add urdfs (part6)

pyrobolearn/robots/urdfs/laikago/LICENSE

@@ -0,0 +1,13 @@
+URDF model created by Erwin Coumans.
+Meshes derived from Laikago cad model, used by permission of Unitree.
+
+If you use the model, add a citation to PyBullet:
+
+@MISC{coumans2018,
+author =   {Erwin Coumans and Yunfei Bai},
+title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
+howpublished = {\url{http://pybullet.org}},
+year = {2016--2018}
+}
+
+

pyrobolearn/robots/urdfs/laikago/laikago.urdf

@@ -0,0 +1,477 @@
+<?xml version="1.0" ?>
+<robot name="plane">
+  <link name="chassis">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
+       <mass value="13.715"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.043794"/>
+      <geometry>
+      	
+				<mesh filename="meshes/chassis.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="yellow">
+        <color rgba="0.95 0.75 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
+      <geometry>
+      	
+				<mesh filename="meshes/chassis_vhacd_mod.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  
+ 
+	
+	 <link name="FR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+	
+	  <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+    
+    <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 -1"/>
+		<parent link="chassis"/>
+		<child link="FR_hip_motor"/>
+		<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="FR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/upper_leg_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FR_hip_motor"/>
+		<child link="FR_upper_leg"/>
+		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="FR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FR_upper_leg"/>
+		<child link="FR_lower_leg"/>
+														
+		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	 <link name="FL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green">
+        <color rgba="0.23 0.73 0.33 1"/>
+      </material>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+      </link>
+  
+   <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis"/>
+		<child link="FL_hip_motor"/>
+		<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+  <link name="FL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+      	
+				<mesh filename="meshes/upper_leg.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue">
+        <color rgba="0.28 0.52 0.93 1"/>
+      </material>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+  
+  
+  <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FL_hip_motor"/>
+		<child link="FL_upper_leg"/>
+		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	 
+  
+  <link name="FL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red">
+        <color rgba="0.85 0.19 0.21 1"/>
+      </material>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+  <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FL_upper_leg"/>
+		<child link="FL_lower_leg"/>
+		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	
+	
+	
+	
+	 <link name="RR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+	
+	  <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 -1"/>
+		<parent link="chassis"/>
+		<child link="RR_hip_motor"/>
+		<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="RR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/upper_leg_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RR_hip_motor"/>
+		<child link="RR_upper_leg"/>
+		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="RR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RR_upper_leg"/>
+		<child link="RR_lower_leg"/>
+		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	 <link name="RL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+      </link>
+  
+   <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis"/>
+		<child link="RL_hip_motor"/>
+												
+		<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+  <link name="RL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/upper_leg.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+  
+  
+  <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RL_hip_motor"/>
+		<child link="RL_upper_leg"/>
+		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	 
+  
+  <link name="RL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="meshes/lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+  <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RL_upper_leg"/>
+		<child link="RL_lower_leg"/>
+		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	
+</robot>
+

pyrobolearn/robots/urdfs/laikago/meshes/chassis.mtl

@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2

pyrobolearn/robots/urdfs/laikago/meshes/chassis_mod.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None.002
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.800000 0.800000 0.800000
+Ni 1.000000
+d 1.000000
+illum 2

pyrobolearn/robots/urdfs/laikago/meshes/upper_leg_left.mtl

@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2