048713"/>
|
||||
<inertia ixx="0.00018206077085147765" ixy="-1.3010426069826053e-18" ixz="-3.469446951953614e-18" iyy="0.00016930933911263324" iyz="1.8614392972175764e-05" izz="0.00022075846035969453"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.1 -0.275 -1.5064"/>
|
||||
<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="-0.1 -0.275 -1.5064"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/Upper_Arm_Link_type_b_v9_2.stl" scale="0.001 0.001 0.001"/>
|
||||
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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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|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
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|
||||
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|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
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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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|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev2_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev2">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev2_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev11" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0375 0.0 0.5664"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Box_Head_v5_1"/>
|
||||
<axis xyz="-0.0 -0.0 1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev11_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev11">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev11_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev3" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0375 -0.275 0.5164"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Upper_Arm_Link_type_b_v9_1"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev3_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev3">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev3_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev4" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 -0.075 -0.0125"/>
|
||||
<parent link="Upper_Arm_Link_type_b_v9_1"/>
|
||||
<child link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<axis xyz="-1.0 -0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev4_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev4">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev4_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev5" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
|
||||
<parent link="Upper_Arm_Roll_Link_v5_1"/>
|
||||
<child link="Upper_Arm_v10_1"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev5_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev5">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev5_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev6" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.0 -0.3675"/>
|
||||
<parent link="Upper_Arm_v10_1"/>
|
||||
<child link="Lower_Arm_v8_1"/>
|
||||
<axis xyz="-1.0 -0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev6_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev6">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev6_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev7" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0375 0.275 0.5164"/>
|
||||
<parent link="Chest_v13_1"/>
|
||||
<child link="Upper_Arm_Link_type_b_v9_2"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev7_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev7">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev7_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev8" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 0.075 -0.0125"/>
|
||||
<parent link="Upper_Arm_Link_type_b_v9_2"/>
|
||||
<child link="Upper_Arm_Roll_Link_v5_2"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev8_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev8">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev8_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev9" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
|
||||
<parent link="Upper_Arm_Roll_Link_v5_2"/>
|
||||
<child link="Upper_Arm_v10_3"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev9_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev9">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev9_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev10" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.05 0.0 -0.3675"/>
|
||||
<parent link="Upper_Arm_v10_3"/>
|
||||
<child link="Lower_Arm_v8_2"/>
|
||||
<axis xyz="1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev10_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev10">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev10_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev12" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.1 -0.1 0.815"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Leg_Pitch_v5_1"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev12_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev12">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev12_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev13" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.075 -0.05 0.0"/>
|
||||
<parent link="Leg_Pitch_v5_1"/>
|
||||
<child link="Leg_Roll_v4_1"/>
|
||||
<axis xyz="-1.0 -0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev13_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev13">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev13_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev14" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
|
||||
<parent link="Leg_Roll_v4_1"/>
|
||||
<child link="Upper_Leg_v4_1"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev14_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev14">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev14_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev15" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.05 -0.2982"/>
|
||||
<parent link="Upper_Leg_v4_1"/>
|
||||
<child link="Lower_Leg_v6_1"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev15_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev15">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev15_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev16" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.03 0.05 -0.3532"/>
|
||||
<parent link="Lower_Leg_v6_1"/>
|
||||
<child link="Ankle_Link_v5_1"/>
|
||||
<axis xyz="1.0 0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev16_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev16">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev16_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev19" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.03 -0.02 -0.035"/>
|
||||
<parent link="Ankle_Link_v5_1"/>
|
||||
<child link="Foot_v4_1"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev19_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev19">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev19_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev20" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.1 0.1 0.815"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="Leg_Pitch_v5_2"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev20_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev20">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev20_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev21" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.075 0.05 0.0"/>
|
||||
<parent link="Leg_Pitch_v5_2"/>
|
||||
<child link="Leg_Roll_v4_2"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev21_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev21">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev21_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev22" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
|
||||
<parent link="Leg_Roll_v4_2"/>
|
||||
<child link="Upper_Leg_v4_2"/>
|
||||
<axis xyz="0.0 0.0 -1.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev22_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev22">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev22_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev23" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0 0.05 -0.2982"/>
|
||||
<parent link="Upper_Leg_v4_2"/>
|
||||
<child link="Lower_Leg_v6_2"/>
|
||||
<axis xyz="0.0 -1.0 -0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev23_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev23">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev23_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev24" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.03 -0.05 -0.3532"/>
|
||||
<parent link="Lower_Leg_v6_2"/>
|
||||
<child link="Ankle_Link_v5_2"/>
|
||||
<axis xyz="1.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev24_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev24">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev24_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<joint name="Rev25" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.03 0.02 -0.035"/>
|
||||
<parent link="Ankle_Link_v5_2"/>
|
||||
<child link="Foot_v4_2"/>
|
||||
<axis xyz="-0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
<transmission name="Rev25_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="Rev25">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="Rev25_actr">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</robot>
|
||||
Loading…
Reference in New Issue
Block a user