diff options
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/LICENSE | 373 | ||||
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/aliengo.py | 58 | ||||
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf | 632 | ||||
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl | bin | 0 -> 236284 bytes | |||
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl | bin | 0 -> 82834 bytes | |||
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl | bin | 0 -> 237884 bytes | |||
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.stl | bin | 0 -> 237084 bytes | |||
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl | bin | 0 -> 957184 bytes |
8 files changed, 1063 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/LICENSE b/examples/pybullet/gym/pybullet_data/aliengo/LICENSE new file mode 100644 index 000000000..a612ad981 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/LICENSE @@ -0,0 +1,373 @@ +Mozilla Public License Version 2.0 +================================== + +1. Definitions +-------------- + +1.1. "Contributor" + means each individual or legal entity that creates, contributes to + the creation of, or owns Covered Software. + +1.2. "Contributor Version" + means the combination of the Contributions of others (if any) used + by a Contributor and that particular Contributor's Contribution. + +1.3. "Contribution" + means Covered Software of a particular Contributor. + +1.4. "Covered Software" + means Source Code Form to which the initial Contributor has attached + the notice in Exhibit A, the Executable Form of such Source Code + Form, and Modifications of such Source Code Form, in each case + including portions thereof. + +1.5. "Incompatible With Secondary Licenses" + means + + (a) that the initial Contributor has attached the notice described + in Exhibit B to the Covered Software; or + + (b) that the Covered Software was made available under the terms of + version 1.1 or earlier of the License, but not also under the + terms of a Secondary License. + +1.6. "Executable Form" + means any form of the work other than Source Code Form. + +1.7. "Larger Work" + means a work that combines Covered Software with other material, in + a separate file or files, that is not Covered Software. + +1.8. "License" + means this document. + +1.9. "Licensable" + means having the right to grant, to the maximum extent possible, + whether at the time of the initial grant or subsequently, any and + all of the rights conveyed by this License. + +1.10. "Modifications" + means any of the following: + + (a) any file in Source Code Form that results from an addition to, + deletion from, or modification of the contents of Covered + Software; or + + (b) any new file in Source Code Form that contains any Covered + Software. + +1.11. "Patent Claims" of a Contributor + means any patent claim(s), including without limitation, method, + process, and apparatus claims, in any patent Licensable by such + Contributor that would be infringed, but for the grant of the + License, by the making, using, selling, offering for sale, having + made, import, or transfer of either its Contributions or its + Contributor Version. + +1.12. "Secondary License" + means either the GNU General Public License, Version 2.0, the GNU + Lesser General Public License, Version 2.1, the GNU Affero General + Public License, Version 3.0, or any later versions of those + licenses. + +1.13. "Source Code Form" + means the form of the work preferred for making modifications. + +1.14. "You" (or "Your") + means an individual or a legal entity exercising rights under this + License. For legal entities, "You" includes any entity that + controls, is controlled by, or is under common control with You. For + purposes of this definition, "control" means (a) the power, direct + or indirect, to cause the direction or management of such entity, + whether by contract or otherwise, or (b) ownership of more than + fifty percent (50%) of the outstanding shares or beneficial + ownership of such entity. + +2. License Grants and Conditions +-------------------------------- + +2.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, +non-exclusive license: + +(a) under intellectual property rights (other than patent or trademark) + Licensable by such Contributor to use, reproduce, make available, + modify, display, perform, distribute, and otherwise exploit its + Contributions, either on an unmodified basis, with Modifications, or + as part of a Larger Work; and + +(b) under Patent Claims of such Contributor to make, use, sell, offer + for sale, have made, import, and otherwise transfer either its + Contributions or its Contributor Version. + +2.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution +become effective for each Contribution on the date the Contributor first +distributes such Contribution. + +2.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under +this License. No additional rights or licenses will be implied from the +distribution or licensing of Covered Software under this License. +Notwithstanding Section 2.1(b) above, no patent license is granted by a +Contributor: + +(a) for any code that a Contributor has removed from Covered Software; + or + +(b) for infringements caused by: (i) Your and any other third party's + modifications of Covered Software, or (ii) the combination of its + Contributions with other software (except as part of its Contributor + Version); or + +(c) under Patent Claims infringed by Covered Software in the absence of + its Contributions. + +This License does not grant any rights in the trademarks, service marks, +or logos of any Contributor (except as may be necessary to comply with +the notice requirements in Section 3.4). + +2.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to +distribute the Covered Software under a subsequent version of this +License (see Section 10.2) or under the terms of a Secondary License (if +permitted under the terms of Section 3.3). + +2.5. Representation + +Each Contributor represents that the Contributor believes its +Contributions are its original creation(s) or it has sufficient rights +to grant the rights to its Contributions conveyed by this License. + +2.6. Fair Use + +This License is not intended to limit any rights You have under +applicable copyright doctrines of fair use, fair dealing, or other +equivalents. + +2.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted +in Section 2.1. + +3. Responsibilities +------------------- + +3.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any +Modifications that You create or to which You contribute, must be under +the terms of this License. You must inform recipients that the Source +Code Form of the Covered Software is governed by the terms of this +License, and how they can obtain a copy of this License. You may not +attempt to alter or restrict the recipients' rights in the Source Code +Form. + +3.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + +(a) such Covered Software must also be made available in Source Code + Form, as described in Section 3.1, and You must inform recipients of + the Executable Form how they can obtain a copy of such Source Code + Form by reasonable means in a timely manner, at a charge no more + than the cost of distribution to the recipient; and + +(b) You may distribute such Executable Form under the terms of this + License, or sublicense it under different terms, provided that the + license for the Executable Form does not attempt to limit or alter + the recipients' rights in the Source Code Form under this License. + +3.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, +provided that You also comply with the requirements of this License for +the Covered Software. If the Larger Work is a combination of Covered +Software with a work governed by one or more Secondary Licenses, and the +Covered Software is not Incompatible With Secondary Licenses, this +License permits You to additionally distribute such Covered Software +under the terms of such Secondary License(s), so that the recipient of +the Larger Work may, at their option, further distribute the Covered +Software under the terms of either this License or such Secondary +License(s). + +3.4. Notices + +You may not remove or alter the substance of any license notices +(including copyright notices, patent notices, disclaimers of warranty, +or limitations of liability) contained within the Source Code Form of +the Covered Software, except that You may alter any license notices to +the extent required to remedy known factual inaccuracies. + +3.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, +indemnity or liability obligations to one or more recipients of Covered +Software. However, You may do so only on Your own behalf, and not on +behalf of any Contributor. You must make it absolutely clear that any +such warranty, support, indemnity, or liability obligation is offered by +You alone, and You hereby agree to indemnify every Contributor for any +liability incurred by such Contributor as a result of warranty, support, +indemnity or liability terms You offer. You may include additional +disclaimers of warranty and limitations of liability specific to any +jurisdiction. + +4. Inability to Comply Due to Statute or Regulation +--------------------------------------------------- + +If it is impossible for You to comply with any of the terms of this +License with respect to some or all of the Covered Software due to +statute, judicial order, or regulation then You must: (a) comply with +the terms of this License to the maximum extent possible; and (b) +describe the limitations and the code they affect. Such description must +be placed in a text file included with all distributions of the Covered +Software under this License. Except to the extent prohibited by statute +or regulation, such description must be sufficiently detailed for a +recipient of ordinary skill to be able to understand it. + +5. Termination +-------------- + +5.1. The rights granted under this License will terminate automatically +if You fail to comply with any of its terms. However, if You become +compliant, then the rights granted under this License from a particular +Contributor are reinstated (a) provisionally, unless and until such +Contributor explicitly and finally terminates Your grants, and (b) on an +ongoing basis, if such Contributor fails to notify You of the +non-compliance by some reasonable means prior to 60 days after You have +come back into compliance. Moreover, Your grants from a particular +Contributor are reinstated on an ongoing basis if such Contributor +notifies You of the non-compliance by some reasonable means, this is the +first time You have received notice of non-compliance with this License +from such Contributor, and You become compliant prior to 30 days after +Your receipt of the notice. + +5.2. If You initiate litigation against any entity by asserting a patent +infringement claim (excluding declaratory judgment actions, +counter-claims, and cross-claims) alleging that a Contributor Version +directly or indirectly infringes any patent, then the rights granted to +You by any and all Contributors for the Covered Software under Section +2.1 of this License shall terminate. + +5.3. In the event of termination under Sections 5.1 or 5.2 above, all +end user license agreements (excluding distributors and resellers) which +have been validly granted by You or Your distributors under this License +prior to termination shall survive termination. + +************************************************************************ +* * +* 6. Disclaimer of Warranty * +* ------------------------- * +* * +* Covered Software is provided under this License on an "as is" * +* basis, without warranty of any kind, either expressed, implied, or * +* statutory, including, without limitation, warranties that the * +* Covered Software is free of defects, merchantable, fit for a * +* particular purpose or non-infringing. The entire risk as to the * +* quality and performance of the Covered Software is with You. * +* Should any Covered Software prove defective in any respect, You * +* (not any Contributor) assume the cost of any necessary servicing, * +* repair, or correction. This disclaimer of warranty constitutes an * +* essential part of this License. No use of any Covered Software is * +* authorized under this License except under this disclaimer. * +* * +************************************************************************ + +************************************************************************ +* * +* 7. Limitation of Liability * +* -------------------------- * +* * +* Under no circumstances and under no legal theory, whether tort * +* (including negligence), contract, or otherwise, shall any * +* Contributor, or anyone who distributes Covered Software as * +* permitted above, be liable to You for any direct, indirect, * +* special, incidental, or consequential damages of any character * +* including, without limitation, damages for lost profits, loss of * +* goodwill, work stoppage, computer failure or malfunction, or any * +* and all other commercial damages or losses, even if such party * +* shall have been informed of the possibility of such damages. This * +* limitation of liability shall not apply to liability for death or * +* personal injury resulting from such party's negligence to the * +* extent applicable law prohibits such limitation. Some * +* jurisdictions do not allow the exclusion or limitation of * +* incidental or consequential damages, so this exclusion and * +* limitation may not apply to You. * +* * +************************************************************************ + +8. Litigation +------------- + +Any litigation relating to this License may be brought only in the +courts of a jurisdiction where the defendant maintains its principal +place of business and such litigation shall be governed by laws of that +jurisdiction, without reference to its conflict-of-law provisions. +Nothing in this Section shall prevent a party's ability to bring +cross-claims or counter-claims. + +9. Miscellaneous +---------------- + +This License represents the complete agreement concerning the subject +matter hereof. If any provision of this License is held to be +unenforceable, such provision shall be reformed only to the extent +necessary to make it enforceable. Any law or regulation which provides +that the language of a contract shall be construed against the drafter +shall not be used to construe this License against a Contributor. + +10. Versions of the License +--------------------------- + +10.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section +10.3, no one other than the license steward has the right to modify or +publish new versions of this License. Each version will be given a +distinguishing version number. + +10.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version +of the License under which You originally received the Covered Software, +or under the terms of any subsequent version published by the license +steward. + +10.3. Modified Versions + +If you create software not governed by this License, and you want to +create a new license for such software, you may create and use a +modified version of this License if you rename the license and remove +any references to the name of the license steward (except to note that +such modified license differs from this License). + +10.4. Distributing Source Code Form that is Incompatible With Secondary +Licenses + +If You choose to distribute Source Code Form that is Incompatible With +Secondary Licenses under the terms of this version of the License, the +notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice +------------------------------------------- + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular +file, then You may include the notice in a location (such as a LICENSE +file in a relevant directory) where a recipient would be likely to look +for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - "Incompatible With Secondary Licenses" Notice +--------------------------------------------------------- + + This Source Code Form is "Incompatible With Secondary Licenses", as + defined by the Mozilla Public License, v. 2.0. diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py new file mode 100644 index 000000000..cb4588c46 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py @@ -0,0 +1,58 @@ +import pybullet as p +import time +import pybullet_data as pd +import numpy as np +p.connect(p.GUI) +p.setAdditionalSearchPath(pd.getDataPath()) +dt = 1./240. + +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) +p.loadURDF("plane.urdf") +robot = p.loadURDF("aliengo/aliengo.urdf",[0,0,0.5]) +p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) +p.setGravity(0,0,-9.8) + +ALIENGO_DEFAULT_ABDUCTION_ANGLE = 0 +ALIENGO_DEFAULT_HIP_ANGLE = 1.2 +ALIENGO_DEFAULT_KNEE_ANGLE = -2.0 +NUM_LEGS = 4 +INIT_MOTOR_ANGLES = np.array([ + ALIENGO_DEFAULT_ABDUCTION_ANGLE, + ALIENGO_DEFAULT_HIP_ANGLE, + ALIENGO_DEFAULT_KNEE_ANGLE +] * NUM_LEGS) + +MOTOR_NAMES = [ + "FR_hip_joint", + "FR_upper_joint", + "FR_lower_joint", + "FL_hip_joint", + "FL_upper_joint", + "FL_lower_joint", + "RR_hip_joint", + "RR_upper_joint", + "RR_lower_joint", + "RL_hip_joint", + "RL_upper_joint", + "RL_lower_joint", +] +motor_ids = [] + +for j in range (p.getNumJoints(robot)): + joint_info = p.getJointInfo(robot,j) + name = joint_info[1].decode('utf-8') + print("joint_info[1]=",name) + if name in MOTOR_NAMES: + motor_ids.append(j) + +for index in range (12): + joint_id = motor_ids[index] + p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index]) + p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index]) + +print("motor_ids=",motor_ids) +while p.isConnected(): + p.stepSimulation() + time.sleep(dt) + + diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf new file mode 100644 index 000000000..dfab74701 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf @@ -0,0 +1,632 @@ +<?xml version="1.0" ?> +<!-- =================================================================================== --> +<!-- | This document was autogenerated by xacro from robot.xacro | --> +<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> +<!-- =================================================================================== --> +<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro"> + <material name="black"> + <color rgba="0.0 0.0 0.0 1.0"/> + </material> + <material name="blue"> + <color rgba="0.0 0.0 0.8 1.0"/> + </material> + <material name="green"> + <color rgba="0.0 0.8 0.0 1.0"/> + </material> + <material name="grey"> + <color rgba="0.2 0.2 0.2 1.0"/> + </material> + <material name="silver"> + <color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/> + </material> + <material name="orange"> + <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> + </material> + <material name="brown"> + <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/> + </material> + <material name="red"> + <color rgba="0.8 0.0 0.0 1.0"/> + </material> + <material name="white"> + <color rgba="1.0 1.0 1.0 1.0"/> + </material> + <link name="trunk"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/trunk.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.647 0.15 0.112"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/> + <mass value="9.041"/> + <inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/> + </inertial> + </link> + <joint name="imu_joint" type="fixed"> + <parent link="trunk"/> + <child link="imu_link"/> + <origin rpy="0 0 0" xyz="0 0 0"/> + </joint> + <link name="imu_link"> + <inertial> + <mass value="0.001"/> + <origin rpy="0 0 0" xyz="0 0 0"/> + <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.001 0.001 0.001"/> + </geometry> + <material name="red"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size=".001 .001 .001"/> + </geometry> + </collision> + </link> + <joint name="FR_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0.2399 -0.051 0"/> + <parent link="trunk"/> + <child link="FR_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="FR_hip"> + <visual> + <origin rpy="3.14159265359 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="FR_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 -0.083 0"/> + <parent link="FR_hip"/> + <child link="FR_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="FR_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="FR_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FR_upper"/> + <child link="FR_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="FR_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="FR_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FR_lower"/> + <child link="FR_toe"/> + </joint> + <link name="FR_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="FR_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FR_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FR_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FR_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FR_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FR_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FR_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FR_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FR_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <joint name="FL_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0.2399 0.051 0"/> + <parent link="trunk"/> + <child link="FL_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="FL_hip"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="FL_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 0.083 0"/> + <parent link="FL_hip"/> + <child link="FL_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="FL_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="FL_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FL_upper"/> + <child link="FL_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="FL_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="FL_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FL_lower"/> + <child link="FL_toe"/> + </joint> + <link name="FL_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="FL_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FL_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FL_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FL_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FL_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FL_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FL_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FL_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FL_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <joint name="RR_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/> + <parent link="trunk"/> + <child link="RR_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="RR_hip"> + <visual> + <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="RR_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 -0.083 0"/> + <parent link="RR_hip"/> + <child link="RR_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="RR_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="RR_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RR_upper"/> + <child link="RR_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="RR_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="RR_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RR_lower"/> + <child link="RR_toe"/> + </joint> + <link name="RR_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="RR_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RR_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RR_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RR_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RR_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RR_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RR_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RR_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RR_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <joint name="RL_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="-0.2399 0.051 0"/> + <parent link="trunk"/> + <child link="RL_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="RL_hip"> + <visual> + <origin rpy="0 3.14159265359 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="RL_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 0.083 0"/> + <parent link="RL_hip"/> + <child link="RL_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="RL_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="RL_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RL_upper"/> + <child link="RL_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="RL_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="RL_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RL_lower"/> + <child link="RL_toe"/> + </joint> + <link name="RL_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="RL_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RL_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RL_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RL_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RL_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RL_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RL_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RL_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RL_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> +</robot> + diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl Binary files differnew file mode 100644 index 000000000..fd3738853 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl Binary files differnew file mode 100644 index 000000000..9773ff712 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl Binary files differnew file mode 100644 index 000000000..e8646303d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.stl Binary files differnew file mode 100644 index 000000000..7d7be0fd9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.stl diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl Binary files differnew file mode 100644 index 000000000..e22aaabc1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl |