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Gepetto
example-robot-data
Commits
69fa2d62
Commit
69fa2d62
authored
Jun 17, 2021
by
Julian Viereck
Browse files
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parent
5d6f078d
Pipeline
#14976
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in 1 minute and 11 seconds
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python/example_robot_data/robots_loader.py
View file @
69fa2d62
...
...
@@ -258,6 +258,14 @@ def loadHyQ():
return
HyQLoader
().
robot
class
BoltLoader
(
RobotLoader
):
path
=
'bolt_description'
urdf_filename
=
"bolt.urdf"
srdf_filename
=
"bolt.srdf"
ref_posture
=
"standing"
free_flyer
=
True
class
Solo8Loader
(
RobotLoader
):
path
=
'solo_description'
urdf_filename
=
"solo.urdf"
...
...
@@ -504,6 +512,7 @@ ROBOTS = {
'romeo'
:
RomeoLoader
,
'simple_humanoid'
:
SimpleHumanoidLoader
,
'simple_humanoid_classical'
:
SimpleHumanoidClassicalLoader
,
'bolt'
:
BoltLoader
,
'solo'
:
SoloLoader
,
'solo8'
:
Solo8Loader
,
'solo12'
:
Solo12Loader
,
...
...
robots/bolt_description/meshes/stl/bolt_body.stl
0 → 100644
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69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_foot.stl
0 → 100644
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69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_lower_leg_left_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_lower_leg_right_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_upper_leg_left_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/meshes/stl/bolt_upper_leg_right_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl
0 → 100644
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69fa2d62
File added
robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl
0 → 100644
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69fa2d62
File added
robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl
0 → 100644
View file @
69fa2d62
File added
robots/bolt_description/robots/bolt.urdf
0 → 100644
View file @
69fa2d62
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /usr/local/lib/python3.9/site-packages/robot_properties_bolt/resources/xacro/bolt.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot
name=
"bolt"
xmlns:controller=
"http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface=
"http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:sensor=
"http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xacro=
"http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>
<!-- This file is based on: https://atlas.is.localnet/confluence/display/AMDW/Quadruped+URDF+Files -->
<link
name=
"base_link"
>
<!-- BASE LINK INERTIAL -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<mass
value=
"0.61436936"
/>
<!-- The base is extremely symmetrical. -->
<inertia
ixx=
"0.00578574"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.01938108"
iyz=
"0.0"
izz=
"0.02476124"
/>
</inertial>
<!-- BASE LINK VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_body.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- BASE LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_body.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"1.0"
/>
<restitution
value=
"0.5"
/>
</contact>
</link>
<!-- END BASE LINK -->
<!--xacro:property name="base_2_HAA_x" value="${2.45656 * 0.001}" />
<xacro:property name="base_2_HAA_y" value="${63.6 * 0.001}" />
<xacro:property name="base_2_HAA_z" value="${33.0809 * 0.001}" /-->
<joint
name=
"FL_HAA"
type=
"revolute"
>
<parent
link=
"base_link"
/>
<child
link=
"FL_SHOULDER"
/>
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the x-axis -->
<axis
xyz=
"1 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.0 0.0636 0"
/>
<!--xacro:unless value="${is_right}">
<origin xyz="${base_2_HAA_x} ${base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
</xacro:unless>
<xacro:if value="${is_right}">
<origin xyz="${base_2_HAA_x} ${-base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
</xacro:if-->
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FL_SHOULDER"
>
<!-- TODO: Update inertias and add visuals for link. -->
<!-- create a dummy shoulder link to join the two joints -->
<inertial>
<!-- Left upper leg inertia -->
<mass
value=
"0.14004265"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.01708256 -0.00446892 -0.01095830"
/>
<inertia
ixx=
"0.00007443"
ixy=
"0.00000148"
ixz=
"0.00002154"
iyy=
"0.00013847"
iyz=
"-0.00001096"
izz=
"0.00009002"
/>
</inertial>
<!-- HIP LEG LINK VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_left_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- UPPER LEG LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_left_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"1.0"
/>
<restitution
value=
"0.5"
/>
</contact>
</link>
<joint
name=
"FL_HFE"
type=
"revolute"
>
<parent
link=
"FL_SHOULDER"
/>
<child
link=
"FL_UPPER_LEG"
/>
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 0.0145 -0.0386"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FL_UPPER_LEG"
>
<!-- Left upper leg inertia -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"0.00001377 0.01935853 -0.11870700"
/>
<mass
value=
"0.14853845"
/>
<inertia
ixx=
"0.00041107"
ixy=
"0.00000000"
ixz=
"0.00000009"
iyy=
"0.00041193"
iyz=
"-0.00004671"
izz=
"0.00003024"
/>
</inertial>
<!-- UPPER LEG LINK VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_left_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- UPPER LEG LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_left_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"1.0"
/>
<restitution
value=
"0.5"
/>
</contact>
</link>
<!-- END UPPER LEG LINK -->
<!-- KFE: Joint between the upper leg and the lower leg -->
<joint
name=
"FL_KFE"
type=
"revolute"
>
<parent
link=
"FL_UPPER_LEG"
/>
<child
link=
"FL_LOWER_LEG"
/>
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 0.0374 -0.2"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FL_LOWER_LEG"
>
<!-- Left lower leg inertia -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"0.0 0.00836718 -0.11591877"
/>
<mass
value=
"0.03117243"
/>
<inertia
ixx=
"0.00011487"
ixy=
"0.00000000"
ixz=
"0.00000000"
iyy=
"0.00011556"
iyz=
"-0.00000190"
izz=
"0.00000220"
/>
</inertial>
<!-- LOWER LEG LINK VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_left_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- LOWER LEG LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_left_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"1.0"
/>
<restitution
value=
"0.5"
/>
</contact>
</link>
<!-- END LOWER LEG LINK -->
<!-- KFE: Joint between the upper leg and the lower leg -->
<joint
name=
"FL_ANKLE"
type=
"fixed"
>
<parent
link=
"FL_LOWER_LEG"
/>
<child
link=
"FL_FOOT"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 0.008 -0.2"
/>
<!-- Limits (usefull?) -->
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FL_FOOT"
>
<!-- FOOT INERTIAL -->
<!-- This link is symmetrical left or right -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0.00035767"
/>
<mass
value=
"0.00000000"
/>
<inertia
ixx=
"0.00000057"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.00000084"
iyz=
"0.0"
izz=
"0.00000053"
/>
</inertial>
<!-- FOOT VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- FOOT COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"4.0"
/>
<restitution
value=
"0.0"
/>
</contact>
</link>
<!-- END LOWER LEG LINK -->
<joint
name=
"FR_HAA"
type=
"revolute"
>
<parent
link=
"base_link"
/>
<child
link=
"FR_SHOULDER"
/>
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the x-axis -->
<axis
xyz=
"1 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.0 -0.0636 0"
/>
<!--xacro:unless value="${is_right}">
<origin xyz="${base_2_HAA_x} ${base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
</xacro:unless>
<xacro:if value="${is_right}">
<origin xyz="${base_2_HAA_x} ${-base_2_HAA_y + 0.0007888} ${-base_2_HAA_z}" rpy="0 0 0" />
</xacro:if-->
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FR_SHOULDER"
>
<!-- TODO: Update inertias and add visuals for link. -->
<!-- create a dummy shoulder link to join the two joints -->
<inertial>
<!-- Right upper leg inertia -->
<mass
value=
"0.14004412"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.01708233 0.00447099 -0.01095846"
/>
<inertia
ixx=
"0.00007442"
ixy=
"-0.00000148"
ixz=
"0.00002154"
iyy=
"0.00013848"
iyz=
"0.00001095"
izz=
"0.00009001"
/>
</inertial>
<!-- HIP LEG LINK VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_right_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- UPPER LEG LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_hip_fe_right_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"1.0"
/>
<restitution
value=
"0.5"
/>
</contact>
</link>
<joint
name=
"FR_HFE"
type=
"revolute"
>
<parent
link=
"FR_SHOULDER"
/>
<child
link=
"FR_UPPER_LEG"
/>
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 -0.0145 -0.0386"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FR_UPPER_LEG"
>
<!-- Right upper leg inertia -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"-0.00001377 -0.01935853 -0.11870700"
/>
<mass
value=
"0.14853845"
/>
<inertia
ixx=
"0.00041107"
ixy=
"0.00000000"
ixz=
"-0.00000009"
iyy=
"0.00041193"
iyz=
"0.00004671"
izz=
"0.00003024"
/>
</inertial>
<!-- UPPER LEG LINK VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_right_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- UPPER LEG LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/upper_leg_200mm_right_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"1.0"
/>
<restitution
value=
"0.5"
/>
</contact>
</link>
<!-- END UPPER LEG LINK -->
<!-- KFE: Joint between the upper leg and the lower leg -->
<joint
name=
"FR_KFE"
type=
"revolute"
>
<parent
link=
"FR_UPPER_LEG"
/>
<child
link=
"FR_LOWER_LEG"
/>
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 -0.0374 -0.2"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FR_LOWER_LEG"
>
<!-- Right lower leg inertia -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"0.0 -0.00836718 -0.11591877"
/>
<mass
value=
"0.03117243"
/>
<inertia
ixx=
"0.00011487"
ixy=
"0.00000000"
ixz=
"0.00000000"
iyy=
"0.00011556"
iyz=
"0.00000190"
izz=
"0.00000220"
/>
</inertial>
<!-- LOWER LEG LINK VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_right_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- LOWER LEG LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/lower_leg_200mm_right_side.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"1.0"
/>
<restitution
value=
"0.5"
/>
</contact>
</link>
<!-- END LOWER LEG LINK -->
<!-- KFE: Joint between the upper leg and the lower leg -->
<joint
name=
"FR_ANKLE"
type=
"fixed"
>
<parent
link=
"FR_LOWER_LEG"
/>
<child
link=
"FR_FOOT"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 -0.008 -0.2"
/>
<!-- Limits (usefull?) -->
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FR_FOOT"
>
<!-- FOOT INERTIAL -->
<!-- This link is symmetrical left or right -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0.00035767"
/>
<mass
value=
"0.00000000"
/>
<inertia
ixx=
"0.00000057"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.00000084"
iyz=
"0.0"
izz=
"0.00000053"
/>
</inertial>
<!-- FOOT VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- FOOT COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/bolt/meshes/stl/bolt_foot.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<!-- Bullet specific paramters -->
<contact>
<lateral_friction
value=
"4.0"
/>
<restitution
value=
"0.0"
/>
</contact>
</link>
<!-- END LOWER LEG LINK -->
</robot>
robots/bolt_description/srdf/bot.srdf
0 → 100644
View file @
69fa2d62
<?xml version="1.0" ?>
<robot
name=
"finger_edu"
>
<!-- left leg -->
<group
name=
"left_leg"
>
<joint
name=
"FL_HAA"
/>
<joint
name=
"FL_HFE"
/>
<joint
name=
"FL_KFE"
/>
<chain
base_link=
"base_link"
tip_link=
"FL_FOOT"
/>
</group>
<!-- right leg -->
<group
name=
"right_leg"
>
<joint
name=
"FR_HAA"
/>
<joint
name=
"FR_HFE"
/>
<joint
name=
"FR_KFE"
/>
<chain
base_link=
"base_link"
tip_link=
"FR_FOOT"
/>
</group>
<group
name=
"all_legs"
>
<group
name=
"left_leg"
/>
<group
name=
"right_leg"
/>
</group>
<end_effector
name=
"left_foot"
parent_link=
"FL_FOOT"
group=
"left_leg"
/>
<end_effector
name=
"right_foot"
parent_link=
"FR_FOOT"
group=
"right_leg"
/>
<group_state
name=
"standing"
group=
"all_legs"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.35487417 0. 0. 0. 1."
/>
<joint
name=
"FL_HAA"
value=
"-0.3"
/>
<joint
name=
"FL_HFE"
value=
"0.78539816"
/>
<joint
name=
"FL_KFE"
value=
"-1.57079633"
/>
<joint
name=
"FR_HAA"
value=
"0.3"
/>
<joint
name=
"FR_HFE"
value=
"0.78539816"
/>
<joint
name=
"FR_KFE"
value=
"-1.57079633"
/>
</group_state>
<disable_collisions
link1=
"FL_SHOULDER"
link2=
"base_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_SHOULDER"
link2=
"base_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FL_UPPER_LEG"
link2=
"FL_SHOULDER"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_UPPER_LEG"
link2=
"FR_SHOULDER"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FL_LOWER_LEG"
link2=
"FL_UPPER_LEG"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_LOWER_LEG"
link2=
"FR_UPPER_LEG"
reason=
"Adjacent"
/>
</robot>
unittest/test_load.py
View file @
69fa2d62
...
...
@@ -73,6 +73,9 @@ class RobotTestCase(unittest.TestCase):
def
test_simple_humanoid_classical
(
self
):
self
.
check
(
'simple_humanoid_classical'
,
36
,
35
,
one_kg_bodies
=
[
'LARM_LINK3'
,
'RARM_LINK3'
])
def
test_bolt
(
self
):
self
.
check
(
'bolt'
,
13
,
12
)
def
test_solo8
(
self
):
self
.
check
(
'solo8'
,
15
,
14
)
...
...
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