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renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/nav_msgs/GetMapFeedback.h | #ifndef _ROS_nav_msgs_GetMapFeedback_h
#define _ROS_nav_msgs_GetMapFeedback_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace nav_msgs
{
class GetMapFeedback : public ros::Msg
{
public:
GetMapFeedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
return offset;
}
const char * getType(){ return "nav_msgs/GetMapFeedback"; };
const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/nav_msgs/Odometry.h | #ifndef _ROS_nav_msgs_Odometry_h
#define _ROS_nav_msgs_Odometry_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/PoseWithCovariance.h"
#include "geometry_msgs/TwistWithCovariance.h"
namespace nav_msgs
{
class Odometry : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef const char* _child_frame_id_type;
_child_frame_id_type child_frame_id;
typedef geometry_msgs::PoseWithCovariance _pose_type;
_pose_type pose;
typedef geometry_msgs::TwistWithCovariance _twist_type;
_twist_type twist;
Odometry():
header(),
child_frame_id(""),
pose(),
twist()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
uint32_t length_child_frame_id = strlen(this->child_frame_id);
varToArr(outbuffer + offset, length_child_frame_id);
offset += 4;
memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
offset += length_child_frame_id;
offset += this->pose.serialize(outbuffer + offset);
offset += this->twist.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
uint32_t length_child_frame_id;
arrToVar(length_child_frame_id, (inbuffer + offset));
offset += 4;
for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
inbuffer[k-1]=inbuffer[k];
}
inbuffer[offset+length_child_frame_id-1]=0;
this->child_frame_id = (char *)(inbuffer + offset-1);
offset += length_child_frame_id;
offset += this->pose.deserialize(inbuffer + offset);
offset += this->twist.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "nav_msgs/Odometry"; };
const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/nav_msgs/GetMapGoal.h | #ifndef _ROS_nav_msgs_GetMapGoal_h
#define _ROS_nav_msgs_GetMapGoal_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace nav_msgs
{
class GetMapGoal : public ros::Msg
{
public:
GetMapGoal()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
return offset;
}
const char * getType(){ return "nav_msgs/GetMapGoal"; };
const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/nav_msgs/OccupancyGrid.h | #ifndef _ROS_nav_msgs_OccupancyGrid_h
#define _ROS_nav_msgs_OccupancyGrid_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "nav_msgs/MapMetaData.h"
namespace nav_msgs
{
class OccupancyGrid : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef nav_msgs::MapMetaData _info_type;
_info_type info;
uint32_t data_length;
typedef int8_t _data_type;
_data_type st_data;
_data_type * data;
OccupancyGrid():
header(),
info(),
data_length(0), data(NULL)
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->info.serialize(outbuffer + offset);
*(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
offset += sizeof(this->data_length);
for( uint32_t i = 0; i < data_length; i++){
union {
int8_t real;
uint8_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
offset += sizeof(this->data[i]);
}
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->info.deserialize(inbuffer + offset);
uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
offset += sizeof(this->data_length);
if(data_lengthT > data_length)
this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
data_length = data_lengthT;
for( uint32_t i = 0; i < data_length; i++){
union {
int8_t real;
uint8_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
this->st_data = u_st_data.real;
offset += sizeof(this->st_data);
memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
}
return offset;
}
const char * getType(){ return "nav_msgs/OccupancyGrid"; };
const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/nav_msgs/GetMapAction.h | #ifndef _ROS_nav_msgs_GetMapAction_h
#define _ROS_nav_msgs_GetMapAction_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "nav_msgs/GetMapActionGoal.h"
#include "nav_msgs/GetMapActionResult.h"
#include "nav_msgs/GetMapActionFeedback.h"
namespace nav_msgs
{
class GetMapAction : public ros::Msg
{
public:
typedef nav_msgs::GetMapActionGoal _action_goal_type;
_action_goal_type action_goal;
typedef nav_msgs::GetMapActionResult _action_result_type;
_action_result_type action_result;
typedef nav_msgs::GetMapActionFeedback _action_feedback_type;
_action_feedback_type action_feedback;
GetMapAction():
action_goal(),
action_result(),
action_feedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->action_goal.serialize(outbuffer + offset);
offset += this->action_result.serialize(outbuffer + offset);
offset += this->action_feedback.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->action_goal.deserialize(inbuffer + offset);
offset += this->action_result.deserialize(inbuffer + offset);
offset += this->action_feedback.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "nav_msgs/GetMapAction"; };
const char * getMD5(){ return "e611ad23fbf237c031b7536416dc7cd7"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestAction.h | #ifndef _ROS_actionlib_TestAction_h
#define _ROS_actionlib_TestAction_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "actionlib/TestActionGoal.h"
#include "actionlib/TestActionResult.h"
#include "actionlib/TestActionFeedback.h"
namespace actionlib
{
class TestAction : public ros::Msg
{
public:
typedef actionlib::TestActionGoal _action_goal_type;
_action_goal_type action_goal;
typedef actionlib::TestActionResult _action_result_type;
_action_result_type action_result;
typedef actionlib::TestActionFeedback _action_feedback_type;
_action_feedback_type action_feedback;
TestAction():
action_goal(),
action_result(),
action_feedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->action_goal.serialize(outbuffer + offset);
offset += this->action_result.serialize(outbuffer + offset);
offset += this->action_feedback.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->action_goal.deserialize(inbuffer + offset);
offset += this->action_result.deserialize(inbuffer + offset);
offset += this->action_feedback.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestAction"; };
const char * getMD5(){ return "991e87a72802262dfbe5d1b3cf6efc9a"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestResult.h | #ifndef _ROS_actionlib_TestResult_h
#define _ROS_actionlib_TestResult_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TestResult : public ros::Msg
{
public:
typedef int32_t _result_type;
_result_type result;
TestResult():
result(0)
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_result;
u_result.real = this->result;
*(outbuffer + offset + 0) = (u_result.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_result.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_result.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_result.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->result);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_result;
u_result.base = 0;
u_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
this->result = u_result.real;
offset += sizeof(this->result);
return offset;
}
const char * getType(){ return "actionlib/TestResult"; };
const char * getMD5(){ return "034a8e20d6a306665e3a5b340fab3f09"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TwoIntsActionResult.h | #ifndef _ROS_actionlib_TwoIntsActionResult_h
#define _ROS_actionlib_TwoIntsActionResult_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalStatus.h"
#include "actionlib/TwoIntsResult.h"
namespace actionlib
{
class TwoIntsActionResult : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalStatus _status_type;
_status_type status;
typedef actionlib::TwoIntsResult _result_type;
_result_type result;
TwoIntsActionResult():
header(),
status(),
result()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->status.serialize(outbuffer + offset);
offset += this->result.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->status.deserialize(inbuffer + offset);
offset += this->result.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TwoIntsActionResult"; };
const char * getMD5(){ return "3ba7dea8b8cddcae4528ade4ef74b6e7"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestGoal.h | #ifndef _ROS_actionlib_TestGoal_h
#define _ROS_actionlib_TestGoal_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TestGoal : public ros::Msg
{
public:
typedef int32_t _goal_type;
_goal_type goal;
TestGoal():
goal(0)
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_goal;
u_goal.real = this->goal;
*(outbuffer + offset + 0) = (u_goal.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_goal.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_goal.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_goal.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->goal);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_goal;
u_goal.base = 0;
u_goal.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_goal.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_goal.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_goal.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
this->goal = u_goal.real;
offset += sizeof(this->goal);
return offset;
}
const char * getType(){ return "actionlib/TestGoal"; };
const char * getMD5(){ return "18df0149936b7aa95588e3862476ebde"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestRequestGoal.h | #ifndef _ROS_actionlib_TestRequestGoal_h
#define _ROS_actionlib_TestRequestGoal_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "ros/duration.h"
namespace actionlib
{
class TestRequestGoal : public ros::Msg
{
public:
typedef int32_t _terminate_status_type;
_terminate_status_type terminate_status;
typedef bool _ignore_cancel_type;
_ignore_cancel_type ignore_cancel;
typedef const char* _result_text_type;
_result_text_type result_text;
typedef int32_t _the_result_type;
_the_result_type the_result;
typedef bool _is_simple_client_type;
_is_simple_client_type is_simple_client;
typedef ros::Duration _delay_accept_type;
_delay_accept_type delay_accept;
typedef ros::Duration _delay_terminate_type;
_delay_terminate_type delay_terminate;
typedef ros::Duration _pause_status_type;
_pause_status_type pause_status;
enum { TERMINATE_SUCCESS = 0 };
enum { TERMINATE_ABORTED = 1 };
enum { TERMINATE_REJECTED = 2 };
enum { TERMINATE_LOSE = 3 };
enum { TERMINATE_DROP = 4 };
enum { TERMINATE_EXCEPTION = 5 };
TestRequestGoal():
terminate_status(0),
ignore_cancel(0),
result_text(""),
the_result(0),
is_simple_client(0),
delay_accept(),
delay_terminate(),
pause_status()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_terminate_status;
u_terminate_status.real = this->terminate_status;
*(outbuffer + offset + 0) = (u_terminate_status.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_terminate_status.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_terminate_status.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_terminate_status.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->terminate_status);
union {
bool real;
uint8_t base;
} u_ignore_cancel;
u_ignore_cancel.real = this->ignore_cancel;
*(outbuffer + offset + 0) = (u_ignore_cancel.base >> (8 * 0)) & 0xFF;
offset += sizeof(this->ignore_cancel);
uint32_t length_result_text = strlen(this->result_text);
varToArr(outbuffer + offset, length_result_text);
offset += 4;
memcpy(outbuffer + offset, this->result_text, length_result_text);
offset += length_result_text;
union {
int32_t real;
uint32_t base;
} u_the_result;
u_the_result.real = this->the_result;
*(outbuffer + offset + 0) = (u_the_result.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_the_result.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_the_result.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_the_result.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->the_result);
union {
bool real;
uint8_t base;
} u_is_simple_client;
u_is_simple_client.real = this->is_simple_client;
*(outbuffer + offset + 0) = (u_is_simple_client.base >> (8 * 0)) & 0xFF;
offset += sizeof(this->is_simple_client);
*(outbuffer + offset + 0) = (this->delay_accept.sec >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (this->delay_accept.sec >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (this->delay_accept.sec >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (this->delay_accept.sec >> (8 * 3)) & 0xFF;
offset += sizeof(this->delay_accept.sec);
*(outbuffer + offset + 0) = (this->delay_accept.nsec >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (this->delay_accept.nsec >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (this->delay_accept.nsec >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (this->delay_accept.nsec >> (8 * 3)) & 0xFF;
offset += sizeof(this->delay_accept.nsec);
*(outbuffer + offset + 0) = (this->delay_terminate.sec >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (this->delay_terminate.sec >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (this->delay_terminate.sec >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (this->delay_terminate.sec >> (8 * 3)) & 0xFF;
offset += sizeof(this->delay_terminate.sec);
*(outbuffer + offset + 0) = (this->delay_terminate.nsec >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (this->delay_terminate.nsec >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (this->delay_terminate.nsec >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (this->delay_terminate.nsec >> (8 * 3)) & 0xFF;
offset += sizeof(this->delay_terminate.nsec);
*(outbuffer + offset + 0) = (this->pause_status.sec >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (this->pause_status.sec >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (this->pause_status.sec >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (this->pause_status.sec >> (8 * 3)) & 0xFF;
offset += sizeof(this->pause_status.sec);
*(outbuffer + offset + 0) = (this->pause_status.nsec >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (this->pause_status.nsec >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (this->pause_status.nsec >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (this->pause_status.nsec >> (8 * 3)) & 0xFF;
offset += sizeof(this->pause_status.nsec);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_terminate_status;
u_terminate_status.base = 0;
u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
this->terminate_status = u_terminate_status.real;
offset += sizeof(this->terminate_status);
union {
bool real;
uint8_t base;
} u_ignore_cancel;
u_ignore_cancel.base = 0;
u_ignore_cancel.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
this->ignore_cancel = u_ignore_cancel.real;
offset += sizeof(this->ignore_cancel);
uint32_t length_result_text;
arrToVar(length_result_text, (inbuffer + offset));
offset += 4;
for(unsigned int k= offset; k< offset+length_result_text; ++k){
inbuffer[k-1]=inbuffer[k];
}
inbuffer[offset+length_result_text-1]=0;
this->result_text = (char *)(inbuffer + offset-1);
offset += length_result_text;
union {
int32_t real;
uint32_t base;
} u_the_result;
u_the_result.base = 0;
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
this->the_result = u_the_result.real;
offset += sizeof(this->the_result);
union {
bool real;
uint8_t base;
} u_is_simple_client;
u_is_simple_client.base = 0;
u_is_simple_client.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
this->is_simple_client = u_is_simple_client.real;
offset += sizeof(this->is_simple_client);
this->delay_accept.sec = ((uint32_t) (*(inbuffer + offset)));
this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
offset += sizeof(this->delay_accept.sec);
this->delay_accept.nsec = ((uint32_t) (*(inbuffer + offset)));
this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
offset += sizeof(this->delay_accept.nsec);
this->delay_terminate.sec = ((uint32_t) (*(inbuffer + offset)));
this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
offset += sizeof(this->delay_terminate.sec);
this->delay_terminate.nsec = ((uint32_t) (*(inbuffer + offset)));
this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
offset += sizeof(this->delay_terminate.nsec);
this->pause_status.sec = ((uint32_t) (*(inbuffer + offset)));
this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
offset += sizeof(this->pause_status.sec);
this->pause_status.nsec = ((uint32_t) (*(inbuffer + offset)));
this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
offset += sizeof(this->pause_status.nsec);
return offset;
}
const char * getType(){ return "actionlib/TestRequestGoal"; };
const char * getMD5(){ return "db5d00ba98302d6c6dd3737e9a03ceea"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TwoIntsFeedback.h | #ifndef _ROS_actionlib_TwoIntsFeedback_h
#define _ROS_actionlib_TwoIntsFeedback_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TwoIntsFeedback : public ros::Msg
{
public:
TwoIntsFeedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
return offset;
}
const char * getType(){ return "actionlib/TwoIntsFeedback"; };
const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestActionResult.h | #ifndef _ROS_actionlib_TestActionResult_h
#define _ROS_actionlib_TestActionResult_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalStatus.h"
#include "actionlib/TestResult.h"
namespace actionlib
{
class TestActionResult : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalStatus _status_type;
_status_type status;
typedef actionlib::TestResult _result_type;
_result_type result;
TestActionResult():
header(),
status(),
result()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->status.serialize(outbuffer + offset);
offset += this->result.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->status.deserialize(inbuffer + offset);
offset += this->result.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestActionResult"; };
const char * getMD5(){ return "3d669e3a63aa986c667ea7b0f46ce85e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestRequestActionFeedback.h | #ifndef _ROS_actionlib_TestRequestActionFeedback_h
#define _ROS_actionlib_TestRequestActionFeedback_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalStatus.h"
#include "actionlib/TestRequestFeedback.h"
namespace actionlib
{
class TestRequestActionFeedback : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalStatus _status_type;
_status_type status;
typedef actionlib::TestRequestFeedback _feedback_type;
_feedback_type feedback;
TestRequestActionFeedback():
header(),
status(),
feedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->status.serialize(outbuffer + offset);
offset += this->feedback.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->status.deserialize(inbuffer + offset);
offset += this->feedback.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestRequestActionFeedback"; };
const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestRequestFeedback.h | #ifndef _ROS_actionlib_TestRequestFeedback_h
#define _ROS_actionlib_TestRequestFeedback_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TestRequestFeedback : public ros::Msg
{
public:
TestRequestFeedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
return offset;
}
const char * getType(){ return "actionlib/TestRequestFeedback"; };
const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestActionGoal.h | #ifndef _ROS_actionlib_TestActionGoal_h
#define _ROS_actionlib_TestActionGoal_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalID.h"
#include "actionlib/TestGoal.h"
namespace actionlib
{
class TestActionGoal : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalID _goal_id_type;
_goal_id_type goal_id;
typedef actionlib::TestGoal _goal_type;
_goal_type goal;
TestActionGoal():
header(),
goal_id(),
goal()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->goal_id.serialize(outbuffer + offset);
offset += this->goal.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->goal_id.deserialize(inbuffer + offset);
offset += this->goal.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestActionGoal"; };
const char * getMD5(){ return "348369c5b403676156094e8c159720bf"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TwoIntsGoal.h | #ifndef _ROS_actionlib_TwoIntsGoal_h
#define _ROS_actionlib_TwoIntsGoal_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TwoIntsGoal : public ros::Msg
{
public:
typedef int64_t _a_type;
_a_type a;
typedef int64_t _b_type;
_b_type b;
TwoIntsGoal():
a(0),
b(0)
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
union {
int64_t real;
uint64_t base;
} u_a;
u_a.real = this->a;
*(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
*(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
*(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
*(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
*(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
offset += sizeof(this->a);
union {
int64_t real;
uint64_t base;
} u_b;
u_b.real = this->b;
*(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
*(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
*(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
*(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
*(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
offset += sizeof(this->b);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
union {
int64_t real;
uint64_t base;
} u_a;
u_a.base = 0;
u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
this->a = u_a.real;
offset += sizeof(this->a);
union {
int64_t real;
uint64_t base;
} u_b;
u_b.base = 0;
u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
this->b = u_b.real;
offset += sizeof(this->b);
return offset;
}
const char * getType(){ return "actionlib/TwoIntsGoal"; };
const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TwoIntsActionGoal.h | #ifndef _ROS_actionlib_TwoIntsActionGoal_h
#define _ROS_actionlib_TwoIntsActionGoal_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalID.h"
#include "actionlib/TwoIntsGoal.h"
namespace actionlib
{
class TwoIntsActionGoal : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalID _goal_id_type;
_goal_id_type goal_id;
typedef actionlib::TwoIntsGoal _goal_type;
_goal_type goal;
TwoIntsActionGoal():
header(),
goal_id(),
goal()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->goal_id.serialize(outbuffer + offset);
offset += this->goal.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->goal_id.deserialize(inbuffer + offset);
offset += this->goal.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TwoIntsActionGoal"; };
const char * getMD5(){ return "684a2db55d6ffb8046fb9d6764ce0860"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestFeedback.h | #ifndef _ROS_actionlib_TestFeedback_h
#define _ROS_actionlib_TestFeedback_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TestFeedback : public ros::Msg
{
public:
typedef int32_t _feedback_type;
_feedback_type feedback;
TestFeedback():
feedback(0)
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_feedback;
u_feedback.real = this->feedback;
*(outbuffer + offset + 0) = (u_feedback.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_feedback.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_feedback.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_feedback.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->feedback);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_feedback;
u_feedback.base = 0;
u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
this->feedback = u_feedback.real;
offset += sizeof(this->feedback);
return offset;
}
const char * getType(){ return "actionlib/TestFeedback"; };
const char * getMD5(){ return "49ceb5b32ea3af22073ede4a0328249e"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TwoIntsAction.h | #ifndef _ROS_actionlib_TwoIntsAction_h
#define _ROS_actionlib_TwoIntsAction_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "actionlib/TwoIntsActionGoal.h"
#include "actionlib/TwoIntsActionResult.h"
#include "actionlib/TwoIntsActionFeedback.h"
namespace actionlib
{
class TwoIntsAction : public ros::Msg
{
public:
typedef actionlib::TwoIntsActionGoal _action_goal_type;
_action_goal_type action_goal;
typedef actionlib::TwoIntsActionResult _action_result_type;
_action_result_type action_result;
typedef actionlib::TwoIntsActionFeedback _action_feedback_type;
_action_feedback_type action_feedback;
TwoIntsAction():
action_goal(),
action_result(),
action_feedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->action_goal.serialize(outbuffer + offset);
offset += this->action_result.serialize(outbuffer + offset);
offset += this->action_feedback.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->action_goal.deserialize(inbuffer + offset);
offset += this->action_result.deserialize(inbuffer + offset);
offset += this->action_feedback.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TwoIntsAction"; };
const char * getMD5(){ return "6d1aa538c4bd6183a2dfb7fcac41ee50"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestRequestResult.h | #ifndef _ROS_actionlib_TestRequestResult_h
#define _ROS_actionlib_TestRequestResult_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TestRequestResult : public ros::Msg
{
public:
typedef int32_t _the_result_type;
_the_result_type the_result;
typedef bool _is_simple_server_type;
_is_simple_server_type is_simple_server;
TestRequestResult():
the_result(0),
is_simple_server(0)
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_the_result;
u_the_result.real = this->the_result;
*(outbuffer + offset + 0) = (u_the_result.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_the_result.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_the_result.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_the_result.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->the_result);
union {
bool real;
uint8_t base;
} u_is_simple_server;
u_is_simple_server.real = this->is_simple_server;
*(outbuffer + offset + 0) = (u_is_simple_server.base >> (8 * 0)) & 0xFF;
offset += sizeof(this->is_simple_server);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
union {
int32_t real;
uint32_t base;
} u_the_result;
u_the_result.base = 0;
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
this->the_result = u_the_result.real;
offset += sizeof(this->the_result);
union {
bool real;
uint8_t base;
} u_is_simple_server;
u_is_simple_server.base = 0;
u_is_simple_server.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
this->is_simple_server = u_is_simple_server.real;
offset += sizeof(this->is_simple_server);
return offset;
}
const char * getType(){ return "actionlib/TestRequestResult"; };
const char * getMD5(){ return "61c2364524499c7c5017e2f3fce7ba06"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestActionFeedback.h | #ifndef _ROS_actionlib_TestActionFeedback_h
#define _ROS_actionlib_TestActionFeedback_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalStatus.h"
#include "actionlib/TestFeedback.h"
namespace actionlib
{
class TestActionFeedback : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalStatus _status_type;
_status_type status;
typedef actionlib::TestFeedback _feedback_type;
_feedback_type feedback;
TestActionFeedback():
header(),
status(),
feedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->status.serialize(outbuffer + offset);
offset += this->feedback.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->status.deserialize(inbuffer + offset);
offset += this->feedback.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestActionFeedback"; };
const char * getMD5(){ return "6d3d0bf7fb3dda24779c010a9f3eb7cb"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TwoIntsActionFeedback.h | #ifndef _ROS_actionlib_TwoIntsActionFeedback_h
#define _ROS_actionlib_TwoIntsActionFeedback_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalStatus.h"
#include "actionlib/TwoIntsFeedback.h"
namespace actionlib
{
class TwoIntsActionFeedback : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalStatus _status_type;
_status_type status;
typedef actionlib::TwoIntsFeedback _feedback_type;
_feedback_type feedback;
TwoIntsActionFeedback():
header(),
status(),
feedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->status.serialize(outbuffer + offset);
offset += this->feedback.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->status.deserialize(inbuffer + offset);
offset += this->feedback.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TwoIntsActionFeedback"; };
const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestRequestActionResult.h | #ifndef _ROS_actionlib_TestRequestActionResult_h
#define _ROS_actionlib_TestRequestActionResult_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalStatus.h"
#include "actionlib/TestRequestResult.h"
namespace actionlib
{
class TestRequestActionResult : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalStatus _status_type;
_status_type status;
typedef actionlib::TestRequestResult _result_type;
_result_type result;
TestRequestActionResult():
header(),
status(),
result()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->status.serialize(outbuffer + offset);
offset += this->result.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->status.deserialize(inbuffer + offset);
offset += this->result.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestRequestActionResult"; };
const char * getMD5(){ return "0476d1fdf437a3a6e7d6d0e9f5561298"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestRequestAction.h | #ifndef _ROS_actionlib_TestRequestAction_h
#define _ROS_actionlib_TestRequestAction_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "actionlib/TestRequestActionGoal.h"
#include "actionlib/TestRequestActionResult.h"
#include "actionlib/TestRequestActionFeedback.h"
namespace actionlib
{
class TestRequestAction : public ros::Msg
{
public:
typedef actionlib::TestRequestActionGoal _action_goal_type;
_action_goal_type action_goal;
typedef actionlib::TestRequestActionResult _action_result_type;
_action_result_type action_result;
typedef actionlib::TestRequestActionFeedback _action_feedback_type;
_action_feedback_type action_feedback;
TestRequestAction():
action_goal(),
action_result(),
action_feedback()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->action_goal.serialize(outbuffer + offset);
offset += this->action_result.serialize(outbuffer + offset);
offset += this->action_feedback.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->action_goal.deserialize(inbuffer + offset);
offset += this->action_result.deserialize(inbuffer + offset);
offset += this->action_feedback.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestRequestAction"; };
const char * getMD5(){ return "dc44b1f4045dbf0d1db54423b3b86b30"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TestRequestActionGoal.h | #ifndef _ROS_actionlib_TestRequestActionGoal_h
#define _ROS_actionlib_TestRequestActionGoal_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "actionlib_msgs/GoalID.h"
#include "actionlib/TestRequestGoal.h"
namespace actionlib
{
class TestRequestActionGoal : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef actionlib_msgs::GoalID _goal_id_type;
_goal_id_type goal_id;
typedef actionlib::TestRequestGoal _goal_type;
_goal_type goal;
TestRequestActionGoal():
header(),
goal_id(),
goal()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->goal_id.serialize(outbuffer + offset);
offset += this->goal.serialize(outbuffer + offset);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->goal_id.deserialize(inbuffer + offset);
offset += this->goal.deserialize(inbuffer + offset);
return offset;
}
const char * getType(){ return "actionlib/TestRequestActionGoal"; };
const char * getMD5(){ return "1889556d3fef88f821c7cb004e4251f3"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ros_lib/actionlib/TwoIntsResult.h | #ifndef _ROS_actionlib_TwoIntsResult_h
#define _ROS_actionlib_TwoIntsResult_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
namespace actionlib
{
class TwoIntsResult : public ros::Msg
{
public:
typedef int64_t _sum_type;
_sum_type sum;
TwoIntsResult():
sum(0)
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
union {
int64_t real;
uint64_t base;
} u_sum;
u_sum.real = this->sum;
*(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
*(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
*(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
*(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
*(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
offset += sizeof(this->sum);
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
union {
int64_t real;
uint64_t base;
} u_sum;
u_sum.base = 0;
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
this->sum = u_sum.real;
offset += sizeof(this->sum);
return offset;
}
const char * getType(){ return "actionlib/TwoIntsResult"; };
const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ContactSensor/ContactSensor.cpp | #include "ContactSensor.hpp"
#include <Arduino.h>
void ContactSensor::Initialize(const int & in_sensor_pin, const int & in_led_pin) {
sensor_pin = in_sensor_pin;
led_pin = in_led_pin;
// pinMode(led_pin, OUTPUT);
double av = 0;
for(int i=0; i < numSamples; i++) {
av += analogRead(sensor_pin);
delay(5);
}
center = av / static_cast<double>(numSamples);
thresh = center;
}
void ContactSensor::update_clk() {
val = alpha * prev_val + (1 - alpha) * abs(analogRead(sensor_pin) - center); // read the input pin
prev_val = val;
// if(val > thresh) {
// digitalWrite(led_pin, HIGH);
// } else {
// digitalWrite(led_pin, LOW);
// }
}
bool ContactSensor::isTriggered() {
if(val > thresh) {
return true;
}
return false;
}
double ContactSensor::ReturnVal()
{
return val;
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/ContactSensor/ContactSensor.hpp | #ifndef CONTACTSENSOR_INCLUDE_GUARD_HPP
#define CONTACTSENSOR_INCLUDE_GUARD_HPP
/// \file
/// \brief Contact Sensor Library. Adapted from https://github.com/adham-elarabawy/OpenQuadruped
class ContactSensor {
private:
int led_pin;
int sensor_pin;
double center = 0;
double prev_val = 0;
double val = 0;
int numSamples = 200;
double thresh = 2.5;
double alpha = 0.999;
public:
void Initialize(const int & in_sensor_pin, const int & in_led_pin);
bool isTriggered();
void update_clk();
double ReturnVal();
};
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/SpotServo/SpotServo.hpp | #ifndef SPOTSERVO_INCLUDE_GUARD_HPP
#define SPOTSERVO_INCLUDE_GUARD_HPP
/// \file
/// \brief Servo Speed Control Library
#include <Servo.h>
#include <Arduino.h>
#include <math.h>
// #include <cmath>
enum LegType {FL, FR, BL, BR};
enum JointType {Shoulder, Elbow, Wrist};
/// \brief SpotServo class responsible servo control
class SpotServo
{
public:
// using default constructor
/// \brief Initialize parameters
/// \param servo_pin: pin number on Teensy 4.0 (see dataseet)
/// \param home_angle_: default joint angle
/// \param offset_: motor position offset (due to mechanical fit issues)
/// \param leg_type_: Front Left, Front Right, Back Left, or Back Right leg (see enum)
/// \param joint_type_: Shoulder, Elbow or Wrist (see enum)
void Initialize(const int & servo_pin, const double & stand_angle_, const double & home_angle_, const double & offset_, const LegType & leg_type_, const JointType & joint_type_,
const int & min_pwm_ = 500, const int & max_pwm_ = 2500, const double & ang_min_pwm = 0.0, const double & ang_max_pwm = 270.0);
/// \brief Commands a motor to move to a certain goal instantly when stepping, and slowly when viewing
/// \param goal_pose_: the desired motor position in degrees
/// \param desired_speed_: the desired motor speed (deg/sec) while reaching this goal
/// \param step_or_view_: operation mode, stepping or viewing.
void SetGoal(const double & goal_pose_, const double & desired_speed_, const bool & step_or_view_ = true);
/// \brief returns joint_type
/// \returns: joint_type
JointType return_joint_type();
/// \brief returns leg_type
/// \returns: leg_type
LegType return_legtype();
/// \brief returns this servo's home angle
/// \returns: home_angle
double return_home();
/// \brief Return the interpolated position (time-step is small enough that this is mostly accurate)
/// \returns: motor_pose_est
double GetPoseEstimate();
/// \brief Perform one motor update, potentially sending a new motor command, and updating the time-step.
void update_clk();
/// \brief Check if goal position reached
bool GoalReached();
/// \biref Actuate motors
void actuate();
/// \brief directly write pulse width in us
/// \param pulse: pulse width to write
void writePulse(const int & pulse);
/// \brief Attach servo
/// \param servo_pin: pin number on Teensy 4.0 (see dataseet)
/// \param min_pwm: minimum us value
/// \param max_pwm: maximum us value
void AssemblyInit(const int & servo_pin, const int & min_pwm_, const int & max_pwm_);
private:
// Intrinsic Parameters
Servo servo;
// time elapsed since last servo update
double last_actuated = 0.0;
// error threshold for servo position
double error_threshold = 0.5;
// maximum servo angle (minimum is 0)
double control_range = 270.0;
// loop period (milisec)
double wait_time = 1.0;
// motor position offset (due to mechanical fit issues)
int offset = 0;
// Leg Type (see enum)
LegType leg_type;
// Joint Type (see enum)
JointType joint_type;
// default angle
double home_angle = 0.0;
double stand_angle = 0.0;
// Changeable Parameters
double goal_pose = -999; // deg
double current_pose = 0.0; // deg
double desired_speed = 0.0; // deg/sec
// Servo's PWM range (usec)
// NOTE: This is unique to your servos, VERY IMPORTANT
int min_pwm = 500;
int max_pwm = 2500;
// Interpolation to convert from deg to usec
double conv_slope = 0.0;
double conv_intcpt = 0.0;
// False is step, True is view
bool step_or_view = false;
// indicated servo mode
bool calibrating = false;
};
#endif |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/Teensy/SpotMiniMini/lib/SpotServo/SpotServo.cpp | #include "SpotServo.hpp"
using namespace std;
// Spot Full Constructor
void SpotServo::Initialize(const int & servo_pin, const double & stand_angle_, const double & home_angle_, const double & offset_, const LegType & leg_type_, const JointType & joint_type_,
const int & min_pwm_, const int & max_pwm_, const double & ang_min_pwm, const double & ang_max_pwm)
{
// use defaults for servo attach
AssemblyInit(servo_pin, min_pwm, max_pwm);
// these are not really min and max, just used for interpolation
min_pwm = min_pwm_;
max_pwm = max_pwm_;
conv_slope = (double)(max_pwm - min_pwm) / (ang_max_pwm - ang_min_pwm);
conv_intcpt = max_pwm - conv_slope * ang_max_pwm;
offset = offset_;
home_angle = home_angle_;
leg_type = leg_type_;
joint_type = joint_type;
stand_angle = stand_angle_;
goal_pose = stand_angle + offset;
current_pose = stand_angle + offset;
int pwm = round((goal_pose) * conv_slope + conv_intcpt);
servo.writeMicroseconds(pwm);
last_actuated = millis();
}
void SpotServo::SetGoal(const double & goal_pose_, const double & desired_speed_, const bool & step_or_view_)
{
// remove calibrating flag
calibrating = false;
// Update Move Type
step_or_view = step_or_view_;
// Catch for invalid command (used by calibration node to single out motors)
// Only update if valid command
if (goal_pose_ > -998)
{
goal_pose = goal_pose_;
// Add Offset
goal_pose += offset;
// TODO: ADD JOINT LIM
desired_speed = desired_speed_;
}
}
JointType SpotServo::return_joint_type()
{
return joint_type;
}
LegType SpotServo::return_legtype()
{
return leg_type;
}
double SpotServo::return_home()
{
return home_angle;
}
double SpotServo::GetPoseEstimate()
{
return current_pose - offset;
}
void SpotServo::actuate()
{
if (goal_pose > -998)
{
// Only update position if not within threshold
if(!GoalReached())
{
// returns 1.0 * sign of goal_pose - current_pose
double direction = 1.0;
if (goal_pose - current_pose < 0.0)
{
direction = -1.0;
}
current_pose += direction * (wait_time / 1000.0) * desired_speed;
int pwm = round((current_pose) * conv_slope + conv_intcpt);
servo.writeMicroseconds(pwm);
last_actuated = millis();
} else
// if we are at small error thresh, actuate directly
{
int pwm = round((goal_pose) * conv_slope + conv_intcpt);
current_pose = goal_pose;
servo.writeMicroseconds(pwm);
last_actuated = millis();
}
}
}
void SpotServo::update_clk()
{
if (!calibrating)
{
// Only perform update if loop rate is met - or instantly if walking
if ((millis() - last_actuated > wait_time ) or !step_or_view)
{
actuate();
}
}
}
bool SpotServo::GoalReached()
{
return (abs(current_pose - goal_pose) < error_threshold);
}
void SpotServo::writePulse(const int & pulse)
{
servo.writeMicroseconds(pulse);
calibrating = true;
}
void SpotServo::AssemblyInit(const int & servo_pin, const int & min_pwm_, const int & max_pwm_)
{
// use defaults for servo attach
servo.attach(servo_pin, min_pwm, max_pwm);
} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/RPi/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/RPi/lib/servo_model.py | #!/usr/bin/env python
import numpy as np
import busio
import digitalio
import board
import adafruit_mcp3xxx.mcp3008 as MCP
from adafruit_mcp3xxx.analog_in import AnalogIn
import time
from adafruit_servokit import ServoKit
class ServoJoint:
def __init__(self,
name,
effort=0.15,
speed=8.76,
gpio=22,
fb_chan=0,
pwm_chan=0,
pwm_min=600,
pwm_max=2800,
servo_horn_bias=0,
actuation_range=270):
self.name = name
self.effort = effort # Nm
self.speed = speed # rad/s
# offset in mechanical design
self.servo_horn_bias = servo_horn_bias
# create the spi bus
self.spi = busio.SPI(clock=board.SCK, MISO=board.MISO, MOSI=board.MOSI)
# create the cs (chip select)
if gpio == 22:
self.cs = digitalio.DigitalInOut(board.D22)
elif gpio == 27:
self.cs = digitalio.DigitalInOut(board.D27)
# create the mcp object
self.mcp = MCP.MCP3008(self.spi, self.cs)
# fb_chan from 0 to 7 for each MCP ADC
if fb_chan == 0:
self.chan = AnalogIn(self.mcp, MCP.P0)
elif fb_chan == 1:
self.chan = AnalogIn(self.mcp, MCP.P1)
elif fb_chan == 2:
self.chan = AnalogIn(self.mcp, MCP.P2)
elif fb_chan == 3:
self.chan = AnalogIn(self.mcp, MCP.P3)
elif fb_chan == 4:
self.chan = AnalogIn(self.mcp, MCP.P4)
elif fb_chan == 5:
self.chan = AnalogIn(self.mcp, MCP.P5)
elif fb_chan == 6:
self.chan = AnalogIn(self.mcp, MCP.P6)
elif fb_chan == 7:
self.chan = AnalogIn(self.mcp, MCP.P7)
self.kit = ServoKit(channels=16)
self.pwm_chan = pwm_chan
self.kit.servo[self.pwm_chan].set_pulse_width_range(pwm_min, pwm_max)
self.kit.servo[self.pwm_chan].actuation_range = actuation_range
self.bias = self.rad2deg(self.servo_horn_bias) # degrees
def forward_propagate(self, current_pos, desired_pos, dt):
""" Predict the new position of the actuated servo
motor joint
"""
pos_change = desired_pos - current_pos
percent_of_pos_reached = (self.speed * dt) / np.abs(pos_change)
# Cap at 100%
if percent_of_pos_reached > 100.0:
percent_of_pos_reached = 100.0
return current_pos + (pos_change * percent_of_pos_reached)
def calibrate(self, min_val, max_val, num_iters=22):
# Send to min value and record digital sig
# Send to max value and record digital sig
# OR INCREMENT TO GET MORE DATA
commands = np.array([])
measurements = np.array([])
# Number of data points to collect
num_iters = num_iters
for i in range(num_iters):
# commanded_value = (-np.pi / 2.0) + (i *
# (np.pi) / float(num_iters - 1))
range_val = max_val - min_val
commanded_value = (min_val) + (i *
(range_val) / float(num_iters - 1))
commands = np.append(commands, commanded_value)
self.actuate(commanded_value)
time.sleep(.5) # according to rated speed 0.1sec/60deg
measurements = np.append(measurements, self.chan.value)
time.sleep(1.0) # according to rated speed 0.1sec/60deg
# Perform fit
print("COMMANDS: {}".format(commands))
print("MEASUREMENTS: {}".format(measurements))
polynomial = 4
# We want to input measurements and receive equivalent commanded angles in radians
self.fit = np.poly1d(np.polyfit(measurements, commands, polynomial))
# Test Fit
print("TESTING FIT: 90 DEG; RESULT IS {}".format(
self.fit(self.chan.value)))
print("RETURNING TO -90")
self.actuate(-np.pi / 2)
# Save fit
np.save(self.name + "_fit", self.fit)
def load_calibration(self):
# Load fit
self.fit = np.load(self.name + "_fit.npy")
def remap(self, value):
# Use calibraton value to remap from Digital Sig to Angle
p = np.poly1d(self.fit)
return p(value)
def measure(self):
return self.remap(self.chan.value)
def rad2deg(self, rad):
deg = rad * 180.0 / np.pi
if deg > 90:
deg = 90
elif deg < -90:
deg = -90
return deg
def deg2rad(self, deg):
return deg * np.pi / 180.0
def actuate(self, desired_pos):
self.kit.servo[
self.pwm_chan].angle = self.bias + self.rad2deg(desired_pos)
def actuate_deg(self, desired_pos):
self.kit.servo[
self.pwm_chan].angle = desired_pos
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/RPi/lib/serial_test.py | import time
from Teensy_Interface import TeensyInterface
ti = TeensyInterface()
while True:
s = input("Send? [y/n]")
if s == "y":
ti.add_to_buffer(4, 0, 135, 60)
ti.send_buffer()
r = input("Read? [y/n]")
if r == "y":
print(ti.read_buffer())
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/RPi/lib/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/RPi/lib/motor_calibrate.py | #!/usr/bin/env python
import time
import numpy as np
from servo_model import ServoJoint
joint_names = [
'rb_servo_r_hip', 'r_hip_r_thigh', 'r_thigh_r_knee', 'r_knee_r_shin',
'r_shin_r_ankle', 'r_ankle_r_foot', 'lb_servo_l_hip', 'l_hip_l_thigh',
'l_thigh_l_knee', 'l_knee_l_shin', 'l_shin_l_ankle', 'l_ankle_l_foot',
'torso_r_shoulder', 'r_shoulder_rs_servo', 're_servo_r_elbow',
'torso_l_shoulder', 'l_shoulder_ls_servo', 'le_servo_l_elbow'
]
loop = True
pwm_min = int(input("Enter Min PWM: ")) # 500
pwm_max = int(input("Enter Max PWM: ")) # 2400
actuation_range = int(input("Enter Actuation Range: "))
while loop:
channel = int(
input("Which channel is your servo connected to? [0-11]: "))
servo = ServoJoint(name=joint_names[channel],
pwm_chan=channel,
pwm_min=pwm_min,
pwm_max=pwm_max,
actuation_range=actuation_range)
inner_loop = True
while inner_loop:
val = float(input("Select an angle value (deg): [q to quit]"))
if val == "q" or val == "Q":
inner_loop = False
else:
servo.actuate_deg(val)
cont = input("Test another motor [y] or quit [n]? ")
if cont == "n":
loop = False
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/RPi/lib/Teensy_Interface.py | import serial
class TeensyInterface:
def __init__(self, port='/dev/ttyS0', baud=500000, timeout=0.2):
self.ser = serial.Serial(port, baud)
self.ser.flush()
self.buffer = []
def __construct_string(self, i, x, y, z):
return "{},{},{},{}\n".format(i, x, y, z)
def add_to_buffer(self, i, x, y, z):
self.buffer.append(self.__construct_string(i, x, y, z))
def add_raw(self, val):
self.buffer.append("{}\n".format(val))
def send_buffer(self):
for message in self.buffer:
self.ser.write(message.encode('utf-8'))
self.buffer = []
def read_buffer(self):
return self.ser.read_until(b'\n')
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/Control/RPi/lib/imu.py | import time
import board
import busio
import adafruit_lsm9ds1
import numpy as np
import math
# i2c permission: sudo usermod -a -G i2c <user>
# https://www.raspberrypi.org/forums/viewtopic.php?t=58782
# use ROS with python3: https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674
class IMU:
def __init__(self, rp_flip=True, r_neg=False, p_neg=True, y_neg=True):
# I2C connection:
# SPI connection:
# from digitalio import DigitalInOut, Direction
# spi = busio.SPI(board.SCK, board.MOSI, board.MISO)
# csag = DigitalInOut(board.D5)
# csag.direction = Direction.OUTPUT
# csag.value = True
# csm = DigitalInOut(board.D6)
# csm.direction = Direction.OUTPUT
# csm.value = True
# sensor = adafruit_lsm9ds1.LSM9DS1_SPI(spi, csag, csm)
self.i2c = busio.I2C(board.SCL, board.SDA)
self.sensor = adafruit_lsm9ds1.LSM9DS1_I2C(self.i2c)
# Calibration Parameters
self.x_gyro_calibration = 0
self.y_gyro_calibration = 0
self.z_gyro_calibration = 0
self.roll_calibration = 0
self.pitch_calibration = 0
self.yaw_calibration = 0
# IMU Parameters: acc (x,y,z), gyro(x,y,z)
self.imu_data = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
# Time in seconds
self.prev_time = time.time()
# IMU timer
self.imu_diff = 0
# Gyroscope integrals for filtering
self.roll_int = 0
self.pitch_int = 0
self.yaw_int = 0
# Complementary Filter Coefficient
self.comp_filter = 0.02
# Filtered RPY
self.roll = 0
self.pitch = 0
self.yaw = 0
# Used to turn the IMU into right-hand coordinate system
self.rp_flip = rp_flip
self.r_neg = r_neg
self.p_neg = p_neg
self.y_neg = y_neg
# Magnemometer Calibration Values
self.scale_x = 1
self.scale_y = 1
self.scale_z = 1
self.mag_x_bias = 0
self.mag_y_bias = 0
self.mag_z_bias = 0
self.yaw_bias = 0
# CALIBRATE
self.calibrate_imu()
print("IMU Calibrated!\n")
def calibrate_imu(self):
"""
"""
# Reset calibration params
self.x_gyro_calibration = 0
self.y_gyro_calibration = 0
self.z_gyro_calibration = 0
self.roll_calibration = 0
self.pitch_calibration = 0
self.yaw_calibration = 0
sum_xg = 0
sum_yg = 0
sum_zg = 0
sum_xa = 0
sum_ya = 0
sum_za = 0
sum_roll = 0
sum_pitch = 0
sum_yaw = 0
num_calibrations = 1000
print("Calibrating Gyroscope and Accelerometer...\n")
for i in range(num_calibrations):
""" GYRO/ACC CALIBRATION
"""
self.read_imu()
sum_xg += self.imu_data[0]
sum_yg += self.imu_data[1]
sum_zg += self.imu_data[2]
sum_xa += self.imu_data[3]
sum_ya += self.imu_data[4]
sum_za += self.imu_data[5]
# Y,Z accelerations make up roll
sum_roll += (math.atan2(self.imu_data[3],
self.imu_data[5])) * 180.0 / np.pi
# X,Z accelerations make up pitch
sum_pitch += (math.atan2(self.imu_data[4],
self.imu_data[5])) * 180.0 / np.pi
# # Y, X accelerations make up yaw
# sum_yaw += (math.atan2(self.imu_data[7], self.imu_data[6]) *
# 180.0 / np.pi)
# Average values for calibration
self.x_gyro_calibration = sum_xg / float(num_calibrations)
self.y_gyro_calibration = sum_yg / float(num_calibrations)
self.z_gyro_calibration = sum_zg / float(num_calibrations)
self.roll_calibration = sum_roll / float(num_calibrations)
self.pitch_calibration = sum_pitch / float(num_calibrations)
# self.yaw_calibration = sum_yaw / float(num_calibrations)
print("Gyroscope and Accelerometer calibrated!\n")
# magne_cal = input(
# "Calibrate Magnemometer [c] or Load Existing Calibration [l] ?")
# if magne_cal == "c":
# print("Calibrating Magnetometer...")
# self.calibrate_magnemometer()
# else:
# print("Loading Magnetometer Calibration...")
# self.load_magnemometer_calibration()
# input(
# "Put the robot at its zero-yaw position and press Enter to calibrate Yaw"
# )
# self.read_imu()
# self.yaw_bias = (math.atan2(self.imu_data[7], self.imu_data[6]) *
# 180.0 / np.pi)
# print("Recorded Bias: {}".format(self.yaw_bias))
# input("Enter To Start")
def load_magnemometer_calibration(self):
return True
def calibrate_magnemometer(self):
# Get 10 seconds of magnemometer data
collection_time = 10.0
# Hard Iron Offset
mag_x_max = -32767
mag_x_min = 32767
mag_y_max = -32767
mag_y_min = 32767
mag_z_max = -32767
mag_z_min = 32767
input("Press Enter to start data collection for " +
str(collection_time) + " seconds:")
start_time = time.time()
elapsed_time = time.time() - start_time
while elapsed_time < collection_time:
elapsed_time = time.time() - start_time
self.read_imu()
# Set Max/Min for x
if self.imu_data[6] > mag_x_max:
mag_x_max = self.imu_data[6]
if self.imu_data[6] < mag_x_min:
mag_x_min = self.imu_data[6]
# Set Max/Min for y
if self.imu_data[7] > mag_y_max:
mag_y_max = self.imu_data[7]
if self.imu_data[7] < mag_y_min:
mag_y_min = self.imu_data[6]
# Set Max/Min for z
if self.imu_data[8] > mag_z_max:
mag_z_max = self.imu_data[8]
if self.imu_data[8] < mag_z_min:
mag_z_min = self.imu_data[8]
# Get Hard Iron Correction
self.mag_x_bias = (mag_x_max + mag_x_min) / 2.0
self.mag_y_bias = (mag_y_max + mag_y_min) / 2.0
self.mag_z_bias = (mag_z_max + mag_z_min) / 2.0
# Soft Iron Distortion - SCALE BIASES METHOD
# https://appelsiini.net/2018/calibrate-magnetometer/
# NOTE: Can also do Matrix Method
mag_x_delta = (mag_x_max - mag_x_min) / 2.0
mag_y_delta = (mag_y_max - mag_y_min) / 2.0
mag_z_delta = (mag_z_max - mag_z_min) / 2.0
avg_delta = (mag_x_delta + mag_y_delta + mag_z_delta) / 3.0
self.scale_x = avg_delta / mag_x_delta
self.scale_y = avg_delta / mag_y_delta
self.scale_y = avg_delta / mag_z_delta
# NOW, FOR EACH AXIS: corrected_reading = (reading - bias) * scale
input("Press Enter to save results")
def read_imu(self):
"""
"""
accel_x, accel_y, accel_z = self.sensor.acceleration
mag_x, mag_y, mag_z = self.sensor.magnetic
gyro_x, gyro_y, gyro_z = self.sensor.gyro
# temp = self.sensor.temperature
# Populate imu data list
# Gyroscope Values (Degrees/sec)
self.imu_data[0] = gyro_x - self.x_gyro_calibration
self.imu_data[1] = gyro_y - self.y_gyro_calibration
self.imu_data[2] = gyro_z - self.z_gyro_calibration
# Accelerometer Values (m/s^2)
self.imu_data[3] = accel_x
self.imu_data[4] = accel_y
self.imu_data[5] = accel_z
# Magnemometer Values
self.imu_data[6] = (mag_x - self.mag_x_bias) * self.scale_x
self.imu_data[7] = (mag_y - self.mag_y_bias) * self.scale_y
self.imu_data[8] = (mag_z - self.mag_z_bias) * self.scale_z
def filter_rpy(self):
"""
"""
# Get Readings
self.read_imu()
# Get Current Time in seconds
current_time = time.time()
self.imu_diff = current_time - self.prev_time
# Set new previous time
self.prev_time = current_time
# Catch rollovers
if self.imu_diff < 0:
self.imu_diff = 0
# Complementary filter for RPY
# TODO: DOUBLE CHECK THIS!!!!!!!
roll_gyro_delta = self.imu_data[1] * self.imu_diff
pitch_gyro_delta = self.imu_data[0] * self.imu_diff
yaw_gyro_delta = self.imu_data[2] * self.imu_diff
self.roll_int += roll_gyro_delta
self.pitch_int += pitch_gyro_delta
self.yaw_int += yaw_gyro_delta
# RPY from Accelerometer
# Y,Z accelerations make up roll
roll_a = (math.atan2(self.imu_data[3], self.imu_data[5])
) * 180.0 / np.pi - self.roll_calibration
# X,Z accelerations make up pitch
pitch_a = (math.atan2(self.imu_data[4], self.imu_data[5])
) * 180.0 / np.pi - self.pitch_calibration
# Y, X Magnetometer data makes up yaw
yaw_m = (math.atan2(self.imu_data[7], self.imu_data[6]) * 180.0 /
np.pi)
# Calculate Filtered RPY
self.roll = roll_a * self.comp_filter + (1 - self.comp_filter) * (
roll_gyro_delta + self.roll)
self.pitch = pitch_a * self.comp_filter + (1 - self.comp_filter) * (
pitch_gyro_delta + self.pitch)
self.yaw = math.atan2(self.imu_data[7],
self.imu_data[6]) * 180.0 / np.pi
self.yaw = yaw_m - self.yaw_bias
# Wrap from -PI to PI
self.yaw -= 360.0 * math.floor((self.yaw + 180) / 360.0)
# self.yaw = yaw_m * self.comp_filter + (1 - self.comp_filter) * (
# pitch_gyro_delta + self.yaw)
# self.roll = roll_a
# self.pitch = pitch_a
# self.yaw = yaw_a
# Recenter Roll and Pitch for Right Handed Frame
self.recenter_rp()
def recenter_rp(self):
""" LSM9DS1 IMU does not adhere to right hand rule.
this function allows the user to specify which coordinate
frame standards to use by deciding when to flip and/or negate
Roll and Pitch in the class constructor.
"""
if self.rp_flip:
if self.r_neg:
self.true_roll = -self.pitch
else:
self.true_roll = self.pitch
if self.p_neg:
self.true_pitch = -self.roll
else:
self.true_pitch = self.roll
else:
if self.r_neg:
self.true_roll = -self.roll
else:
self.true_roll = self.roll
if self.p_neg:
self.true_pitch = -self.pitch
else:
self.true_pitch = self.pitch
if self.y_neg:
self.yaw = -self.yaw
if __name__ == "__main__":
imu = IMU()
while True:
imu.filter_rpy()
print("ROLL: {} \t PICH: {} \t YAW: {} \n".format(
imu.true_roll, imu.true_pitch, imu.yaw)) |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spot_real/media/Add params in launch file, to be able to control some robot specs · Issue #12 · moribots_spot_mini_mini.html | <!DOCTYPE html>
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<notification-indicator class="js-socket-channel" data-channel="eyJjIjoibm90aWZpY2F0aW9uLWNoYW5nZWQ6NTUxMjAxMDMiLCJ0IjoxNjAxMDU3OTI2fQ==--2795c52bd6cc2bf46d7fdb34e1f808a8c39548cf6c6cd216746b4ac47c307e28" data-catalyst="">
<a href="https://github.com/notifications" class="Header-link notification-indicator position-relative tooltipped tooltipped-sw" aria-label="You have unread notifications" data-hotkey="g n" data-ga-click="Header, go to notifications, icon:unread" data-target="notification-indicator.link">
<span class="mail-status unread" data-target="notification-indicator.modifier"></span>
<svg class="octicon octicon-bell" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="M8 16a2 2 0 001.985-1.75c.017-.137-.097-.25-.235-.25h-3.5c-.138 0-.252.113-.235.25A2 2 0 008 16z"></path><path fill-rule="evenodd" d="M8 1.5A3.5 3.5 0 004.5 5v2.947c0 .346-.102.683-.294.97l-1.703 2.556a.018.018 0 00-.003.01l.001.006c0 .002.002.004.004.006a.017.017 0 00.006.004l.007.001h10.964l.007-.001a.016.016 0 00.006-.004.016.016 0 00.004-.006l.001-.007a.017.017 0 00-.003-.01l-1.703-2.554a1.75 1.75 0 01-.294-.97V5A3.5 3.5 0 008 1.5zM3 5a5 5 0 0110 0v2.947c0 .05.015.098.042.139l1.703 2.555A1.518 1.518 0 0113.482 13H2.518a1.518 1.518 0 01-1.263-2.36l1.703-2.554A.25.25 0 003 7.947V5z"></path></svg>
</a>
</notification-indicator>
</div>
<div class="Header-item position-relative d-none d-md-flex">
<details class="details-overlay details-reset">
<summary class="Header-link" aria-label="Create new…" data-ga-click="Header, create new, icon:add" aria-haspopup="menu" role="button">
<svg class="octicon octicon-plus" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M8 2a.75.75 0 01.75.75v4.5h4.5a.75.75 0 010 1.5h-4.5v4.5a.75.75 0 01-1.5 0v-4.5h-4.5a.75.75 0 010-1.5h4.5v-4.5A.75.75 0 018 2z"></path></svg> <span class="dropdown-caret"></span>
</summary>
<details-menu class="dropdown-menu dropdown-menu-sw" role="menu">
<a role="menuitem" class="dropdown-item" href="https://github.com/new" data-ga-click="Header, create new repository">
New repository
</a>
<a role="menuitem" class="dropdown-item" href="https://github.com/new/import" data-ga-click="Header, import a repository">
Import repository
</a>
<a role="menuitem" class="dropdown-item" href="https://gist.github.com/" data-ga-click="Header, create new gist">
New gist
</a>
<a role="menuitem" class="dropdown-item" href="https://github.com/organizations/new" data-ga-click="Header, create new organization">
New organization
</a>
<div role="none" class="dropdown-divider"></div>
<div class="dropdown-header">
<span title="moribots/spot_mini_mini">This repository</span>
</div>
<a role="menuitem" class="dropdown-item" href="https://github.com/moribots/spot_mini_mini/issues/new/choose" data-ga-click="Header, create new issue" data-skip-pjax="">
New issue
</a>
</details-menu>
</details>
</div>
<div class="Header-item position-relative mr-0 d-none d-md-flex">
<details class="details-overlay details-reset js-feature-preview-indicator-container" data-feature-preview-indicator-src="/users/moribots/feature_preview/indicator_check">
<summary class="Header-link" aria-label="View profile and more" data-ga-click="Header, show menu, icon:avatar" aria-haspopup="menu" role="button">
<img alt="@moribots" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/55120103_002.jpeg" class="avatar avatar-user " width="20" height="20">
<span class="feature-preview-indicator js-feature-preview-indicator" style="top: 10px;" hidden=""></span>
<span class="dropdown-caret"></span>
</summary>
<details-menu class="dropdown-menu dropdown-menu-sw" style="width: 180px" role="menu">
<div class="header-nav-current-user css-truncate"><a role="menuitem" class="no-underline user-profile-link px-3 pt-2 pb-2 mb-n2 mt-n1 d-block" href="https://github.com/moribots" data-ga-click="Header, go to profile, text:Signed in as">Signed in as <strong class="css-truncate-target">moribots</strong></a></div>
<div role="none" class="dropdown-divider"></div>
<div class="pl-3 pr-3 f6 user-status-container js-user-status-context lh-condensed" data-url="/users/status?compact=1&link_mentions=0&truncate=1">
<div class="js-user-status-container rounded-1 px-2 py-1 mt-2 border" data-team-hovercards-enabled="">
<details class="js-user-status-details details-reset details-overlay details-overlay-dark">
<summary class="btn-link btn-block link-gray no-underline js-toggle-user-status-edit toggle-user-status-edit " role="menuitem" data-hydro-click="{"event_type":"user_profile.click","payload":{"profile_user_id":55120103,"target":"EDIT_USER_STATUS","user_id":55120103,"originating_url":"https://github.com/moribots/spot_mini_mini/issues/12"}}" data-hydro-click-hmac="f4e2abf2044e108a6dafa8aa4cda4dfada50e5d3f8b0ed22032a4237455dce23">
<div class="d-flex flex-items-center flex-items-stretch">
<div class="f6 lh-condensed user-status-header d-flex user-status-emoji-only-header circle">
<div class="user-status-emoji-container flex-shrink-0 mr-2 d-flex flex-items-center flex-justify-center lh-condensed-ultra v-align-bottom">
<div><g-emoji class="g-emoji" alias="turtle" fallback-src="https://github.githubassets.com/images/icons/emoji/unicode/1f422.png"><img class="emoji" alt="turtle" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/1f422.png" width="20" height="20"></g-emoji></div>
</div>
</div>
<div class="
user-status-message-wrapper f6 min-width-0" style="line-height: 20px;">
<div class="css-truncate css-truncate-target width-fit text-gray-dark text-left">
<span>working on robots!</span>
</div>
</div>
</div>
</summary>
<details-dialog class="details-dialog rounded-1 anim-fade-in fast Box Box--overlay" role="dialog" tabindex="-1" aria-modal="true">
<!-- '"` --><!-- </textarea></xmp> --><form class="position-relative flex-auto js-user-status-form" action="/users/status?circle=0&compact=1&link_mentions=0&truncate=1" accept-charset="UTF-8" method="post"><input type="hidden" name="_method" value="put"><input type="hidden" name="authenticity_token" value="a/fMIAw57dtRxgTWv8HxKoNx4VAHe8ZW7ddgRt5pIJEGr4Ms3GwiEiTRuWzVLYJ59J13SW0WwNow7WkGN7ytTw==">
<div class="Box-header bg-gray border-bottom p-3">
<button class="Box-btn-octicon js-toggle-user-status-edit btn-octicon float-right" type="reset" aria-label="Close dialog" data-close-dialog="">
<svg class="octicon octicon-x" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M3.72 3.72a.75.75 0 011.06 0L8 6.94l3.22-3.22a.75.75 0 111.06 1.06L9.06 8l3.22 3.22a.75.75 0 11-1.06 1.06L8 9.06l-3.22 3.22a.75.75 0 01-1.06-1.06L6.94 8 3.72 4.78a.75.75 0 010-1.06z"></path></svg>
</button>
<h3 class="Box-title f5 text-bold text-gray-dark">Edit status</h3>
</div>
<input type="hidden" name="emoji" class="js-user-status-emoji-field" value=":turtle:">
<input type="hidden" name="organization_id" class="js-user-status-org-id-field" value="">
<div class="px-3 py-2 text-gray-dark">
<div class="js-characters-remaining-container position-relative mt-2">
<div class="input-group d-table form-group my-0 js-user-status-form-group">
<span class="input-group-button d-table-cell v-align-middle" style="width: 1%">
<button type="button" aria-label="Choose an emoji" class="btn-outline btn js-toggle-user-status-emoji-picker btn-open-emoji-picker p-0">
<span class="js-user-status-original-emoji" hidden=""><div><g-emoji class="g-emoji" alias="turtle" fallback-src="https://github.githubassets.com/images/icons/emoji/unicode/1f422.png"><img class="emoji" alt="turtle" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/1f422.png" width="20" height="20"></g-emoji></div></span>
<span class="js-user-status-custom-emoji"><div><g-emoji class="g-emoji" alias="turtle" fallback-src="https://github.githubassets.com/images/icons/emoji/unicode/1f422.png"><img class="emoji" alt="turtle" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/1f422.png" width="20" height="20"></g-emoji></div></span>
<span class="js-user-status-no-emoji-icon" hidden="">
<svg class="octicon octicon-smiley" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M1.5 8a6.5 6.5 0 1113 0 6.5 6.5 0 01-13 0zM8 0a8 8 0 100 16A8 8 0 008 0zM5 8a1 1 0 100-2 1 1 0 000 2zm7-1a1 1 0 11-2 0 1 1 0 012 0zM5.32 9.636a.75.75 0 011.038.175l.007.009c.103.118.22.222.35.31.264.178.683.37 1.285.37.602 0 1.02-.192 1.285-.371.13-.088.247-.192.35-.31l.007-.008a.75.75 0 111.222.87l-.614-.431c.614.43.614.431.613.431v.001l-.001.002-.002.003-.005.007-.014.019a1.984 1.984 0 01-.184.213c-.16.166-.338.316-.53.445-.63.418-1.37.638-2.127.629-.946 0-1.652-.308-2.126-.63a3.32 3.32 0 01-.715-.657l-.014-.02-.005-.006-.002-.003v-.002h-.001l.613-.432-.614.43a.75.75 0 01.183-1.044h.001z"></path></svg>
</span>
</button>
</span>
<text-expander keys=": @" data-mention-url="/autocomplete/user-suggestions" data-emoji-url="/autocomplete/emoji">
<input type="text" autocomplete="off" data-no-org-url="/autocomplete/user-suggestions" data-org-url="/suggestions?mention_suggester=1" data-maxlength="80" class="d-table-cell width-full form-control js-user-status-message-field js-characters-remaining-field" placeholder="What's happening?" name="message" value="working on robots!" aria-label="What is your current status?">
</text-expander>
<div class="error">Could not update your status, please try again.</div>
</div>
<div style="margin-left: 53px" class="my-1 text-small label-characters-remaining js-characters-remaining" data-suffix="remaining" hidden="">
80 remaining
</div>
</div>
<include-fragment class="js-user-status-emoji-picker" data-url="/users/status/emoji"></include-fragment>
<div class="overflow-auto ml-n3 mr-n3 px-3 border-bottom" style="max-height: 33vh">
<div class="user-status-suggestions js-user-status-suggestions collapsed overflow-hidden">
<h4 class="f6 text-normal my-3">Suggestions:</h4>
<div class="mx-3 mt-2 clearfix">
<div class="float-left col-6">
<button type="button" value=":palm_tree:" class="d-flex flex-items-baseline flex-items-stretch lh-condensed f6 btn-link link-gray no-underline js-predefined-user-status mb-1">
<div class="emoji-status-width mr-2 v-align-middle js-predefined-user-status-emoji">
<g-emoji alias="palm_tree" fallback-src="https://github.githubassets.com/images/icons/emoji/unicode/1f334.png"><img class="emoji" alt="palm_tree" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/1f334.png" width="20" height="20"></g-emoji>
</div>
<div class="d-flex flex-items-center no-underline js-predefined-user-status-message ws-normal text-left" style="border-left: 1px solid transparent">
On vacation
</div>
</button>
<button type="button" value=":face_with_thermometer:" class="d-flex flex-items-baseline flex-items-stretch lh-condensed f6 btn-link link-gray no-underline js-predefined-user-status mb-1">
<div class="emoji-status-width mr-2 v-align-middle js-predefined-user-status-emoji">
<g-emoji alias="face_with_thermometer" fallback-src="https://github.githubassets.com/images/icons/emoji/unicode/1f912.png"><img class="emoji" alt="face_with_thermometer" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/1f912.png" width="20" height="20"></g-emoji>
</div>
<div class="d-flex flex-items-center no-underline js-predefined-user-status-message ws-normal text-left" style="border-left: 1px solid transparent">
Out sick
</div>
</button>
</div>
<div class="float-left col-6">
<button type="button" value=":house:" class="d-flex flex-items-baseline flex-items-stretch lh-condensed f6 btn-link link-gray no-underline js-predefined-user-status mb-1">
<div class="emoji-status-width mr-2 v-align-middle js-predefined-user-status-emoji">
<g-emoji alias="house" fallback-src="https://github.githubassets.com/images/icons/emoji/unicode/1f3e0.png"><img class="emoji" alt="house" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/1f3e0.png" width="20" height="20"></g-emoji>
</div>
<div class="d-flex flex-items-center no-underline js-predefined-user-status-message ws-normal text-left" style="border-left: 1px solid transparent">
Working from home
</div>
</button>
<button type="button" value=":dart:" class="d-flex flex-items-baseline flex-items-stretch lh-condensed f6 btn-link link-gray no-underline js-predefined-user-status mb-1">
<div class="emoji-status-width mr-2 v-align-middle js-predefined-user-status-emoji">
<g-emoji alias="dart" fallback-src="https://github.githubassets.com/images/icons/emoji/unicode/1f3af.png"><img class="emoji" alt="dart" src="Add%20params%20in%20launch%20file,%20to%20be%20able%20to%20control%20some%20robot%20specs%20%C2%B7%20Issue%20%2312%20%C2%B7%20moribots_spot_mini_mini_files/1f3af.png" width="20" height="20"></g-emoji>
</div>
<div class="d-flex flex-items-center no-underline js-predefined-user-status-message ws-normal text-left" style="border-left: 1px solid transparent">
Focusing
</div>
</button>
</div>
</div>
</div>
<div class="user-status-limited-availability-container">
<div class="form-checkbox my-0">
<input type="checkbox" name="limited_availability" value="1" class="js-user-status-limited-availability-checkbox" data-default-message="I may be slow to respond." aria-describedby="limited-availability-help-text-truncate-true-compact-true" id="limited-availability-truncate-true-compact-true">
<label class="d-block f5 text-gray-dark mb-1" for="limited-availability-truncate-true-compact-true">
Busy
</label>
<p class="note" id="limited-availability-help-text-truncate-true-compact-true">
When others mention you, assign you, or request your review,
GitHub will let them know that you have limited availability.
</p>
</div>
</div>
</div>
<div class="d-inline-block f5 mr-2 pt-3 pb-2">
<div class="d-inline-block mr-1">
Clear status
</div>
<details class="js-user-status-expire-drop-down f6 dropdown details-reset details-overlay d-inline-block mr-2">
<summary class="btn btn-sm v-align-baseline" aria-haspopup="true">
<div class="js-user-status-expiration-interval-selected d-inline-block v-align-baseline">
Never
</div>
<div class="dropdown-caret"></div>
</summary>
<ul class="dropdown-menu dropdown-menu-se pl-0 overflow-auto" style="width: 220px; max-height: 15.5em">
<li>
<button type="button" class="btn-link dropdown-item js-user-status-expire-button ws-normal" title="Never">
<span class="d-inline-block text-bold mb-1">Never</span>
<div class="f6 lh-condensed">Keep this status until you clear your status or edit your status.</div>
</button>
</li>
<li class="dropdown-divider" role="none"></li>
<li>
<button type="button" class="btn-link dropdown-item ws-normal js-user-status-expire-button" title="in 30 minutes" value="2020-09-25T14:48:46-04:00">
in 30 minutes
</button>
</li>
<li>
<button type="button" class="btn-link dropdown-item ws-normal js-user-status-expire-button" title="in 1 hour" value="2020-09-25T15:18:46-04:00">
in 1 hour
</button>
</li>
<li>
<button type="button" class="btn-link dropdown-item ws-normal js-user-status-expire-button" title="in 4 hours" value="2020-09-25T18:18:46-04:00">
in 4 hours
</button>
</li>
<li>
<button type="button" class="btn-link dropdown-item ws-normal js-user-status-expire-button" title="today" value="2020-09-25T23:59:59-04:00">
today
</button>
</li>
<li>
<button type="button" class="btn-link dropdown-item ws-normal js-user-status-expire-button" title="this week" value="2020-09-27T23:59:59-04:00">
this week
</button>
</li>
</ul>
</details>
<input class="js-user-status-expiration-date-input" type="hidden" name="expires_at" value="">
</div>
<include-fragment class="js-user-status-org-picker" data-url="/users/status/organizations"></include-fragment>
</div>
<div class="d-flex flex-items-center flex-justify-between p-3 border-top">
<button type="submit" class="width-full btn btn-primary mr-2 js-user-status-submit">
Set status
</button>
<button type="button" class="width-full js-clear-user-status-button btn ml-2 js-user-status-exists">
Clear status
</button>
</div>
</form> </details-dialog>
</details>
</div>
</div>
<div role="none" class="dropdown-divider"></div>
<a role="menuitem" class="dropdown-item" href="https://github.com/moribots" data-ga-click="Header, go to profile, text:your profile" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"YOUR_PROFILE","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="21e9c9ac02eaf773d52b68c6e2d8719fdacb39b4ae550379ed6a1434756eb964">Your profile</a>
<a role="menuitem" class="dropdown-item" href="https://github.com/moribots?tab=repositories" data-ga-click="Header, go to repositories, text:your repositories" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"YOUR_REPOSITORIES","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="4acffb15f910835312771eca7af2dc889c85d6e47aa9aa8e4e0956aeee6c9e29">Your repositories</a>
<a role="menuitem" class="dropdown-item" href="https://github.com/settings/organizations" data-ga-click="Header, go to organizations, text:your organizations" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"YOUR_ORGANIZATIONS","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="955c974d4c4df5cae981e44cb1412465d29c673c0442cabd91eb5123bcebf977">Your organizations</a>
<a role="menuitem" class="dropdown-item" href="https://github.com/moribots?tab=projects" data-ga-click="Header, go to projects, text:your projects" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"YOUR_PROJECTS","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="59b28f3c9aae1093fa636813fee7945b4fdb0317bd73355c91f22a0478501564">Your projects</a>
<a role="menuitem" class="dropdown-item" href="https://github.com/moribots?tab=stars" data-ga-click="Header, go to starred repos, text:your stars" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"YOUR_STARS","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="6d9f900b43d4cfa1fb332c9db78f8eccb41b5388198560e5270248801efb53fa">Your stars</a>
<a role="menuitem" class="dropdown-item" href="https://gist.github.com/mine" data-ga-click="Header, your gists, text:your gists" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"YOUR_GISTS","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="95eb51a698ba36322e9cc5f38a61667e2e448c9bc4eae0c6ad57434374bb88f5">Your gists</a>
<div role="none" class="dropdown-divider"></div>
<div id="feature-enrollment-toggle" class="hide-sm hide-md feature-preview-details position-relative">
<button type="button" class="dropdown-item btn-link" role="menuitem" data-feature-preview-trigger-url="/users/moribots/feature_previews" data-feature-preview-close-details="{"event_type":"feature_preview.clicks.close_modal","payload":{"originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-feature-preview-close-hmac="daaa4e250c3123561a8474ba9a79e4849cf297eed164e739be437153071bb9a0" data-hydro-click="{"event_type":"feature_preview.clicks.open_modal","payload":{"link_location":"user_dropdown","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="bc3f1f29ee2bc217408c8d97c6fef4633fce990730427b259f7ccaddc7bf91f8">
Feature preview
</button>
<span class="feature-preview-indicator js-feature-preview-indicator" hidden=""></span>
</div>
<a role="menuitem" class="dropdown-item" href="https://docs.github.com/" data-ga-click="Header, go to help, text:help" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"HELP","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="7d2a41dd1ebf1a63ca137ca51385eb58b48375493e1e3fa7f44604f7cfefec07">Help</a>
<a role="menuitem" class="dropdown-item" href="https://github.com/settings/profile" data-ga-click="Header, go to settings, icon:settings" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"SETTINGS","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="d33b4b74e320913b3ba7bbab71cede7e4daff8f13577ef56ee5de86671c944cb">Settings</a>
<!-- '"` --><!-- </textarea></xmp> --><form class="logout-form" action="/logout" accept-charset="UTF-8" method="post"><input type="hidden" name="authenticity_token" value="42GQkeYmhdmzQOlg8KyTcfRqVr/5gipapmLyRj5L5fO9Xq3qmgLl3NIJigklruyuDCQHATCXqndM9n33CFH0DQ==">
<button type="submit" class="dropdown-item dropdown-signout" data-ga-click="Header, sign out, icon:logout" data-hydro-click="{"event_type":"global_header.user_menu_dropdown.click","payload":{"request_url":"https://github.com/moribots/spot_mini_mini/issues/12","target":"SIGN_OUT","originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="a3f6de7ce9f647110298a8be213cb1c97656d52609ccbcae0258b7b094e85881" role="menuitem">
Sign out
</button>
<input type="text" name="required_field_7d2d" class="form-control" hidden="hidden"><input type="hidden" name="timestamp" value="1601057926163" class="form-control"><input type="hidden" name="timestamp_secret" value="09d3a0e30a66b61930d2cfbb1ede2dbfbfbc06eaa71222929d4eda723467b65a" class="form-control">
</form> </details-menu>
</details>
</div>
</header>
</div>
<div id="start-of-content" class="show-on-focus"></div>
<div id="js-flash-container">
<template class="js-flash-template">
<div class="flash flash-full {{ className }}">
<div class=" px-2">
<button class="flash-close js-flash-close" type="button" aria-label="Dismiss this message">
<svg class="octicon octicon-x" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M3.72 3.72a.75.75 0 011.06 0L8 6.94l3.22-3.22a.75.75 0 111.06 1.06L9.06 8l3.22 3.22a.75.75 0 11-1.06 1.06L8 9.06l-3.22 3.22a.75.75 0 01-1.06-1.06L6.94 8 3.72 4.78a.75.75 0 010-1.06z"></path></svg>
</button>
<div>{{ message }}</div>
</div>
</div>
</template>
</div>
<include-fragment class="js-notification-shelf-include-fragment" data-base-src="https://github.com/notifications/beta/shelf"></include-fragment>
<div class="application-main " data-commit-hovercards-enabled="" data-discussion-hovercards-enabled="" data-issue-and-pr-hovercards-enabled="">
<div itemscope="" itemtype="http://schema.org/SoftwareSourceCode" class="">
<main id="js-repo-pjax-container" data-pjax-container="">
<div class="bg-gray-light pt-3 hide-full-screen mb-5">
<div class="d-flex mb-3 px-3 px-md-4 px-lg-5">
<div class="flex-auto min-width-0 width-fit mr-3">
<h1 class=" d-flex flex-wrap flex-items-center break-word f3 text-normal">
<svg class="octicon octicon-repo text-gray" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M2 2.5A2.5 2.5 0 014.5 0h8.75a.75.75 0 01.75.75v12.5a.75.75 0 01-.75.75h-2.5a.75.75 0 110-1.5h1.75v-2h-8a1 1 0 00-.714 1.7.75.75 0 01-1.072 1.05A2.495 2.495 0 012 11.5v-9zm10.5-1V9h-8c-.356 0-.694.074-1 .208V2.5a1 1 0 011-1h8zM5 12.25v3.25a.25.25 0 00.4.2l1.45-1.087a.25.25 0 01.3 0L8.6 15.7a.25.25 0 00.4-.2v-3.25a.25.25 0 00-.25-.25h-3.5a.25.25 0 00-.25.25z"></path></svg>
<span class="author ml-2 flex-self-stretch" itemprop="author">
<a class="url fn" rel="author" data-hovercard-type="user" data-hovercard-url="/users/moribots/hovercard" data-octo-click="hovercard-link-click" data-octo-dimensions="link_type:self" href="https://github.com/moribots">moribots</a>
</span>
<span class="mx-1 flex-self-stretch">/</span>
<strong itemprop="name" class="mr-2 flex-self-stretch">
<a data-pjax="#js-repo-pjax-container" href="https://github.com/moribots/spot_mini_mini">spot_mini_mini</a>
</strong>
</h1>
</div>
<ul class="pagehead-actions flex-shrink-0 d-none d-md-inline" style="padding: 2px 0;">
<li>
<form data-remote="true" class="d-flex js-social-form js-social-container" action="/notifications/subscribe" accept-charset="UTF-8" method="post"><input type="hidden" name="authenticity_token" value="ni+QqYbU9NFStQ2rCUWlfqzDAx3K4HGn+aFgYoCiyEAq8gEzGvHRtJTVLLrReIaRTuAJif6HMjYiMw85smigKg=="> <input type="hidden" name="repository_id" value="251706548">
<details class="details-reset details-overlay select-menu hx_rsm">
<summary class="btn btn-sm btn-with-count" data-hydro-click="{"event_type":"repository.click","payload":{"target":"WATCH_BUTTON","repository_id":251706548,"originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="aef0ef902f0a1ca457f0b1175848f99a366661592ce84a4b66552d4ca20ef318" data-ga-click="Repository, click Watch settings, action:issues#show" aria-haspopup="menu" role="button"> <span data-menu-button="">
<svg height="16" class="octicon octicon-eye" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M1.679 7.932c.412-.621 1.242-1.75 2.366-2.717C5.175 4.242 6.527 3.5 8 3.5c1.473 0 2.824.742 3.955 1.715 1.124.967 1.954 2.096 2.366 2.717a.119.119 0 010 .136c-.412.621-1.242 1.75-2.366 2.717C10.825 11.758 9.473 12.5 8 12.5c-1.473 0-2.824-.742-3.955-1.715C2.92 9.818 2.09 8.69 1.679 8.068a.119.119 0 010-.136zM8 2c-1.981 0-3.67.992-4.933 2.078C1.797 5.169.88 6.423.43 7.1a1.619 1.619 0 000 1.798c.45.678 1.367 1.932 2.637 3.024C4.329 13.008 6.019 14 8 14c1.981 0 3.67-.992 4.933-2.078 1.27-1.091 2.187-2.345 2.637-3.023a1.619 1.619 0 000-1.798c-.45-.678-1.367-1.932-2.637-3.023C11.671 2.992 9.981 2 8 2zm0 8a2 2 0 100-4 2 2 0 000 4z"></path></svg>
Unwatch
</span>
<span class="dropdown-caret"></span>
</summary> <details-menu class="select-menu-modal position-absolute mt-5" style="z-index: 99;" role="menu">
<div class="select-menu-header">
<span class="select-menu-title">Notifications</span>
</div>
<div class="select-menu-list">
<button type="submit" name="do" value="included" class="select-menu-item width-full" aria-checked="false" role="menuitemradio">
<svg class="octicon octicon-check select-menu-item-icon" height="16" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M13.78 4.22a.75.75 0 010 1.06l-7.25 7.25a.75.75 0 01-1.06 0L2.22 9.28a.75.75 0 011.06-1.06L6 10.94l6.72-6.72a.75.75 0 011.06 0z"></path></svg>
<div class="select-menu-item-text">
<span class="select-menu-item-heading">Not watching</span>
<span class="description">Be notified only when participating or @mentioned.</span>
<span class="hidden-select-button-text" data-menu-button-contents="">
<svg height="16" class="octicon octicon-eye" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M1.679 7.932c.412-.621 1.242-1.75 2.366-2.717C5.175 4.242 6.527 3.5 8 3.5c1.473 0 2.824.742 3.955 1.715 1.124.967 1.954 2.096 2.366 2.717a.119.119 0 010 .136c-.412.621-1.242 1.75-2.366 2.717C10.825 11.758 9.473 12.5 8 12.5c-1.473 0-2.824-.742-3.955-1.715C2.92 9.818 2.09 8.69 1.679 8.068a.119.119 0 010-.136zM8 2c-1.981 0-3.67.992-4.933 2.078C1.797 5.169.88 6.423.43 7.1a1.619 1.619 0 000 1.798c.45.678 1.367 1.932 2.637 3.024C4.329 13.008 6.019 14 8 14c1.981 0 3.67-.992 4.933-2.078 1.27-1.091 2.187-2.345 2.637-3.023a1.619 1.619 0 000-1.798c-.45-.678-1.367-1.932-2.637-3.023C11.671 2.992 9.981 2 8 2zm0 8a2 2 0 100-4 2 2 0 000 4z"></path></svg>
Watch
</span>
</div>
</button>
<button type="submit" name="do" value="release_only" class="select-menu-item width-full" aria-checked="false" role="menuitemradio">
<svg class="octicon octicon-check select-menu-item-icon" height="16" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M13.78 4.22a.75.75 0 010 1.06l-7.25 7.25a.75.75 0 01-1.06 0L2.22 9.28a.75.75 0 011.06-1.06L6 10.94l6.72-6.72a.75.75 0 011.06 0z"></path></svg>
<div class="select-menu-item-text">
<span class="select-menu-item-heading">Releases only</span>
<span class="description">Be notified of new releases, and when participating or @mentioned.</span>
<span class="hidden-select-button-text" data-menu-button-contents="">
<svg height="16" class="octicon octicon-eye" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M1.679 7.932c.412-.621 1.242-1.75 2.366-2.717C5.175 4.242 6.527 3.5 8 3.5c1.473 0 2.824.742 3.955 1.715 1.124.967 1.954 2.096 2.366 2.717a.119.119 0 010 .136c-.412.621-1.242 1.75-2.366 2.717C10.825 11.758 9.473 12.5 8 12.5c-1.473 0-2.824-.742-3.955-1.715C2.92 9.818 2.09 8.69 1.679 8.068a.119.119 0 010-.136zM8 2c-1.981 0-3.67.992-4.933 2.078C1.797 5.169.88 6.423.43 7.1a1.619 1.619 0 000 1.798c.45.678 1.367 1.932 2.637 3.024C4.329 13.008 6.019 14 8 14c1.981 0 3.67-.992 4.933-2.078 1.27-1.091 2.187-2.345 2.637-3.023a1.619 1.619 0 000-1.798c-.45-.678-1.367-1.932-2.637-3.023C11.671 2.992 9.981 2 8 2zm0 8a2 2 0 100-4 2 2 0 000 4z"></path></svg>
Unwatch releases
</span>
</div>
</button>
<button type="submit" name="do" value="subscribed" class="select-menu-item width-full" aria-checked="true" role="menuitemradio">
<svg class="octicon octicon-check select-menu-item-icon" height="16" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M13.78 4.22a.75.75 0 010 1.06l-7.25 7.25a.75.75 0 01-1.06 0L2.22 9.28a.75.75 0 011.06-1.06L6 10.94l6.72-6.72a.75.75 0 011.06 0z"></path></svg>
<div class="select-menu-item-text">
<span class="select-menu-item-heading">Watching</span>
<span class="description">Be notified of all conversations.</span>
<span class="hidden-select-button-text" data-menu-button-contents="">
<svg class="octicon octicon-eye v-align-text-bottom" height="16" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M1.679 7.932c.412-.621 1.242-1.75 2.366-2.717C5.175 4.242 6.527 3.5 8 3.5c1.473 0 2.824.742 3.955 1.715 1.124.967 1.954 2.096 2.366 2.717a.119.119 0 010 .136c-.412.621-1.242 1.75-2.366 2.717C10.825 11.758 9.473 12.5 8 12.5c-1.473 0-2.824-.742-3.955-1.715C2.92 9.818 2.09 8.69 1.679 8.068a.119.119 0 010-.136zM8 2c-1.981 0-3.67.992-4.933 2.078C1.797 5.169.88 6.423.43 7.1a1.619 1.619 0 000 1.798c.45.678 1.367 1.932 2.637 3.024C4.329 13.008 6.019 14 8 14c1.981 0 3.67-.992 4.933-2.078 1.27-1.091 2.187-2.345 2.637-3.023a1.619 1.619 0 000-1.798c-.45-.678-1.367-1.932-2.637-3.023C11.671 2.992 9.981 2 8 2zm0 8a2 2 0 100-4 2 2 0 000 4z"></path></svg>
Unwatch
</span>
</div>
</button>
<button type="submit" name="do" value="ignore" class="select-menu-item width-full" aria-checked="false" role="menuitemradio">
<svg class="octicon octicon-check select-menu-item-icon" height="16" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M13.78 4.22a.75.75 0 010 1.06l-7.25 7.25a.75.75 0 01-1.06 0L2.22 9.28a.75.75 0 011.06-1.06L6 10.94l6.72-6.72a.75.75 0 011.06 0z"></path></svg>
<div class="select-menu-item-text">
<span class="select-menu-item-heading">Ignoring</span>
<span class="description">Never be notified.</span>
<span class="hidden-select-button-text" data-menu-button-contents="">
<svg height="16" class="octicon octicon-bell-slash" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M8 1.5c-.997 0-1.895.416-2.534 1.086A.75.75 0 014.38 1.55 5 5 0 0113 5v2.373a.75.75 0 01-1.5 0V5A3.5 3.5 0 008 1.5zM4.182 4.31L1.19 2.143a.75.75 0 10-.88 1.214L3 5.305v2.642a.25.25 0 01-.042.139L1.255 10.64A1.518 1.518 0 002.518 13h11.108l1.184.857a.75.75 0 10.88-1.214l-1.375-.996a1.196 1.196 0 00-.013-.01L4.198 4.321a.733.733 0 00-.016-.011zm7.373 7.19L4.5 6.391v1.556c0 .346-.102.683-.294.97l-1.703 2.556a.018.018 0 00-.003.01.015.015 0 00.005.012.017.017 0 00.006.004l.007.001h9.037zM8 16a2 2 0 001.985-1.75c.017-.137-.097-.25-.235-.25h-3.5c-.138 0-.252.113-.235.25A2 2 0 008 16z"></path></svg>
Stop ignoring
</span>
</div>
</button>
</div>
</details-menu>
</details>
<a class="social-count js-social-count" href="https://github.com/moribots/spot_mini_mini/watchers" aria-label="24 users are watching this repository">
24
</a>
</form>
</li>
<li>
<div class="js-toggler-container js-social-container starring-container ">
<form class="starred js-social-form" action="/moribots/spot_mini_mini/unstar" accept-charset="UTF-8" method="post"><input type="hidden" name="authenticity_token" value="PHriqZ9iaDx/8brlpRClaN6ydvFWkgtA9Lp6gzdBAu6Tce4xMhVDRXt2Bm5BhL+ebL+qOuLkOSQLEDME5U595Q==">
<input type="hidden" name="context" value="repository">
<button type="submit" class="btn btn-sm btn-with-count js-toggler-target" aria-label="Unstar this repository" title="Unstar moribots/spot_mini_mini" data-hydro-click="{"event_type":"repository.click","payload":{"target":"UNSTAR_BUTTON","repository_id":251706548,"originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="30988065b8d0db7aff99f01b36d83ad44b29f3be1e9a26edf9f4a227883f50fb" data-ga-click="Repository, click unstar button, action:issues#show; text:Unstar"> <svg height="16" class="octicon octicon-star-fill" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M8 .25a.75.75 0 01.673.418l1.882 3.815 4.21.612a.75.75 0 01.416 1.279l-3.046 2.97.719 4.192a.75.75 0 01-1.088.791L8 12.347l-3.766 1.98a.75.75 0 01-1.088-.79l.72-4.194L.818 6.374a.75.75 0 01.416-1.28l4.21-.611L7.327.668A.75.75 0 018 .25z"></path></svg>
Unstar
</button> <a class="social-count js-social-count" href="https://github.com/moribots/spot_mini_mini/stargazers" aria-label="271 users starred this repository">
271
</a>
</form>
<form class="unstarred js-social-form" action="/moribots/spot_mini_mini/star" accept-charset="UTF-8" method="post"><input type="hidden" name="authenticity_token" value="WdSA8Uvg5PxH80iBcFPRmCNPbx1fUTuGbySXPRBCLAzyhTfu9abKxZ/LIxoIYmekmdO71sADlnosRAf69UVTgw==">
<input type="hidden" name="context" value="repository">
<button type="submit" class="btn btn-sm btn-with-count js-toggler-target" aria-label="Unstar this repository" title="Star moribots/spot_mini_mini" data-hydro-click="{"event_type":"repository.click","payload":{"target":"STAR_BUTTON","repository_id":251706548,"originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="319deca97b2ae1fb84ec14f071107e35c885262a9e20f76069b1a2797f2b35ae" data-ga-click="Repository, click star button, action:issues#show; text:Star"> <svg height="16" class="octicon octicon-star" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M8 .25a.75.75 0 01.673.418l1.882 3.815 4.21.612a.75.75 0 01.416 1.279l-3.046 2.97.719 4.192a.75.75 0 01-1.088.791L8 12.347l-3.766 1.98a.75.75 0 01-1.088-.79l.72-4.194L.818 6.374a.75.75 0 01.416-1.28l4.21-.611L7.327.668A.75.75 0 018 .25zm0 2.445L6.615 5.5a.75.75 0 01-.564.41l-3.097.45 2.24 2.184a.75.75 0 01.216.664l-.528 3.084 2.769-1.456a.75.75 0 01.698 0l2.77 1.456-.53-3.084a.75.75 0 01.216-.664l2.24-2.183-3.096-.45a.75.75 0 01-.564-.41L8 2.694v.001z"></path></svg>
Star
</button> <a class="social-count js-social-count" href="https://github.com/moribots/spot_mini_mini/stargazers" aria-label="271 users starred this repository">
271
</a>
</form> </div>
</li>
<li>
<div class="float-left">
<details class="details-reset details-overlay details-overlay-dark ">
<summary class="btn btn-sm btn-with-count" title="Fork your own copy of moribots/spot_mini_mini to your account" data-hydro-click="{"event_type":"repository.click","payload":{"target":"FORK_BUTTON","repository_id":251706548,"originating_url":"https://github.com/moribots/spot_mini_mini/issues/12","user_id":55120103}}" data-hydro-click-hmac="385449c34708b424d91af683bb6f64bbbe9ea54186628d00845cd28c6a1ee4d5" data-ga-click="Repository, show fork modal, action:issues#show; text:Fork" role="button">
<svg class="octicon octicon-repo-forked" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M5 3.25a.75.75 0 11-1.5 0 .75.75 0 011.5 0zm0 2.122a2.25 2.25 0 10-1.5 0v.878A2.25 2.25 0 005.75 8.5h1.5v2.128a2.251 2.251 0 101.5 0V8.5h1.5a2.25 2.25 0 002.25-2.25v-.878a2.25 2.25 0 10-1.5 0v.878a.75.75 0 01-.75.75h-4.5A.75.75 0 015 6.25v-.878zm3.75 7.378a.75.75 0 11-1.5 0 .75.75 0 011.5 0zm3-8.75a.75.75 0 100-1.5.75.75 0 000 1.5z"></path></svg>
Fork
</summary>
<details-dialog class="Box d-flex flex-column anim-fade-in fast Box--overlay" aria-label="Fork spot_mini_mini" src="/moribots/spot_mini_mini/fork?fragment=1" preload="" role="dialog" aria-modal="true">
<div class="Box-header">
<button class="Box-btn-octicon btn-octicon float-right" type="button" aria-label="Close dialog" data-close-dialog="">
<svg height="16" class="octicon octicon-x" viewBox="0 0 16 16" version="1.1" width="16" aria-hidden="true"><path fill-rule="evenodd" d="M3.72 3.72a.75.75 0 011.06 0L8 6.94l3.22-3.22a.75.75 0 111.06 1.06L9.06 8l3.22 3.22a.75.75 0 11-1.06 1.06L8 9.06l-3.22 3.22a.75.75 0 01-1.06-1.06L6.94 8 3.72 4.78a.75.75 0 010-1.06z"></path></svg>
</button>
<h1 class="Box-title">Fork spot_mini_mini</h1>
</div>
<div class="text-center overflow-auto">
<include-fragment>
<div class="octocat-spinner my-5" aria-label="Loading..."></div>
<p class="f5 text-gray">If this dialog fails to load, you can visit <a href="https://github.com/moribots/spot_mini_mini/fork">the fork page</a> directly.</p>
</include-fragment>
</div>
</details-dialog>
</details>
</div>
<a href="https://github.com/moribots/spot_mini_mini/network/members" class="social-count" aria-label="36 users forked this repository">
36
</a>
</li>
</ul>
</div>
<nav aria-label="Repository" data-pjax="#js-repo-pjax-container" class="js-repo-nav js-sidenav-container-pjax js-responsive-underlinenav overflow-hidden UnderlineNav px-3 px-md-4 px-lg-5 bg-gray-light">
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<h1 class="gh-header-title mb-2 lh-condensed">
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Add params in launch file, to be able to control some robot specs
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<span class="f1-light text-gray-light">#12</span>
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<a class="author text-bold link-gray" data-hovercard-type="user" data-hovercard-url="/users/elpimous/hovercard" data-octo-click="hovercard-link-click" data-octo-dimensions="link_type:self" href="https://github.com/elpimous">elpimous</a> opened this issue
<relative-time datetime="2020-09-23T14:34:01Z" class="no-wrap" title="Sep 23, 2020, 10:34 AM EDT">2 days ago</relative-time>
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<a class="js-issue-title css-truncate css-truncate-target link-gray-dark width-fit" href="#">Add params in launch file, to be able to control some robot specs</a>
<span class="gh-header-number text-gray-light pl-1">#12</span>
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<a class="author text-bold link-gray" data-hovercard-z-index-override="111" data-hovercard-type="user" data-hovercard-url="/users/elpimous/hovercard" data-octo-click="hovercard-link-click" data-octo-dimensions="link_type:self" href="https://github.com/elpimous">elpimous</a> opened this issue
<relative-time datetime="2020-09-23T14:34:01Z" class="no-wrap" title="Sep 23, 2020, 10:34 AM EDT">2 days ago</relative-time>
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<a href="#issue-707421378" id="issue-707421378-permalink" class="link-gray js-timestamp"><relative-time datetime="2020-09-23T14:34:01Z" class="no-wrap" title="Sep 23, 2020, 10:34 AM EDT">2 days ago</relative-time></a>
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<p>The use of params in ROS launchfile could help change some values in poses or walk specs :</p>
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<li>
<p>robot height</p>
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<li>
<p>Step Length</p>
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<li>
<p>Step velocity</p>
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<p>what policy model use.</p>
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<text-expander keys=": @ #" data-issue-url="/suggestions?issue_suggester=1&repository=spot_mini_mini&user_id=moribots" data-mention-url="/suggestions?mention_suggester=1&repository=spot_mini_mini&user_id=moribots" data-emoji-url="/autocomplete/emoji">
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- robot height
- Step Length
- Step velocity
- what policy model use.</textarea>
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<dd><textarea id="convert-to-issue-body-MDEyOklzc3VlQ29tbWVudDY5OTA4MTMxOQ==" name="issue[body]" class="form-control" aria-label="Issue body">Thanks
Vincent! There is already a ros param for selecting your policy. Step
length is controlled by pushing the right joystick forward, and step
velocity is controlled by the bottom left and right bumpers (See README)
I will add ones for your other requested features now.
_Originally posted by @moribots in
https://github.com/moribots/spot_mini_mini/issues/12#issuecomment-699081319_</textarea></dd>
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<a href="#issuecomment-699081319" id="issuecomment-699081319-permalink" class="link-gray js-timestamp"><relative-time datetime="2020-09-25T18:20:35Z" class="no-wrap" title="Sep 25, 2020, 2:20 PM EDT">1 hour ago</relative-time></a>
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<span class="v-align-middle">edited <relative-time datetime="2020-09-25T18:23:33Z" class="no-wrap" title="Sep 25, 2020, 2:23 PM EDT">43 minutes ago</relative-time> (most recent)</span>
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<span class="v-align-middle">created <relative-time datetime="2020-09-25T18:20:35Z" class="no-wrap" title="Sep 25, 2020, 2:20 PM EDT">1 hour ago</relative-time></span>
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<p>Thanks Vincent! There is already a ros param for selecting
your policy. Step length is controlled by pushing the right joystick
forward, and step velocity is controlled by the bottom left and right
bumpers (See README)</p>
<p>I will add ones for your other requested features now.</p>
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<text-expander keys=": @ #" data-issue-url="/suggestions?issue_suggester=1&repository=spot_mini_mini&user_id=moribots" data-mention-url="/suggestions?mention_suggester=1&repository=spot_mini_mini&user_id=moribots" data-emoji-url="/autocomplete/emoji">
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Vincent! There is already a ros param for selecting your policy. Step
length is controlled by pushing the right joystick forward, and step
velocity is controlled by the bottom left and right bumpers (See README)
I will add ones for your other requested features now.</textarea>
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<dd><input id="convert-to-issue-title-MDEyOklzc3VlQ29tbWVudDY5OTA5NzIyOQ==" class="form-control" type="text" name="issue[title]" value="very reactive, Thanks Maurice !" aria-label="Issue title" autofocus="" required=""></dd>
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<dd><textarea id="convert-to-issue-body-MDEyOklzc3VlQ29tbWVudDY5OTA5NzIyOQ==" name="issue[body]" class="form-control" aria-label="Issue body">very reactive, Thanks Maurice !
_Originally posted by @elpimous in https://github.com/moribots/spot_mini_mini/issues/12#issuecomment-699097229_</textarea></dd>
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<a class="author link-gray-dark css-truncate-target width-fit" show_full_name="false" data-hovercard-type="user" data-hovercard-url="/users/elpimous/hovercard" data-octo-click="hovercard-link-click" data-octo-dimensions="link_type:self" href="https://github.com/elpimous">elpimous</a>
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<p>very reactive, Thanks Maurice !</p>
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</div>
<div class="d-flex d-md-inline-block">
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<span class="select-menu-title flex-auto">Select a reply</span>
<code><span class="border rounded-1 p-1 mr-2">ctrl .</span></code>
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<svg class="octicon octicon-octoface" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M1.326 1.973a1.2 1.2 0 011.49-.832c.387.112.977.307 1.575.602.586.291 1.243.71 1.7 1.296.022.027.042.056.061.084A13.22 13.22 0 018 3c.67 0 1.289.037 1.861.108l.051-.07c.457-.586 1.114-1.004 1.7-1.295a9.654 9.654 0 011.576-.602 1.2 1.2 0 011.49.832c.14.493.356 1.347.479 2.29.079.604.123 1.28.07 1.936.541.977.773 2.11.773 3.301C16 13 14.5 15 8 15s-8-2-8-5.5c0-1.034.238-2.128.795-3.117-.08-.712-.034-1.46.052-2.12.122-.943.34-1.797.479-2.29zM8 13.065c6 0 6.5-2 6-4.27C13.363 5.905 11.25 5 8 5s-5.363.904-6 3.796c-.5 2.27 0 4.27 6 4.27z"></path><path d="M4 8a1 1 0 012 0v1a1 1 0 01-2 0V8zm2.078 2.492c-.083-.264.146-.492.422-.492h3c.276 0 .505.228.422.492C9.67 11.304 8.834 12 8 12c-.834 0-1.669-.696-1.922-1.508zM10 8a1 1 0 112 0v1a1 1 0 11-2 0V8z"></path></svg>
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<md-unordered-list tabindex="-1" class="toolbar-item tooltipped tooltipped-n p-2 mx-1" aria-label="Add a bulleted list" data-ga-click="Markdown Toolbar, click, unordered list" role="button">
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<text-expander keys=": @ #" data-issue-url="/suggestions/issue/707421378?repository=spot_mini_mini&user_id=moribots&issue_suggester=1" data-mention-url="/suggestions/issue/707421378?repository=spot_mini_mini&user_id=moribots&mention_suggester=1" data-emoji-url="/autocomplete/emoji" style="">
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just made the changes. You can modify everything that contributes to
Spot's motion in the `mini_ros/config/` directory
([link](https://github.com/moribots/spot_mini_mini/tree/spot/mini_ros/config))</textarea>
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<div aria-live="polite" class="sr-only">Author
elpimous commented now
very reactive, Thanks Maurice !</div></body></html> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/setup.py | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
## Copies from http://docs.ros.org/melodic/api/catkin/html/howto/format2/installing_python.html and edited for our package
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
packages=['mini_bullet', 'ars_lib'],
package_dir={'../mini_bullet/src': ''})
setup(**setup_args)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(mini_ros)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-Wall -Wextra -pipe -Wno-psabi)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
message_generation
message_runtime
roscpp
rospy
rostest
sensor_msgs
visualization_msgs
)
find_package(Eigen3 3.3 REQUIRED NO_MODULE)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# Install Python Modules
catkin_python_setup()
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
MiniCmd.msg
JoyButtons.msg
IMUdata.msg
ContactData.msg
AgentData.msg
JointAngles.msg
JointPulse.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
CalibServo.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy sensor_msgs visualization_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${Eigen3_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(${PROJECT_NAME}
src/${PROJECT_NAME}/spot.cpp
src/${PROJECT_NAME}/teleop.cpp
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(spot_sm src/spot_sm.cpp)
add_executable(teleop_node src/teleop_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(spot_sm PROPERTIES OUTPUT_NAME spot_sm PREFIX "")
set_target_properties(teleop_node PROPERTIES OUTPUT_NAME teleop_node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(spot_sm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(teleop_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(
spot_sm
# Eigen3::Eigen
${PROJECT_NAME}
${catkin_LIBRARIES}
)
target_link_libraries(
teleop_node
# Eigen3::Eigen
${PROJECT_NAME}
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
install(PROGRAMS
src/spot_pybullet_interface
src/spot_real_interface
src/servo_calibration
src/sensor_interface
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS spot_sm teleop_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/${PROJECT_NAME}_test.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
# if (CATKIN_ENABLE_TESTING)
# catkin_add_gtest(${PROJECT_NAME}_test tests/${PROJECT_NAME}_test.cpp)
# target_link_libraries(${PROJECT_NAME}_test ${catkin_Libraries} gtest_main ${PROJECT_NAME})
# endif()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/package.xml | <?xml version="1.0"?>
<package format="2">
<name>mini_ros</name>
<version>0.0.0</version>
<description>Controls Minitaur Robot using Trained Policies in Pybullet and IRL</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">mori</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>MIT</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/mini_ros</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>message_runtime</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<build_export_depend>message_runtime</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>visualization_msgs</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>visualization_msgs</exec_depend>
<exec_depend>hector_gazebo_plugins</exec_depend>
<exec_depend>hector_sensors_description</exec_depend>
<test_depend>rostest</test_depend>
<test_depend>rosunit</test_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/launch/spot_calibrate.launch | <launch>
<!-- Sensor Calibration Node -->
<node name="servo_calibration" pkg="mini_ros" type="servo_calibration" output="screen"/>
<!-- Sensor Interface Node -->
<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
<param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
<param name="baud" value="500000"/> <!-- must match Teensy -->
</node>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/launch/spot_gazebo.launch | <launch>
<!-- Load the urdf into the parameter server from the xacro file-->
<param name="robot_description" command="xacro '$(find mini_ros)/urdf/spot.urdf.xacro'" />
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- We reuse the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="true"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Spawn the urdf -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -x 0.0 -y 0.0 -z 0.26 -model spot" respawn="false" output="screen"/>
<include file="$(find mini_ros)/launch/controller.launch"/>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/launch/controller.launch | <launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find mini_ros)/config/control.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/spot" args="joint_group_position_controller joint_states_controller"/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
<remap from="/joint_states" to="/spot/joint_states" />
</node>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/launch/view_spot.launch | <launch>
<!-- This launchfile loads a differential drive robot into RViz, whose parameters are set
and can be modified in diff_params.yaml -->
<!-- load the urdf into the parameter server from the xacro file-->
<param name="robot_description" command="xacro '$(find mini_ros)/urdf/spot.urdf.xacro'" />
<!-- The robot_state_publisher reads the urdf from /robot_description parameter
and listens to joint information on the /joint_states topic -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<!-- The joint state publisher will be launched with a gui, read the urdf from /robot_description
and publish the joint values on /joint_states. Optional launch using use_jsp_gui:=1 -->
<arg name="use_jsp_gui" default="True" doc="Launch the joint_state_publisher gui to publish joint angles"/>
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> -->
<!-- rviz will enable us to see the robot. REQUIRED NODE - All other nodes terminate when RViz closes -->
<node name="rviz" pkg="rviz" type="rviz" required="True" args="-d $(find mini_ros)/rviz/spot.rviz"/>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/launch/spot_move.launch | <launch>
<!-- Minitaur State Machine Node-->
<node name="spot_sm" pkg="mini_ros" type="spot_sm" output="screen">
<param name="frequency" value="200.0" type="double"/>
</node>
<!-- Joystick Node -->
<node respawn="true" pkg="joy"
type="joy_node" name="spot_joy" >
<param name="dev" type="string" value="/dev/input/js0" />
<param name="deadzone" value="0.05" />
</node>
<!-- Teleop Node -->
<node name="spot_teleop" pkg="mini_ros" type="teleop_node" output="screen">
<param name="frequency" value="200.0" type="double"/>
<param name="axis_linear_x" value="4" type="int"/>
<param name="axis_linear_y" value="3" type="int"/>
<param name="axis_linear_z" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="1.0" type="double"/>
<param name="scale_angular" value="1.0" type="double"/>
<param name="button_switch" value="0" type="int"/>
<param name="button_estop" value="1" type="int"/>
</node>
<!-- Policy Node -->
<node name="spot_pybullet" pkg="mini_ros" type="spot_pybullet_interface" output="screen"/>
<!-- NOTE:
Setting Up Joystick:
- Get Number (you will see something like jsX): ls /dev/input/
- Make available to ROS: sudo chmod a+rw /dev/input/jsX
- Make sure <param name="dev" type="string" value="/dev/input/jsX" /> is correct in launch
You can ignore this msg: [ERROR] [1591631380.406690714]: Couldn't open joystick force feedback!
It just means your controller is missing some functionality, but this package doesn't use it.
-->
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/launch/spot_real.launch | <launch>
<!-- Minitaur State Machine Node-->
<node name="spot_sm" pkg="mini_ros" type="spot_sm" output="screen">
<param name="frequency" value="200.0" type="double"/>
</node>
<!-- Joystick Node -->
<node respawn="true" pkg="joy"
type="joy_node" name="spot_joy" >
<param name="dev" type="string" value="/dev/input/js0" />
<param name="deadzone" value="0.005" />
</node>
<!-- Teleop Node -->
<node name="spot_teleop" pkg="mini_ros" type="teleop_node" output="screen">
<param name="frequency" value="200.0" type="double"/>
<param name="axis_linear_x" value="4" type="int"/>
<param name="axis_linear_y" value="3" type="int"/>
<param name="axis_linear_z" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="1.0" type="double"/>
<param name="scale_angular" value="1.0" type="double"/>
<param name="button_switch" value="0" type="int"/>
<param name="button_estop" value="1" type="int"/>
</node>
<!-- Policy Node -->
<arg name="agent_num" default="0" doc="Agent Number for ARS (GMBC) Policy. Default (0) Loads no Agent. Policy numbers start at 9 and increase by 10. E.G: 9...19...29..."/>
<param name="agent_num" value="$(eval arg('agent_num'))" />
<!-- Spot Params -->
<rosparam command="load" file="$(find mini_ros)/config/spot_params.yaml" />
<!-- Policy Params -->
<rosparam command="load" file="$(find mini_ros)/config/policy_params.yaml" />
<!-- Joystick Params -->
<rosparam command="load" file="$(find mini_ros)/config/joy_params.yaml" />
<!-- the above is equivalent to $(eval agent_num) but I left it in to acknowledge that both options exist -->
<node name="spot_real" pkg="mini_ros" type="spot_real_interface" output="screen"/>
<!-- Sensor Interface Node -->
<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
<param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
<param name="baud" value="500000"/> <!-- must match Teensy -->
</node>
<!-- NOTE:
Setting Up Joystick:
- Get Number (you will see something like jsX): ls /dev/input/
- Make available to ROS: sudo chmod a+rw /dev/input/jsX
- Make sure <param name="dev" type="string" value="/dev/input/jsX" /> is correct in launch
You can ignore this msg: [ERROR] [1591631380.406690714]: Couldn't open joystick force feedback!
It just means your controller is missing some functionality, but this package doesn't use it.
-->
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/rviz/spot.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Links1
Splitter Ratio: 0.6205882430076599
Tree Height: 555
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_bracket:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_left_foot:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_left_hip:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_left_lower_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_left_upper_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_right_foot:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_right_hip:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_right_lower_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
back_right_upper_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
base_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: true
Show Trail: false
battery:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chassis_left:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
chassis_right:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_bracket:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_left_foot:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_left_hip:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_left_lower_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_left_upper_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_right_foot:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_right_hip:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_right_lower_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
front_right_upper_leg:
Alpha: 1
Show Axes: true
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 0.8253771066665649
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.004122655838727951
Y: 0.0018941210582852364
Z: -0.10473191738128662
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3302026689052582
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.8954905271530151
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1200
X: 2392
Y: 87
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/src/spot_sm.cpp | /// \file
/// \brief Draws Each Obstacle in RViz using MarkerArrays
///
/// PARAMETERS:
/// PUBLISHES:
/// SUBSCRIBES:
/// FUNCTIONS:
#include <ros/ros.h>
#include <math.h>
#include <string>
#include <vector>
#include <mini_ros/spot.hpp>
#include <mini_ros/teleop.hpp>
#include "mini_ros/MiniCmd.h"
#include "std_srvs/Empty.h"
#include "std_msgs/Bool.h"
// Global Vars
spot::Spot spot_mini = spot::Spot();
bool teleop_flag = false;
bool motion_flag = false;
bool ESTOP = false;
// Init Time
ros::Time current_time;
ros::Time last_time;
void teleop_callback(const geometry_msgs::Twist &tw)
{
/// \brief cmd_vel subscriber callback. Records commanded twist
///
/// \param tw (geometry_msgs::Twist): the commanded linear and angular velocity
/**
* This function runs every time we get a geometry_msgs::Twist message on the "cmd_vel" topic.
* We generally use the const <message>ConstPtr &msg syntax to prevent our node from accidentally
* changing the message, in the case that another node is also listening to it.
*/
spot_mini.update_command(tw.linear.x, tw.linear.y, tw.linear.z, tw.angular.z, tw.angular.x, tw.angular.y);
}
void estop_callback(const std_msgs::Bool &estop)
{
if (estop.data)
{
spot_mini.update_command(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
motion_flag = true;
if (!ESTOP)
{
ROS_ERROR("ENGAGING MANUAL E-STOP!");
ESTOP = true;
} else
{
ROS_WARN("DIS-ENGAGING MANUAL E-STOP!");
ESTOP = false;
}
}
last_time = ros::Time::now();
}
bool swm_callback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
/// Switches the Movement mode from FB (Forward/Backward) to LR (Left/Right)
/// and vice versa
{
spot_mini.switch_movement();
motion_flag = true;
return true;
}
int main(int argc, char** argv)
/// The Main Function ///
{
ROS_INFO("STARTING NODE: spot_mini State Machine");
// Vars
double frequency = 5;
// Seconds for timeout
double timeout = 1.0;
ros::init(argc, argv, "mini_sm_node"); // register the node on ROS
ros::NodeHandle nh; // get a handle to ROS
ros::NodeHandle nh_("~"); // get a handle to ROS
// Parameters
nh_.getParam("frequency", frequency);
// Init Subscriber
ros::Subscriber teleop_sub = nh.subscribe("teleop", 1, teleop_callback);
ros::Subscriber estop_sub = nh.subscribe("estop", 1, estop_callback);
// Init Command Publisher
ros::Publisher mini_pub = nh.advertise<mini_ros::MiniCmd>("mini_cmd", 1);
// Init Switch Movement Service Server
ros::ServiceServer switch_movement_server = nh.advertiseService("switch_movement", swm_callback);
// Init MiniCmd
mini_ros::MiniCmd mini_cmd;
// Placeholder
mini_cmd.x_velocity = 0.0;
mini_cmd.y_velocity = 0.0;
mini_cmd.rate = 0.0;
mini_cmd.roll = 0.0;
mini_cmd.pitch = 0.0;
mini_cmd.yaw = 0.0;
mini_cmd.z = 0.0;
mini_cmd.faster = 0.0;
mini_cmd.slower = 0.0;
mini_cmd.motion = "Stop";
mini_cmd.movement = "Stepping";
ros::Rate rate(frequency);
current_time = ros::Time::now();
last_time = ros::Time::now();
// Main While
while (ros::ok())
{
ros::spinOnce();
current_time = ros::Time::now();
spot::SpotCommand cmd = spot_mini.return_command();
// Condition for sending non-stop command
if (!motion_flag and !(current_time.toSec() - last_time.toSec() > timeout) and !ESTOP)
{
mini_cmd.x_velocity = cmd.x_velocity;
mini_cmd.y_velocity = cmd.y_velocity;
mini_cmd.rate = cmd.rate;
mini_cmd.roll = cmd.roll;
mini_cmd.pitch = cmd.pitch;
mini_cmd.yaw = cmd.yaw;
mini_cmd.z = cmd.z;
mini_cmd.faster = cmd.faster;
mini_cmd.slower = cmd.slower;
// Now convert enum to string
// Motion
if (cmd.motion == spot::Go)
{
mini_cmd.motion = "Go";
} else
{
mini_cmd.motion = "Stop";
}
// Movement
if (cmd.movement == spot::Stepping)
{
mini_cmd.movement = "Stepping";
} else
{
mini_cmd.movement = "Viewing";
}
} else
{
mini_cmd.x_velocity = 0.0;
mini_cmd.y_velocity = 0.0;
mini_cmd.rate = 0.0;
mini_cmd.roll = 0.0;
mini_cmd.pitch = 0.0;
mini_cmd.yaw = 0.0;
mini_cmd.z = 0.0;
mini_cmd.faster = 0.0;
mini_cmd.slower = 0.0;
mini_cmd.motion = "Stop";
}
if (current_time.toSec() - last_time.toSec() > timeout)
{
ROS_ERROR("TIMEOUT...ENGAGING E-STOP!");
}
// Now publish
mini_pub.publish(mini_cmd);
motion_flag = false;
rate.sleep();
}
return 0;
} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/src/teleop_node.cpp | /// \file
/// \brief Draws Each Obstacle in RViz using MarkerArrays
///
/// PARAMETERS:
/// PUBLISHES:
/// SUBSCRIBES:
/// FUNCTIONS:
#include <ros/ros.h>
#include <math.h>
#include <string>
#include <vector>
#include <mini_ros/spot.hpp>
#include <mini_ros/teleop.hpp>
#include "mini_ros/MiniCmd.h"
#include "std_msgs/Bool.h"
#include "std_srvs/Empty.h"
#include "mini_ros/JoyButtons.h"
#include <functional> // To use std::bind
int main(int argc, char** argv)
/// The Main Function ///
{
ROS_INFO("STARTING NODE: Teleoperation");
// Vars
double frequency = 60;
int linear_x = 4;
int linear_y = 3;
int linear_z = 1;
int angular = 0;
int sw = 0;
int es = 1;
int RB = 5;
int LB = 2;
int RT = 5;
int LT = 4;
int UD = 7;
int LR = 6;
double l_scale = 1.0;
double a_scale = 1.0;
double B_scale = 1.0;
double debounce_thresh = 0.15; // sec
ros::init(argc, argv, "teleop_node"); // register the node on ROS
ros::NodeHandle nh; // get a handle to ROS
ros::NodeHandle nh_("~"); // get a handle to ROS
// Parameters
nh_.getParam("frequency", frequency);
nh_.getParam("axis_linear_x", linear_x);
nh_.getParam("axis_linear_y", linear_y);
nh_.getParam("axis_linear_z", linear_z);
nh_.getParam("axis_angular", angular);
nh_.getParam("scale_linear", l_scale);
nh_.getParam("scale_angular", a_scale);
nh_.getParam("scale_bumper", B_scale);
nh_.getParam("button_switch", sw);
nh_.getParam("button_estop", es);
nh_.getParam("rb", RB);
nh_.getParam("lb", LB);
nh_.getParam("rt", RT);
nh_.getParam("lt", LT);
nh_.getParam("updown", UD);
nh_.getParam("leftright", LR);
nh_.getParam("debounce_thresh", debounce_thresh);
tele::Teleop teleop = tele::Teleop(linear_x, linear_y, linear_z, angular,
l_scale, a_scale, LB, RB, B_scale, LT,
RT, UD, LR, sw, es);
// Init Switch Movement Server
ros::ServiceClient switch_movement_client = nh.serviceClient<std_srvs::Empty>("switch_movement");
ros::service::waitForService("switch_movement", -1);
// Init ESTOP Publisher
ros::Publisher estop_pub = nh.advertise<std_msgs::Bool>("estop", 1);
// Init Command Publisher
ros::Publisher vel_pub = nh.advertise<geometry_msgs::Twist>("teleop", 1);
// Init Joy Button Publisher
ros::Publisher jb_pub = nh.advertise<mini_ros::JoyButtons>("joybuttons", 1);
// Init Subscriber (also handles pub)
// TODO: Figure out how to use std::bind properly
// ros::Subscriber joy_sub = nh.subscribe<sensor_msgs::Joy>("joy", 1, std::bind(&tele::Teleop::joyCallback, std::placeholders::_1, vel_pub), &teleop);
ros::Subscriber joy_sub = nh.subscribe<sensor_msgs::Joy>("joy", 1, &tele::Teleop::joyCallback, &teleop);
ros::Rate rate(frequency);
// Record time for debouncing buttons
ros::Time current_time = ros::Time::now();
ros::Time last_time = ros::Time::now();
// Main While
while (ros::ok())
{
ros::spinOnce();
current_time = ros::Time::now();
std_msgs::Bool estop;
estop.data = teleop.return_estop();
if (estop.data and current_time.toSec() - last_time.toSec() >= debounce_thresh)
{
ROS_INFO("SENDING E-STOP COMMAND!");
last_time = ros::Time::now();
} else if (!teleop.return_trigger())
{
// Send Twist
vel_pub.publish(teleop.return_twist());
estop.data = 0;
} else if (current_time.toSec() - last_time.toSec() >= debounce_thresh)
{
// Call Switch Service
std_srvs::Empty e;
switch_movement_client.call(e);
estop.data = 0;
last_time = ros::Time::now();
}
// pub buttons
jb_pub.publish(teleop.return_buttons());
estop_pub.publish(estop);
rate.sleep();
}
return 0;
} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/src/mini_ros/teleop.cpp | #include "mini_ros/teleop.hpp"
namespace tele
{
Teleop::Teleop(const int & linear_x, const int & linear_y, const int & linear_z,
const int & angular, const double & l_scale, const double & a_scale,
const int & LB, const int & RB, const int & B_scale, const int & LT,
const int & RT, const int & UD, const int & LR,
const int & sw, const int & es)
{
// step length or pitch
linear_x_ = linear_x;
// lateral fraction or roll
linear_y_ = linear_y;
// height
linear_z_ = linear_z;
// yaw rate or yaw
angular_ = angular;
// scale linear axis (usually just 1)
l_scale_ = l_scale;
// scale angular axis (usually just 1)
a_scale_ = a_scale;
// for incrementing and decrementing step velocity
// Bottom Bumpers
RB_ = RB;
LB_ = LB;
// scale Bottom Trigger axis (usually just 1)
B_scale_ = B_scale;
// Top Bumpers
RT_ = RT;
LT_ = LT;
// Switch between Stepping and Viewing
sw_ = sw;
// E-STOP
es_ = es;
// Arrow PAd
UD_ = UD;
LR_ = LR;
switch_trigger = false;
ESTOP = false;
updown = 0;
leftright = 0;
left_bump = false;
right_bump = false;
}
void Teleop::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
{
twist.linear.x = l_scale_*joy->axes[linear_x_];
twist.linear.y = l_scale_*joy->axes[linear_y_];
// NOTE: used to control robot height
twist.linear.z = -l_scale_*joy->axes[linear_z_];
twist.angular.z = a_scale_*joy->axes[angular_];
// NOTE: bottom bumpers used for changing step velocity
twist.angular.x = B_scale_*joy->axes[RB_];
twist.angular.y = B_scale_*joy->axes[LB_];
// Switch Trigger: Button A
switch_trigger = joy->buttons[sw_];
// ESTOP: Button B
ESTOP = joy->buttons[es_];
// Arrow Pad
updown = joy->axes[UD_];
leftright = -joy->axes[LR_];
// Top Bumpers
left_bump = joy->buttons[LT_];
right_bump = joy->buttons[RT_];
}
geometry_msgs::Twist Teleop::return_twist()
{
return twist;
}
bool Teleop::return_trigger()
{
return switch_trigger;
}
bool Teleop::return_estop()
{
return ESTOP;
}
mini_ros::JoyButtons Teleop::return_buttons()
{
mini_ros::JoyButtons jb;
jb.updown = updown;
jb.leftright = leftright;
jb.left_bump = left_bump;
jb.right_bump = right_bump;
return jb;
}
} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/src/mini_ros/spot.cpp | #include "mini_ros/spot.hpp"
namespace spot
{
// Spot Constructor
Spot::Spot()
{
cmd.x_velocity = 0.0;
cmd.y_velocity = 0.0;
cmd.rate = 0.0;
cmd.roll = 0.0;
cmd.pitch = 0.0;
cmd.yaw = 0.0;
cmd.z = 0.0;
cmd.motion = Stop;
cmd.movement = Viewing;
}
void Spot::update_command(const double & vx, const double & vy, const double & z,
const double & w, const double & wx, const double & wy)
{
// If Command is nearly zero, just give zero
if (almost_equal(vx, 0.0) and almost_equal(vy, 0.0) and almost_equal(z, 0.0) and almost_equal(w, 0.0))
{
cmd.motion = Stop;
cmd.x_velocity = 0.0;
cmd.y_velocity = 0.0;
cmd.rate = 0.0;
cmd.roll = 0.0;
cmd.pitch = 0.0;
cmd.yaw = 0.0;
cmd.z = 0.0;
cmd.faster = 0.0;
cmd.slower = 0.0;
} else
{
cmd.motion = Go;
if (cmd.movement == Stepping)
{
// Stepping Mode, use commands as vx, vy, rate, Z
cmd.x_velocity = vx;
cmd.y_velocity = vy;
cmd.rate = w;
cmd.z = z;
cmd.roll = 0.0;
cmd.pitch = 0.0;
cmd.yaw = 0.0;
// change clearance height from +- 0-2 * scaling
cmd.faster = 1.0 - wx;
cmd.slower = -(1.0 - wy);
} else
{
// Viewing Mode, use commands as RPY, Z
cmd.x_velocity = 0.0;
cmd.y_velocity = 0.0;
cmd.rate = 0.0;
cmd.roll = vy;
cmd.pitch = vx;
cmd.yaw = w;
cmd.z = z;
cmd.faster = 0.0;
cmd.slower = 0.0;
}
}
}
void Spot::switch_movement()
{
if (!almost_equal(cmd.x_velocity, 0.0) and !almost_equal(cmd.y_velocity, 0.0) and !almost_equal(cmd.rate, 0.0))
{
ROS_WARN("MAKE SURE BOTH LINEAR [%.2f, %.2f] AND ANGULAR VELOCITY [%.2f] ARE AT 0.0 BEFORE SWITCHING!", cmd.x_velocity, cmd.y_velocity, cmd.rate);
ROS_WARN("STOPPING ROBOT...");
cmd.motion = Stop;
cmd.x_velocity = 0.0;
cmd.y_velocity = 0.0;
cmd.rate = 0.0;
cmd.roll = 0.0;
cmd.pitch = 0.0;
cmd.yaw = 0.0;
cmd.z = 0.0;
cmd.faster = 0.0;
cmd.slower = 0.0;
} else
{
cmd.x_velocity = 0.0;
cmd.y_velocity = 0.0;
cmd.rate = 0.0;
cmd.roll = 0.0;
cmd.pitch = 0.0;
cmd.yaw = 0.0;
cmd.z = 0.0;
cmd.faster = 0.0;
cmd.slower = 0.0;
if (cmd.movement == Viewing)
{
ROS_INFO("SWITCHING TO STEPPING MOTION, COMMANDS NOW MAPPED TO VX|VY|W|Z.");
cmd.movement = Stepping;
cmd.motion = Stop;
} else
{
ROS_INFO("SWITCHING TO VIEWING MOTION, COMMANDS NOW MAPPED TO R|P|Y|Z.");
cmd.movement = Viewing;
cmd.motion = Stop;
}
}
}
SpotCommand Spot::return_command()
{
return cmd;
}
} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/stl/LICENSE.txt | Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/stl/README.txt | .: :,
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http://www.thingiverse.com/thing:3445283
Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
# Summary
I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
The ultra sonic sensor can be used for mapping or obstacle avoidance.
When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
Assembly video part 1 : https://youtu.be/03RR-mz2hwA
Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
Instagram : https://www.instagram.com/kim.d.yeon/
To make this, you need the following...
_Electronics_
12 × MG 996 R servo motor
1 × Arduino Mega
2 × HC-SR04 Ultrasonic sensor
1 × HC-06 Bluetooth module
1 × MPU-6050 Gyro sensor
1 × I2C 16x2 LCD Module
1 × Rleil rocker switch RL3-4
7.4v Battery
_Screws, Nuts and Bearings_
8 × 'M5×15'
40 × 'M4×20'
8 × 'M4×15'
48 × 'M4 nut'
4 × 'M3×20'
28 × 'M3×10'
16 × 'M3 nut'
8 × 'F625zz Flange ball bearing'
Made by Deok-yeon Kim
# Print Settings
Printer Brand: Creality
Printer: Ender 3
Infill: 10~20%
Filament_brand: .
Filament_color: Yellow, Black, Gray
Filament_material: PLA, Flexible
# Post-Printing
 |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/include/mini_ros/teleop.hpp | #ifndef TELEOP_INCLUDE_GUARD_HPP
#define TELEOP_INCLUDE_GUARD_HPP
/// \file
/// \brief Teleoperation Library that converts Joystick commands to motion
#include <vector>
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Joy.h>
#include "mini_ros/JoyButtons.h"
namespace tele
{
// \brief Teleop class responsible for convertick Joystick commands into linear and angular velocity
class Teleop
{
public:
// \brief Teleop constructor that defines the axes used for control and sets their scaling factor
// \param linear_x: joystick axis assigned to linear velocity (x)
// \param linear_y: joystick axis assigned to linear velocity (y)
// \param linear_z: joystick axis assigned to robot height [overloading]
// \param angular: joystick axis assigned to angular velocity
// \param l_scale: scaling factor for linear velocity
// \param a_scale: scaling factor for angular velocity
// \param LB: left bottom bumper axis
// \param RB: right bottom bumper axis
// \param B_scale: scaling factor for bottom bumpers
// \param LT: left top bumper button
// \param RT: right top bumper button
// \param UD: up/down key on arrow pad
// \param LR: left/right key on arrow pad
// \param sw: button for switch_trigger
// \param es: button for ESTOP
Teleop(const int & linear_x, const int & linear_y, const int & linear_z,
const int & angular, const double & l_scale, const double & a_scale,
const int & LB, const int & RB, const int & B_scale, const int & LT,
const int & RT, const int & UD, const int & LR,
const int & sw, const int & es);
// \brief Takes a Joy messages and converts it to linear and angular velocity (Twist)
// \param joy: sensor_msgs describing Joystick inputs
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
// \brief returns the most recently commanded Twist
// \returns: Twist
geometry_msgs::Twist return_twist();
// \brief returns a boolean indicating whether the movement switch trigger has been pressed
// \returns: switch_trigger(bool)
bool return_trigger();
// \brief returns whether the E-STOP has been pressed
// \returns: ESTOP(bool)
bool return_estop();
/// \brief returns other joystick buttons triggers, arrow pad etc)
mini_ros::JoyButtons return_buttons();
private:
// AXES ON JOYSTICK
int linear_x_ = 0;
int linear_y_ = 0;
int linear_z_ = 0;
int angular_= 0;
int RB_ = 0;
int LB_ = 0;
// BUTTONS ON JOYSTICK
int sw_ = 0;
int es_ = 0;
int RT_ = 0;
int LT_ = 0;
int UD_ = 0;
int LR_ = 0;
// AXIS SCALES
double l_scale_, a_scale_, B_scale_;
// TWIST
geometry_msgs::Twist twist;
// TRIGGERS
bool switch_trigger = false;
bool ESTOP = false;
int updown = 0;
int leftright = 0;
bool left_bump = false;
bool right_bump = false;
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/include/mini_ros/spot.hpp | #ifndef SPOT_INCLUDE_GUARD_HPP
#define SPOT_INCLUDE_GUARD_HPP
/// \file
/// \brief Spots library which contains control functionality for Spot Mini Mini.
#include <vector>
#include <ros/ros.h>
namespace spot
{
/// \brief approximately compare two floating-point numbers using
/// an absolute comparison
/// \param d1 - a number to compare
/// \param d2 - a second number to compare
/// \param epsilon - absolute threshold required for equality
/// \return true if abs(d1 - d2) < epsilon
/// Note: the fabs function in <cmath> (c++ equivalent of math.h) will
/// be useful here
// constexpr are all define in .hpp
// constexpr allows fcn to be run at compile time and interface with
// static_assert tests.
// Note high default epsilon since using controller
constexpr bool almost_equal(double d1, double d2, double epsilon=1.0e-1)
{
if (fabs(d1 - d2) < epsilon)
{
return true;
} else {
return false;
}
}
enum Motion {Go, Stop};
enum Movement {Stepping, Viewing};
// \brief Struct to store the commanded type of motion, velocity and rate
struct SpotCommand
{
Motion motion = Stop;
Movement movement = Viewing;
double x_velocity = 0.0;
double y_velocity = 0.0;
double rate = 0.0;
double roll = 0.0;
double pitch = 0.0;
double yaw = 0.0;
double z = 0.0;
double faster = 0.0;
double slower = 0.0;
};
// \brief Spot class responsible for high-level motion commands
class Spot
{
public:
// \brief Constructor for Spot class
Spot();
// \brief updates the type and velocity of motion to be commanded to the Spot
// \param vx: linear velocity (x)
// \param vy: linear velocity (y)
// \param z: robot height
// \param w: angular velocity
// \param wx: step height increase
// \param wy: step height decrease
void update_command(const double & vx, const double & vy, const double & z,
const double & w, const double & wx, const double & wy);
// \brief changes the commanded motion from Forward/Backward to Left/Right or vice-versa
void switch_movement();
// \brief returns the Spot's current command (Motion, v,w) for external use
// \returns SpotCommand
SpotCommand return_command();
private:
SpotCommand cmd;
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/config/policy_params.yaml | # AGENT PARAMS - SCALING and FILTERING
# Clearance Height and Penetration Depth
CD_SCALE: 0.05
# Step Length and Velocity
SLV_SCALE: 0.05
# Residuals
RESIDUALS_SCALE: 0.015
# Body Height Modulation
Z_SCALE: 0.035
# Exponential Filter Amplitude
alpha: 0.7
# Added this to avoid filtering residuals
# -1 for all
actions_to_filter: 14 |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/config/control.yaml | spot:
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- motor_front_left_hip
- motor_front_left_upper_leg
- motor_front_left_lower_leg
- motor_front_right_hip
- motor_front_right_upper_leg
- motor_front_right_lower_leg
- motor_back_left_hip
- motor_back_left_upper_leg
- motor_back_left_lower_leg
- motor_back_right_hip
- motor_back_right_upper_leg
- motor_back_right_lower_leg
gains:
motor_front_left_hip : {p: 180, d: 0.9, i: 20}
motor_front_left_upper_leg : {p: 180, d: 0.9, i: 20}
motor_front_left_lower_leg : {p: 180, d: 0.9, i: 20}
motor_front_right_hip : {p: 180, d: 0.9, i: 20}
motor_front_right_upper_leg : {p: 180, d: 0.9, i: 20}
motor_front_right_lower_leg : {p: 180, d: 0.9, i: 20}
motor_back_left_hip : {p: 180, d: 0.9, i: 20}
motor_back_left_upper_leg : {p: 180, d: 0.9, i: 20}
motor_back_left_lower_leg : {p: 180, d: 0.9, i: 20}
motor_back_right_hip : {p: 180, d: 0.9, i: 20}
motor_back_right_upper_leg : {p: 180, d: 0.9, i: 20}
motor_back_right_lower_leg : {p: 180, d: 0.9, i: 20} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/config/joy_params.yaml | # Right Joystick (Push U/D L/R)
STEPLENGTH_SCALE: 0.05
# Left Joystick (Push U/D)
Z_SCALE_CTRL: 0.15
# Right Joystick (Push U/D L/R) | Left Joystick (Push L/R)
RPY_SCALE: 0.785
# Lower Bumpers (Step Velocity [Left Lowers | Right Raises])
SV_SCALE: 0.05
# Arrow Pad (U/D for Clearance Height | L/R for Penetration Depth)
CHPD_SCALE: 0.0005
# Left Joystick (L/R)
YAW_SCALE: 1.25 |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/config/spot_params.yaml | # MEASURE
# COM to Shoulder
shoulder_length: 0.055
# Shoulder to Elbow
elbow_length: 0.10652
# Elbow to Wrist
wrist_length: 0.145
# Forward Hip Separation
hip_x: 0.23
# Lateral Hip Separation
hip_y: 0.075
# ADJUSTABLE
# Stance Length
foot_x: 0.23
# Stance Width
foot_y: 0.185
# Stance Height
height: 0.20
# Adjust for balanced walk
com_offset: 0.0
# Time Step
dt: 0.001
# Swing Period (lower is faster)
Tswing: 0.2
SwingPeriod_LIMITS: [0.1, 0.3]
# Step Velocity (Using very low value as my main form of speed control is swing period)
BaseStepVelocity: 0.001
# Foot Clearance Height
BaseClearanceHeight: 0.035
ClearanceHeight_LIMITS: [0.0, 0.04]
# Foot Penetration Depth
BasePenetrationDepth: 0.003
PenetrationDepth_LIMITS: [0.0, 0.02] |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/urdf/spot.urdf.xacro | <?xml version="1.0"?>
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Include Macros -->
<xacro:include filename="$(find mini_ros)/urdf/spot_macro.xacro" />
<xacro:include filename="$(find mini_ros)/urdf/transmissions.xacro" />
<!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link"/>
<!-- MAIN BODY -->
<xacro:mesh_link name="base_inertia"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.6"
c_xyz="0 0 0"
length="0.114"
width="0.2"
height="0.1"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BATTERY -->
<xacro:mesh_link name="battery"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.15 0.035 -0.022"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.4"
c_xyz="0 0 0"
length="0.048"
width="0.145"
height="0.026"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Battery.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- CHASSIS LEFT -->
<xacro:mesh_link name="chassis_left"
origin_rpy="0 ${pi/2} -${pi/2}" origin_xyz="0.016 0.003 0"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.01"
c_xyz="0 0 0"
length="0.06"
width="0.15"
height="0.006"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- CHASSIS Right -->
<xacro:mesh_link name="chassis_right"
origin_rpy="0 ${pi/2} ${pi/2}" origin_xyz="-0.016 -0.003 0"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.01"
c_xyz="0 0 0"
length="0.06"
width="0.15"
height="0.006"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- FRONT -->
<xacro:mesh_link name="front"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="0.16 0 0.006"
length="0.114"
width="0.045"
height="0.085"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/Front.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BACK -->
<xacro:mesh_link name="back"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="-0.16 0 0.006"
length="0.114"
width="0.075"
height="0.085"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/Back.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- FRONT BRACKET -->
<xacro:mesh_link name="front_bracket"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="0.1 0 0"
length="0.025"
width="0.075"
height="0.085"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BACK BRACKET -->
<xacro:mesh_link name="back_bracket"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="-0.1 0 0"
length="0.025"
width="0.075"
height="0.085"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- DYNAMIC LINKS (Joints Included) -->
<!-- FRONT LEFT LEG -->
<!-- HIP -->
<xacro:mesh_link name="front_left_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
i_rpy="0 0 0" i_xyz="0 0.075 0"
mass="0.2"
c_xyz="0.015 0.01 -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${0.0044+0.035} ${0.067-0.045}"
parent="front_bracket" child="front_left_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="front_left_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
mass="0.13"
c_xyz="0 0.02 -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
parent="front_left_hip" child="front_left_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="front_left_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
parent="front_left_upper_leg" child="front_left_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="front_left_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${-0.068} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="front_left_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="front_left_lower_leg" child="front_left_foot"/>
<!-- BACK LEFT LEG -->
<!-- HIP -->
<xacro:mesh_link name="back_left_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
i_rpy="0 0 0" i_xyz="0 0.075 0"
mass="0.2"
c_xyz="0.015 0.01 -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${0.0044+0.035} ${0.067-0.045}"
parent="back_bracket" child="back_left_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="back_left_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
mass="0.13"
c_xyz="0 0.02 -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
parent="back_left_hip" child="back_left_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="back_left_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
parent="back_left_upper_leg" child="back_left_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="back_left_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${-0.068} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="back_left_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="back_left_lower_leg" child="back_left_foot"/>
<!-- FRONT RIGHT LEG -->
<!-- HIP -->
<xacro:mesh_link name="front_right_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
i_rpy="0 0 0" i_xyz="0 -0.075 0"
mass="0.2"
c_xyz="0.015 ${-0.01} -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${-(0.0044+0.035)} ${0.067-0.045}"
parent="front_bracket" child="front_right_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="front_right_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
mass="0.13"
c_xyz="0 ${-0.02} -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
parent="front_right_hip" child="front_right_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="front_right_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
parent="front_right_upper_leg" child="front_right_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="front_right_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${0.138} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="front_right_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="front_right_lower_leg" child="front_right_foot"/>
<!-- BACK RIGHT LEG -->
<!-- HIP -->
<xacro:mesh_link name="back_right_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
i_rpy="0 0 0" i_xyz="0 -0.075 0"
mass="0.2"
c_xyz="0.015 ${-0.01} -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${-(0.0044+0.035)} ${0.067-0.045}"
parent="back_bracket" child="back_right_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="back_right_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
mass="0.13"
c_xyz="0 ${-0.02} -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
parent="back_right_hip" child="back_right_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="back_right_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
parent="back_right_upper_leg" child="back_right_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="back_right_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${0.138} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="back_right_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="back_right_lower_leg" child="back_right_foot"/>
<!-- STATIC Joints -->
<!-- FOOTPRINT TO MAIN BODY-->
<xacro:frame_joint name="base_base" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="base_inertia"/>
<!-- MAIN BODY TO BATTERY -->
<xacro:frame_joint name="base_battery" type="fixed"
origin_rpy="0 0 0" origin_xyz="-0.01 0 -0.0225"
parent="base_link" child="battery"/>
<!-- MAIN BODY TO CHASSIS LEFT -->
<xacro:frame_joint name="base_left" type="fixed"
origin_rpy="0 0 0" origin_xyz="0.00 0.052 0"
parent="base_link" child="chassis_left"/>
<!-- MAIN BODY TO CHASSIS RIGHT -->
<xacro:frame_joint name="base_right" type="fixed"
origin_rpy="0 0 0" origin_xyz="0.00 -0.052 0"
parent="base_link" child="chassis_right"/>
<!-- MAIN BODY TO FRONT -->
<xacro:frame_joint name="base_front" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="front"/>
<!-- MAIN BODY TO BACK -->
<xacro:frame_joint name="base_back" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="back"/>
<!-- MAIN BODY TO FRONT BRACKET -->
<xacro:frame_joint name="base_front_bracket" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="front_bracket"/>
<!-- MAIN BODY TO BACK BRACKET -->
<xacro:frame_joint name="base_back_bracket" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="back_bracket"/>
<xacro:quadruped_transmission leg="front_left"/>
<xacro:quadruped_transmission leg="front_right"/>
<xacro:quadruped_transmission leg="back_left"/>
<xacro:quadruped_transmission leg="back_right"/>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/spot</robotNamespace>
</plugin>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/urdf/transmissions.xacro | <?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="quadruped_transmission" params="leg ">
<transmission name="${leg}_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/urdf/spot_accessories.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="spot">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.1"/>
<parent link="base_link"/>
<child link="hokuyo_frame"/>
</joint>
<link name="hokuyo_frame">
<inertial>
<mass value="0.270"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="2.632e-4" ixy="0" ixz="0" iyy="2.632e-4" iyz="0" izz="1.62e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0115"/>
<geometry>
<box size="0.058 0.058 0.087"/>
<!--<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl"/>-->
</geometry>
</collision>
</link>
<gazebo reference="hokuyo_frame">
<sensor name="hokuyo" type="ray">
<always_on>true</always_on>
<update_rate>30</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>1040</samples>
<resolution>1</resolution>
<min_angle>2.26892802759</min_angle>
<max_angle>-2.26892802759</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
<topicName>scan</topicName>
<frameName>hokuyo_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- <xacro:asus_camera
parent="base_link"
name="camera">
<origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
</xacro:asus_camera> -->
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="base_link">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.114 0.2 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="0.6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
</inertial>
</link>
<gazebo reference="base_inertia">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="battery">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.048 0.145 0.026"/>
</geometry>
</collision>
<inertial>
<mass value="0.4"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
</inertial>
</link>
<gazebo reference="battery">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_left">
<visual>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_left">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_right">
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_right">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
<geometry>
<box size="0.114 0.045 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
</inertial>
</link>
<gazebo reference="front">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="back">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
<geometry>
<box size="0.114 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
</inertial>
</link>
<gazebo reference="back">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="front_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="front_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="back_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="back_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="front_left_hip"/>
<child link="front_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="front_left_upper_leg"/>
<child link="front_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_left_lower_leg"/>
<child link="front_left_foot"/>
</joint>
<link name="back_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="back_left_hip"/>
<child link="back_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="back_left_upper_leg"/>
<child link="back_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_left_lower_leg"/>
<child link="back_left_foot"/>
</joint>
<link name="front_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="front_right_hip"/>
<child link="front_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="front_right_upper_leg"/>
<child link="front_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_right_lower_leg"/>
<child link="front_right_foot"/>
</joint>
<link name="back_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="back_right_hip"/>
<child link="back_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="back_right_upper_leg"/>
<child link="back_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_right_lower_leg"/>
<child link="back_right_foot"/>
</joint>
<joint name="base_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<joint name="base_battery" type="fixed">
<origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
<parent link="base_link"/>
<child link="battery"/>
</joint>
<joint name="base_left" type="fixed">
<origin rpy="0 0 0" xyz="0.00 0.052 0"/>
<parent link="base_link"/>
<child link="chassis_left"/>
</joint>
<joint name="base_right" type="fixed">
<origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
<parent link="base_link"/>
<child link="chassis_right"/>
</joint>
<joint name="base_front" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front"/>
</joint>
<joint name="base_back" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back"/>
</joint>
<joint name="base_front_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front_bracket"/>
</joint>
<joint name="base_back_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back_bracket"/>
</joint>
<transmission name="front_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/urdf/spot_macro.xacro | <?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<xacro:macro name="rev_joint" params="name type axis_xyz origin_rpy origin_xyz parent child effort velocity damping friction upper lower">
<joint name="${name}" type="${type}">
<axis xyz="${axis_xyz}" />
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<parent link="${parent}" />
<child link="${child}" />
<limit effort="${effort}" velocity="${velocity}" lower="${lower}" upper="${upper}"/>
<joint_properties damping="${damping}" friction="${friction}" />
</joint>
</xacro:macro>
<xacro:macro name="frame_joint" params="name type origin_rpy origin_xyz parent child">
<joint name="${name}" type="${type}">
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<parent link="${parent}" />
<child link="${child}" />
</joint>
</xacro:macro>
<xacro:macro name="mesh_link" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height">
<link name="${name}">
<visual>
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<material name="${matname}"/>
</visual>
<collision>
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
<geometry>
<box size="${length} ${width} ${height}" />
</geometry>
</collision>
<inertial>
<mass value="${mass}" />
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
</inertial>
</link>
<gazebo reference="${name}">
<xacro:if value="${matname == 'black'}">
<material>Gazebo/Black</material>
</xacro:if>
<xacro:if value="${matname == 'orange'}">
<material>Gazebo/Orange</material>
</xacro:if>
</gazebo>
</xacro:macro>
<xacro:macro name="mesh_link_sphere" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height radius">
<link name="${name}">
<visual>
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<material name="${matname}"/>
</visual>
<collision>
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="${mass}" />
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
</inertial>
</link>
<gazebo reference="${name}">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
</xacro:macro>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/urdf/accessories.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
<xacro:hokuyo_utm30lx
name="hokuyo"
parent="base_link"
ros_topic="scan"
update_rate="30"
ray_count="1040"
min_angle="130"
max_angle="-130" >
<origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
</xacro:hokuyo_utm30lx>
<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- <xacro:asus_camera
parent="base_link"
name="camera">
<origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
</xacro:asus_camera> -->
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
</joint>
<!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="base_link">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/mini_ros/urdf/spot.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="spot">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
<!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.114 0.2 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="0.6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
</inertial>
</link>
<gazebo reference="base_inertia">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="battery">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.048 0.145 0.026"/>
</geometry>
</collision>
<inertial>
<mass value="0.4"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
</inertial>
</link>
<gazebo reference="battery">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_left">
<visual>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_left">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_right">
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_right">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
<geometry>
<box size="0.114 0.045 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
</inertial>
</link>
<gazebo reference="front">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="back">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
<geometry>
<box size="0.114 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
</inertial>
</link>
<gazebo reference="back">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="front_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="front_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="back_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="back_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="front_left_hip"/>
<child link="front_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="front_left_upper_leg"/>
<child link="front_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_left_lower_leg"/>
<child link="front_left_foot"/>
</joint>
<link name="back_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="back_left_hip"/>
<child link="back_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="back_left_upper_leg"/>
<child link="back_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_left_lower_leg"/>
<child link="back_left_foot"/>
</joint>
<link name="front_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="front_right_hip"/>
<child link="front_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="front_right_upper_leg"/>
<child link="front_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_right_lower_leg"/>
<child link="front_right_foot"/>
</joint>
<link name="back_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="back_right_hip"/>
<child link="back_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="back_right_upper_leg"/>
<child link="back_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_right_lower_leg"/>
<child link="back_right_foot"/>
</joint>
<joint name="base_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<joint name="base_battery" type="fixed">
<origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
<parent link="base_link"/>
<child link="battery"/>
</joint>
<joint name="base_left" type="fixed">
<origin rpy="0 0 0" xyz="0.00 0.052 0"/>
<parent link="base_link"/>
<child link="chassis_left"/>
</joint>
<joint name="base_right" type="fixed">
<origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
<parent link="base_link"/>
<child link="chassis_right"/>
</joint>
<joint name="base_front" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front"/>
</joint>
<joint name="base_back" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back"/>
</joint>
<joint name="base_front_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front_bracket"/>
</joint>
<joint name="base_back_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back_bracket"/>
</joint>
<transmission name="front_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/spot.py | """
CODE BASED ON EXAMPLE FROM:
@misc{coumans2017pybullet,
title={Pybullet, a python module for physics simulation in robotics, games and machine learning},
author={Coumans, Erwin and Bai, Yunfei},
url={www.pybullet.org},
year={2017},
}
Example: minitaur.py
https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
"""
import collections
import copy
import math
import re
import numpy as np
from . import motor
from spotmicro.util import pybullet_data
print(pybullet_data.getDataPath())
from spotmicro.Kinematics.SpotKinematics import SpotModel
import spotmicro.Kinematics.LieAlgebra as LA
INIT_POSITION = [0, 0, 0.25]
INIT_RACK_POSITION = [0, 0, 1]
# NOTE: URDF IS FACING THE WRONG WAY
# TEMP FIX
INIT_ORIENTATION = [0, 0, 0, 1]
OVERHEAT_SHUTDOWN_TORQUE = 2.45
OVERHEAT_SHUTDOWN_TIME = 1.0
# -math.pi / 5
INIT_LEG_POS = -0.658319
# math.pi / 3
INIT_FOOT_POS = 1.0472
OLD_LEG_POSITION = ["front_left", "front_right", "rear_left", "rear_right"]
OLD_MOTOR_NAMES = [
"motor_front_left_shoulder", "motor_front_left_leg",
"foot_motor_front_left", "motor_front_right_shoulder",
"motor_front_right_leg", "foot_motor_front_right",
"motor_rear_left_shoulder", "motor_rear_left_leg", "foot_motor_rear_left",
"motor_rear_right_shoulder", "motor_rear_right_leg",
"foot_motor_rear_right"
]
OLD_MOTOR_LIMITS_BY_NAME = {}
for name in OLD_MOTOR_NAMES:
if "shoulder" in name:
OLD_MOTOR_LIMITS_BY_NAME[name] = [-1.04, 1.04]
elif "leg" in name:
OLD_MOTOR_LIMITS_BY_NAME[name] = [-2.59, 1.571]
elif "foot" in name:
OLD_MOTOR_LIMITS_BY_NAME[name] = [-1.571, 2.9]
OLD_FOOT_NAMES = [
"front_left_toe", "front_right_toe", "rear_left_toe", "rear_right_toe"
]
LEG_POSITION = ["front_left", "front_right", "back_left", "back_right"]
MOTOR_NAMES = [
"motor_front_left_hip", "motor_front_left_upper_leg",
"motor_front_left_lower_leg", "motor_front_right_hip",
"motor_front_right_upper_leg", "motor_front_right_lower_leg",
"motor_back_left_hip", "motor_back_left_upper_leg",
"motor_back_left_lower_leg", "motor_back_right_hip",
"motor_back_right_upper_leg", "motor_back_right_lower_leg"
]
MOTOR_LIMITS_BY_NAME = {}
for name in MOTOR_NAMES:
if "hip" in name:
MOTOR_LIMITS_BY_NAME[name] = [-1.04, 1.04]
elif "upper_leg" in name:
MOTOR_LIMITS_BY_NAME[name] = [-1.571, 2.59]
elif "lower_leg" in name:
MOTOR_LIMITS_BY_NAME[name] = [-2.9, 1.671]
FOOT_NAMES = [
"front_left_leg_foot", "front_right_leg_foot", "back_left_leg_foot",
"back_right_leg_foot"
]
_CHASSIS_NAME_PATTERN = re.compile(r"chassis\D*")
_MOTOR_NAME_PATTERN = re.compile(r"motor\D*")
_FOOT_NAME_PATTERN = re.compile(r"foot\D*")
SENSOR_NOISE_STDDEV = (0.0, 0.0, 0.0, 0.0, 0.0)
TWO_PI = 2 * math.pi
def MapToMinusPiToPi(angles):
"""Maps a list of angles to [-pi, pi].
Args:
angles: A list of angles in rad.
Returns:
A list of angle mapped to [-pi, pi].
"""
mapped_angles = copy.deepcopy(angles)
for i in range(len(angles)):
mapped_angles[i] = math.fmod(angles[i], TWO_PI)
if mapped_angles[i] >= math.pi:
mapped_angles[i] -= TWO_PI
elif mapped_angles[i] < -math.pi:
mapped_angles[i] += TWO_PI
return mapped_angles
class Spot(object):
"""The spot class that simulates a quadruped robot.
"""
INIT_POSES = {
'stand':
np.array([
0.15192765, 0.7552236, -1.5104472, -0.15192765, 0.7552236,
-1.5104472, 0.15192765, 0.7552236, -1.5104472, -0.15192765,
0.7552236, -1.5104472
]),
'liedown':
np.array([-0.4, -1.5, 6, 0.4, -1.5, 6, -0.4, -1.5, 6, 0.4, -1.5, 6]),
'zero':
np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
}
def __init__(self,
pybullet_client,
urdf_root=pybullet_data.getDataPath(),
time_step=0.01,
action_repeat=1,
self_collision_enabled=False,
motor_velocity_limit=9.7,
pd_control_enabled=False,
accurate_motor_model_enabled=False,
remove_default_joint_damping=False,
max_force=100.0,
motor_kp=1.0,
motor_kd=0.02,
pd_latency=0.0,
control_latency=0.0,
observation_noise_stdev=SENSOR_NOISE_STDDEV,
torque_control_enabled=False,
motor_overheat_protection=False,
on_rack=False,
kd_for_pd_controllers=0.3,
pose_id='stand',
np_random=np.random,
contacts=True):
"""Constructs a spot and reset it to the initial states.
Args:
pybullet_client: The instance of BulletClient to manage different
simulations.
urdf_root: The path to the urdf folder.
time_step: The time step of the simulation.
action_repeat: The number of ApplyAction() for each control step.
self_collision_enabled: Whether to enable self collision.
motor_velocity_limit: The upper limit of the motor velocity.
pd_control_enabled: Whether to use PD control for the motors.
accurate_motor_model_enabled: Whether to use the accurate DC motor model.
remove_default_joint_damping: Whether to remove the default joint damping.
motor_kp: proportional gain for the accurate motor model.
motor_kd: derivative gain for the accurate motor model.
pd_latency: The latency of the observations (in seconds) used to calculate
PD control. On the real hardware, it is the latency between the
microcontroller and the motor controller.
control_latency: The latency of the observations (in second) used to
calculate action. On the real hardware, it is the latency from the motor
controller, the microcontroller to the host (Nvidia TX2).
observation_noise_stdev: The standard deviation of a Gaussian noise model
for the sensor. It should be an array for separate sensors in the
following order [motor_angle, motor_velocity, motor_torque,
base_roll_pitch_yaw, base_angular_velocity]
torque_control_enabled: Whether to use the torque control, if set to
False, pose control will be used.
motor_overheat_protection: Whether to shutdown the motor that has exerted
large torque (OVERHEAT_SHUTDOWN_TORQUE) for an extended amount of time
(OVERHEAT_SHUTDOWN_TIME). See ApplyAction() in spot.py for more
details.
on_rack: Whether to place the spot on rack. This is only used to debug
the walking gait. In this mode, the spot's base is hanged midair so
that its walking gait is clearer to visualize.
"""
# SPOT MODEL
self.spot = SpotModel()
# Whether to include contact sensing
self.contacts = contacts
# Control Inputs
self.StepLength = 0.0
self.StepVelocity = 0.0
self.LateralFraction = 0.0
self.YawRate = 0.0
# Leg Phases
self.LegPhases = [0.0, 0.0, 0.0, 0.0]
# used to calculate minitaur acceleration
self.init_leg = INIT_LEG_POS
self.init_foot = INIT_FOOT_POS
self.prev_ang_twist = np.array([0, 0, 0])
self.prev_lin_twist = np.array([0, 0, 0])
self.prev_lin_acc = np.array([0, 0, 0])
self.num_motors = 12
self.num_legs = int(self.num_motors / 3)
self._pybullet_client = pybullet_client
self._action_repeat = action_repeat
self._urdf_root = urdf_root
self._self_collision_enabled = self_collision_enabled
self._motor_velocity_limit = motor_velocity_limit
self._pd_control_enabled = pd_control_enabled
self._motor_direction = np.ones(self.num_motors)
self._observed_motor_torques = np.zeros(self.num_motors)
self._applied_motor_torques = np.zeros(self.num_motors)
self._max_force = max_force
self._pd_latency = pd_latency
self._control_latency = control_latency
self._observation_noise_stdev = observation_noise_stdev
self._accurate_motor_model_enabled = accurate_motor_model_enabled
self._remove_default_joint_damping = remove_default_joint_damping
self._observation_history = collections.deque(maxlen=100)
self._control_observation = []
self._chassis_link_ids = [-1]
self._leg_link_ids = []
self._motor_link_ids = []
self._foot_link_ids = []
self._torque_control_enabled = torque_control_enabled
self._motor_overheat_protection = motor_overheat_protection
self._on_rack = on_rack
self._pose_id = pose_id
self.np_random = np_random
if self._accurate_motor_model_enabled:
self._kp = motor_kp
self._kd = motor_kd
self._motor_model = motor.MotorModel(
torque_control_enabled=self._torque_control_enabled,
kp=self._kp,
kd=self._kd)
elif self._pd_control_enabled:
self._kp = 8
self._kd = kd_for_pd_controllers
else:
self._kp = 1
self._kd = 1
self.time_step = time_step
self._step_counter = 0
# reset_time=-1.0 means skipping the reset motion.
# See Reset for more details.
self.Reset(reset_time=-1)
self.init_on_rack_position = INIT_RACK_POSITION
self.init_position = INIT_POSITION
self.initial_pose = self.INIT_POSES[pose_id]
def _RecordMassInfoFromURDF(self):
self._base_mass_urdf = []
for chassis_id in self._chassis_link_ids:
self._base_mass_urdf.append(
self._pybullet_client.getDynamicsInfo(self.quadruped,
chassis_id)[0])
self._leg_masses_urdf = []
for leg_id in self._leg_link_ids:
self._leg_masses_urdf.append(
self._pybullet_client.getDynamicsInfo(self.quadruped,
leg_id)[0])
for motor_id in self._motor_link_ids:
self._leg_masses_urdf.append(
self._pybullet_client.getDynamicsInfo(self.quadruped,
motor_id)[0])
def GetBaseMassFromURDF(self):
"""Get the mass of the base from the URDF file."""
return self._base_mass_urdf
def SetBaseMass(self, base_mass):
for i in range(len(self._chassis_link_ids)):
self._pybullet_client.changeDynamics(self.quadruped,
self._chassis_link_ids[i],
mass=base_mass[i])
def _RecordInertiaInfoFromURDF(self):
"""Record the inertia of each body from URDF file."""
self._link_urdf = []
num_bodies = self._pybullet_client.getNumJoints(self.quadruped)
for body_id in range(-1, num_bodies): # -1 is for the base link.
inertia = self._pybullet_client.getDynamicsInfo(
self.quadruped, body_id)[2]
self._link_urdf.append(inertia)
# We need to use id+1 to index self._link_urdf because it has the base
# (index = -1) at the first element.
self._base_inertia_urdf = [
self._link_urdf[chassis_id + 1]
for chassis_id in self._chassis_link_ids
]
self._leg_inertia_urdf = [
self._link_urdf[leg_id + 1] for leg_id in self._leg_link_ids
]
self._leg_inertia_urdf.extend([
self._link_urdf[motor_id + 1] for motor_id in self._motor_link_ids
])
def _BuildJointNameToIdDict(self):
num_joints = self._pybullet_client.getNumJoints(self.quadruped)
self._joint_name_to_id = {}
for i in range(num_joints):
joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
self._joint_name_to_id[joint_info[1].decode(
"UTF-8")] = joint_info[0]
def _BuildMotorIdList(self):
self._motor_id_list = [
self._joint_name_to_id[motor_name] for motor_name in MOTOR_NAMES
]
def _BuildFootIdList(self):
self._foot_id_list = [
self._joint_name_to_id[foot_name] for foot_name in FOOT_NAMES
]
print(self._foot_id_list)
def _BuildUrdfIds(self):
"""Build the link Ids from its name in the URDF file."""
c = []
m = []
f = []
lg = []
num_joints = self._pybullet_client.getNumJoints(self.quadruped)
self._chassis_link_ids = [-1]
# the self._leg_link_ids include both the upper and lower links of the leg.
self._leg_link_ids = []
self._motor_link_ids = []
self._foot_link_ids = []
for i in range(num_joints):
joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
joint_name = joint_info[1].decode("UTF-8")
joint_id = self._joint_name_to_id[joint_name]
if _CHASSIS_NAME_PATTERN.match(joint_name):
c.append(joint_name)
self._chassis_link_ids.append(joint_id)
elif _MOTOR_NAME_PATTERN.match(joint_name):
m.append(joint_name)
self._motor_link_ids.append(joint_id)
elif _FOOT_NAME_PATTERN.match(joint_name):
f.append(joint_name)
self._foot_link_ids.append(joint_id)
else:
lg.append(joint_name)
self._leg_link_ids.append(joint_id)
self._leg_link_ids.extend(self._foot_link_ids)
self._chassis_link_ids.sort()
self._motor_link_ids.sort()
self._foot_link_ids.sort()
self._leg_link_ids.sort()
def Reset(self,
reload_urdf=True,
default_motor_angles=None,
reset_time=3.0):
"""Reset the spot to its initial states.
Args:
reload_urdf: Whether to reload the urdf file. If not, Reset() just place
the spot back to its starting position.
default_motor_angles: The default motor angles. If it is None, spot
will hold a default pose for 100 steps. In
torque control mode, the phase of holding the default pose is skipped.
reset_time: The duration (in seconds) to hold the default motor angles. If
reset_time <= 0 or in torque control mode, the phase of holding the
default pose is skipped.
"""
if self._on_rack:
init_position = INIT_RACK_POSITION
else:
init_position = INIT_POSITION
if reload_urdf:
if self._self_collision_enabled:
self.quadruped = self._pybullet_client.loadURDF(
pybullet_data.getDataPath() + "/assets/urdf/spot.urdf",
init_position,
useFixedBase=self._on_rack,
flags=self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT)
else:
self.quadruped = self._pybullet_client.loadURDF(
pybullet_data.getDataPath() + "/assets/urdf/spot.urdf",
init_position,
INIT_ORIENTATION,
useFixedBase=self._on_rack)
self._BuildJointNameToIdDict()
self._BuildUrdfIds()
if self._remove_default_joint_damping:
self._RemoveDefaultJointDamping()
self._BuildMotorIdList()
self._BuildFootIdList()
self._RecordMassInfoFromURDF()
self._RecordInertiaInfoFromURDF()
self.ResetPose(add_constraint=True)
else:
self._pybullet_client.resetBasePositionAndOrientation(
self.quadruped, init_position, INIT_ORIENTATION)
self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0],
[0, 0, 0])
# self._pybullet_client.changeDynamics(self.quadruped, -1, lateralFriction=0.8)
self.ResetPose(add_constraint=False)
self._overheat_counter = np.zeros(self.num_motors)
self._motor_enabled_list = [True] * self.num_motors
self._step_counter = 0
# Perform reset motion within reset_duration if in position control mode.
# Nothing is performed if in torque control mode for now.
self._observation_history.clear()
if reset_time > 0.0 and default_motor_angles is not None:
self.RealisticObservation()
for _ in range(100):
self.ApplyAction(self.initial_pose)
self._pybullet_client.stepSimulation()
self.RealisticObservation()
num_steps_to_reset = int(reset_time / self.time_step)
for _ in range(num_steps_to_reset):
self.ApplyAction(default_motor_angles)
self._pybullet_client.stepSimulation()
self.RealisticObservation()
self.RealisticObservation()
# Set Foot Friction
self.SetFootFriction()
def _RemoveDefaultJointDamping(self):
num_joints = self._pybullet_client.getNumJoints(self.quadruped)
for i in range(num_joints):
joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
self._pybullet_client.changeDynamics(joint_info[0],
-1,
linearDamping=0,
angularDamping=0)
def _SetMotorTorqueById(self, motor_id, torque):
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=motor_id,
controlMode=self._pybullet_client.TORQUE_CONTROL,
force=torque)
def _SetDesiredMotorAngleById(self, motor_id, desired_angle):
if self._pd_control_enabled or self._accurate_motor_model_enabled:
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=motor_id,
controlMode=self._pybullet_client.POSITION_CONTROL,
targetPosition=desired_angle,
positionGain=self._kp,
velocityGain=self._kd,
force=self._max_force)
# Pybullet has a 'perfect' joint controller with its default p,d
else:
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=motor_id,
controlMode=self._pybullet_client.POSITION_CONTROL,
targetPosition=desired_angle)
def _SetDesiredMotorAngleByName(self, motor_name, desired_angle):
self._SetDesiredMotorAngleById(self._joint_name_to_id[motor_name],
desired_angle)
def ResetPose(self, add_constraint):
"""Reset the pose of the spot.
Args:
add_constraint: Whether to add a constraint at the joints of two feet.
"""
for i in range(self.num_legs):
self._ResetPoseForLeg(i, add_constraint)
def _ResetPoseForLeg(self, leg_id, add_constraint):
"""Reset the initial pose for the leg.
Args:
leg_id: It should be 0, 1, 2, or 3, which represents the leg at
front_left, back_left, front_right and back_right.
add_constraint: Whether to add a constraint at the joints of two feet.
"""
knee_friction_force = 0
pi = math.pi
leg_position = LEG_POSITION[leg_id]
self._pybullet_client.resetJointState(
self.quadruped,
self._joint_name_to_id["motor_" + leg_position + "_hip"],
self.INIT_POSES[self._pose_id][3 * leg_id],
targetVelocity=0)
self._pybullet_client.resetJointState(
self.quadruped,
self._joint_name_to_id["motor_" + leg_position + "_upper_leg"],
self.INIT_POSES[self._pose_id][3 * leg_id + 1],
targetVelocity=0)
self._pybullet_client.resetJointState(
self.quadruped,
self._joint_name_to_id["motor_" + leg_position + "_lower_leg"],
self.INIT_POSES[self._pose_id][3 * leg_id + 2],
targetVelocity=0)
if self._accurate_motor_model_enabled or self._pd_control_enabled:
# Disable the default motor in pybullet.
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=(self._joint_name_to_id["motor_" + leg_position +
"_hip"]),
controlMode=self._pybullet_client.VELOCITY_CONTROL,
targetVelocity=0,
force=knee_friction_force)
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=(self._joint_name_to_id["motor_" + leg_position +
"_upper_leg"]),
controlMode=self._pybullet_client.VELOCITY_CONTROL,
targetVelocity=0,
force=knee_friction_force)
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=(self._joint_name_to_id["motor_" + leg_position +
"_lower_leg"]),
controlMode=self._pybullet_client.VELOCITY_CONTROL,
targetVelocity=0,
force=knee_friction_force)
def GetBasePosition(self):
"""Get the position of spot's base.
Returns:
The position of spot's base.
"""
position, _ = (self._pybullet_client.getBasePositionAndOrientation(
self.quadruped))
return position
def GetBaseOrientation(self):
"""Get the orientation of spot's base, represented as quaternion.
Returns:
The orientation of spot's base.
"""
_, orientation = (self._pybullet_client.getBasePositionAndOrientation(
self.quadruped))
return orientation
def GetBaseRollPitchYaw(self):
"""Get the rate of orientation change of the spot's base in euler angle.
Returns:
rate of (roll, pitch, yaw) change of the spot's base.
"""
vel = self._pybullet_client.getBaseVelocity(self.quadruped)
return np.asarray([vel[1][0], vel[1][1], vel[1][2]])
def GetBaseRollPitchYawRate(self):
"""Get the rate of orientation change of the spot's base in euler angle.
This function mimicks the noisy sensor reading and adds latency.
Returns:
rate of (roll, pitch, yaw) change of the spot's base polluted by noise
and latency.
"""
return self._AddSensorNoise(
np.array(self._control_observation[3 * self.num_motors +
4:3 * self.num_motors + 7]),
self._observation_noise_stdev[4])
def GetBaseTwist(self):
"""Get the Twist of minitaur's base.
Returns:
The Twist of the minitaur's base.
"""
return self._pybullet_client.getBaseVelocity(self.quadruped)
def GetActionDimension(self):
"""Get the length of the action list.
Returns:
The length of the action list.
"""
return self.num_motors
def GetObservationUpperBound(self):
"""Get the upper bound of the observation.
Returns:
The upper bound of an observation. See GetObservation() for the details
of each element of an observation.
NOTE: Changed just like GetObservation()
"""
upper_bound = np.array([0.0] * self.GetObservationDimension())
# roll, pitch
upper_bound[0:2] = 2.0 * np.pi
# acc, rate in x,y,z
upper_bound[2:8] = np.inf
# Leg Phases
upper_bound[8:12] = 2.0
# Contacts
if self.contacts:
upper_bound[12:] = 1.0
return upper_bound
def GetObservationLowerBound(self):
"""Get the lower bound of the observation."""
return -self.GetObservationUpperBound()
def GetObservationDimension(self):
"""Get the length of the observation list.
Returns:
The length of the observation list.
"""
return len(self.GetObservation())
def GetObservation(self):
"""Get the observations of minitaur.
It includes the angles, velocities, torques and the orientation of the base.
Returns:
The observation list. observation[0:8] are motor angles. observation[8:16]
are motor velocities, observation[16:24] are motor torques.
observation[24:28] is the orientation of the base, in quaternion form.
NOTE: DIVERGES FROM STOCK MINITAUR ENV. WILL LEAVE ORIGINAL COMMENTED
For my purpose, the observation space includes Roll and Pitch, as well as
acceleration and gyroscopic rate along the x,y,z axes. All of this
information can be collected from an onboard IMU. The reward function
will contain a hidden velocity reward (fwd, bwd) which cannot be measured
and so is not included. For spinning, the gyroscopic z rate will be used
as the (explicit) velocity reward.
This version operates without motor torques, angles and velocities. Erwin
Coumans' paper suggests a sparse observation space leads to higher reward
# NOTE: use True version for perfect data, or other for realistic data
"""
observation = []
# GETTING TWIST IN BODY FRAME
pos = self.GetBasePosition()
orn = self.GetBaseOrientation()
roll, pitch, yaw = self._pybullet_client.getEulerFromQuaternion(
[orn[0], orn[1], orn[2], orn[3]])
# rpy = LA.RPY(roll, pitch, yaw)
# R, _ = LA.TransToRp(rpy)
# T_wb = LA.RpToTrans(R, np.array([pos[0], pos[1], pos[2]]))
# T_bw = LA.TransInv(T_wb)
# Adj_Tbw = LA.Adjoint(T_bw)
# Get Linear and Angular Twist in WORLD FRAME
lin_twist, ang_twist = self.GetBaseTwist()
lin_twist = np.array([lin_twist[0], lin_twist[1], lin_twist[2]])
ang_twist = np.array([ang_twist[0], ang_twist[1], ang_twist[2]])
# Vw = np.concatenate((ang_twist, lin_twist))
# Vb = np.dot(Adj_Tbw, Vw)
# roll, pitch, _ = self._pybullet_client.getEulerFromQuaternion(
# [orn[0], orn[1], orn[2], orn[3]])
# # Get linear accelerations
# lin_twist = -Vb[3:]
# ang_twist = Vb[:3]
lin_acc = lin_twist - self.prev_lin_twist
if lin_acc.all() == 0.0:
lin_acc = self.prev_lin_acc
self.prev_lin_acc = lin_acc
# print("LIN TWIST: ", lin_twist)
self.prev_lin_twist = lin_twist
self.prev_ang_twist = ang_twist
# Get Contacts
CONTACT = list(self._pybullet_client.getContactPoints(self.quadruped))
FLC = 0
FRC = 0
BLC = 0
BRC = 0
if len(CONTACT) > 0:
for i in range(len(CONTACT)):
Contact_Link_Index = CONTACT[i][3]
if Contact_Link_Index == self._foot_id_list[0]:
FLC = 1
# print("FL CONTACT")
if Contact_Link_Index == self._foot_id_list[1]:
FRC = 1
# print("FR CONTACT")
if Contact_Link_Index == self._foot_id_list[2]:
BLC = 1
# print("BL CONTACT")
if Contact_Link_Index == self._foot_id_list[3]:
BRC = 1
# print("BR CONTACT")
# order: roll, pitch, gyro(x,y,z), acc(x, y, z)
observation.append(roll)
observation.append(pitch)
observation.extend(list(ang_twist))
observation.extend(list(lin_acc))
# Control Input
# observation.append(self.StepLength)
# observation.append(self.StepVelocity)
# observation.append(self.LateralFraction)
# observation.append(self.YawRate)
observation.extend(self.LegPhases)
if self.contacts:
observation.append(FLC)
observation.append(FRC)
observation.append(BLC)
observation.append(BRC)
# print("CONTACTS: {} {} {} {}".format(FLC, FRC, BLC, BRC))
return observation
def GetControlInput(self, controller):
""" Store Control Input as Observation
"""
_, _, StepLength, LateralFraction, YawRate, StepVelocity, _, _ = controller.return_bezier_params(
)
self.StepLength = StepLength
self.StepVelocity = StepVelocity
self.LateralFraction = LateralFraction
self.YawRate = YawRate
def GetLegPhases(self, TrajectoryGenerator):
""" Leg phases according to TG from 0->2
0->1: Stance
1->2 Swing
"""
self.LegPhases = TrajectoryGenerator.Phases
def GetExternalObservations(self, TrajectoryGenerator, controller):
""" Augment State Space
"""
self.GetControlInput(controller)
self.GetLegPhases(TrajectoryGenerator)
def ConvertFromLegModel(self, action):
# TODO
joint_angles = action
return joint_angles
def ApplyMotorLimits(self, joint_angles):
eps = 0.001
for i in range(len(joint_angles)):
LIM = MOTOR_LIMITS_BY_NAME[MOTOR_NAMES[i]]
joint_angles[i] = np.clip(joint_angles[i], LIM[0] + eps,
LIM[1] - eps)
return joint_angles
def ApplyAction(self, motor_commands):
"""Set the desired motor angles to the motors of the minitaur.
The desired motor angles are clipped based on the maximum allowed velocity.
If the pd_control_enabled is True, a torque is calculated according to
the difference between current and desired joint angle, as well as the joint
velocity. This torque is exerted to the motor. For more information about
PD control, please refer to: https://en.wikipedia.org/wiki/PID_controller.
Args:
motor_commands: The eight desired motor angles.
"""
# FIRST, APPLY MOTOR LIMITS:
motor_commands = self.ApplyMotorLimits(motor_commands)
if self._motor_velocity_limit < np.inf:
current_motor_angle = self.GetMotorAngles()
motor_commands_max = (current_motor_angle +
self.time_step * self._motor_velocity_limit)
motor_commands_min = (current_motor_angle -
self.time_step * self._motor_velocity_limit)
motor_commands = np.clip(motor_commands, motor_commands_min,
motor_commands_max)
if self._accurate_motor_model_enabled or self._pd_control_enabled:
q = self.GetMotorAngles()
qdot = self.GetMotorVelocities()
if self._accurate_motor_model_enabled:
actual_torque, observed_torque = self._motor_model.convert_to_torque(
motor_commands, q, qdot)
if self._motor_overheat_protection:
for i in range(self.num_motors):
if abs(actual_torque[i]) > OVERHEAT_SHUTDOWN_TORQUE:
self._overheat_counter[i] += 1
else:
self._overheat_counter[i] = 0
if (self._overheat_counter[i] >
OVERHEAT_SHUTDOWN_TIME / self.time_step):
self._motor_enabled_list[i] = False
# The torque is already in the observation space because we use
# GetMotorAngles and GetMotorVelocities.
self._observed_motor_torques = observed_torque
# Transform into the motor space when applying the torque.
self._applied_motor_torque = np.multiply(
actual_torque, self._motor_direction)
for motor_id, motor_torque, motor_enabled in zip(
self._motor_id_list, self._applied_motor_torque,
self._motor_enabled_list):
if motor_enabled:
self._SetMotorTorqueById(motor_id, motor_torque)
else:
self._SetMotorTorqueById(motor_id, 0)
else:
torque_commands = -self._kp * (
q - motor_commands) - self._kd * qdot
# The torque is already in the observation space because we use
# GetMotorAngles and GetMotorVelocities.
self._observed_motor_torques = torque_commands
# Transform into the motor space when applying the torque.
self._applied_motor_torques = np.multiply(
self._observed_motor_torques, self._motor_direction)
for motor_id, motor_torque in zip(self._motor_id_list,
self._applied_motor_torques):
self._SetMotorTorqueById(motor_id, motor_torque)
else:
motor_commands_with_direction = np.multiply(
motor_commands, self._motor_direction)
for motor_id, motor_command_with_direction in zip(
self._motor_id_list, motor_commands_with_direction):
self._SetDesiredMotorAngleById(motor_id,
motor_command_with_direction)
def Step(self, action):
for _ in range(self._action_repeat):
self.ApplyAction(action)
self._pybullet_client.stepSimulation()
self.RealisticObservation()
self._step_counter += 1
def GetTimeSinceReset(self):
return self._step_counter * self.time_step
def GetMotorAngles(self):
"""Gets the eight motor angles at the current moment, mapped to [-pi, pi].
Returns:
Motor angles, mapped to [-pi, pi].
"""
motor_angles = [
self._pybullet_client.getJointState(self.quadruped, motor_id)[0]
for motor_id in self._motor_id_list
]
motor_angles = np.multiply(motor_angles, self._motor_direction)
return MapToMinusPiToPi(motor_angles)
def GetMotorVelocities(self):
"""Get the velocity of all eight motors.
Returns:
Velocities of all eight motors.
"""
motor_velocities = [
self._pybullet_client.getJointState(self.quadruped, motor_id)[1]
for motor_id in self._motor_id_list
]
motor_velocities = np.multiply(motor_velocities, self._motor_direction)
return motor_velocities
def GetMotorTorques(self):
"""Get the amount of torque the motors are exerting.
Returns:
Motor torques of all eight motors.
"""
if self._accurate_motor_model_enabled or self._pd_control_enabled:
return self._observed_motor_torques
else:
motor_torques = [
self._pybullet_client.getJointState(self.quadruped,
motor_id)[3]
for motor_id in self._motor_id_list
]
motor_torques = np.multiply(motor_torques, self._motor_direction)
return motor_torques
def GetBaseMassesFromURDF(self):
"""Get the mass of the base from the URDF file."""
return self._base_mass_urdf
def GetBaseInertiasFromURDF(self):
"""Get the inertia of the base from the URDF file."""
return self._base_inertia_urdf
def GetLegMassesFromURDF(self):
"""Get the mass of the legs from the URDF file."""
return self._leg_masses_urdf
def GetLegInertiasFromURDF(self):
"""Get the inertia of the legs from the URDF file."""
return self._leg_inertia_urdf
def SetBaseMasses(self, base_mass):
"""Set the mass of spot's base.
Args:
base_mass: A list of masses of each body link in CHASIS_LINK_IDS. The
length of this list should be the same as the length of CHASIS_LINK_IDS.
Raises:
ValueError: It is raised when the length of base_mass is not the same as
the length of self._chassis_link_ids.
"""
if len(base_mass) != len(self._chassis_link_ids):
raise ValueError(
"The length of base_mass {} and self._chassis_link_ids {} are not "
"the same.".format(len(base_mass),
len(self._chassis_link_ids)))
for chassis_id, chassis_mass in zip(self._chassis_link_ids, base_mass):
self._pybullet_client.changeDynamics(self.quadruped,
chassis_id,
mass=chassis_mass)
def SetLegMasses(self, leg_masses):
"""Set the mass of the legs.
Args:
leg_masses: The leg and motor masses for all the leg links and motors.
Raises:
ValueError: It is raised when the length of masses is not equal to number
of links + motors.
"""
if len(leg_masses) != len(self._leg_link_ids) + len(
self._motor_link_ids):
raise ValueError("The number of values passed to SetLegMasses are "
"different than number of leg links and motors.")
for leg_id, leg_mass in zip(self._leg_link_ids, leg_masses):
self._pybullet_client.changeDynamics(self.quadruped,
leg_id,
mass=leg_mass)
motor_masses = leg_masses[len(self._leg_link_ids):]
for link_id, motor_mass in zip(self._motor_link_ids, motor_masses):
self._pybullet_client.changeDynamics(self.quadruped,
link_id,
mass=motor_mass)
def SetBaseInertias(self, base_inertias):
"""Set the inertias of spot's base.
Args:
base_inertias: A list of inertias of each body link in CHASIS_LINK_IDS.
The length of this list should be the same as the length of
CHASIS_LINK_IDS.
Raises:
ValueError: It is raised when the length of base_inertias is not the same
as the length of self._chassis_link_ids and base_inertias contains
negative values.
"""
if len(base_inertias) != len(self._chassis_link_ids):
raise ValueError(
"The length of base_inertias {} and self._chassis_link_ids {} are "
"not the same.".format(len(base_inertias),
len(self._chassis_link_ids)))
for chassis_id, chassis_inertia in zip(self._chassis_link_ids,
base_inertias):
for inertia_value in chassis_inertia:
if (np.asarray(inertia_value) < 0).any():
raise ValueError(
"Values in inertia matrix should be non-negative.")
self._pybullet_client.changeDynamics(
self.quadruped,
chassis_id,
localInertiaDiagonal=chassis_inertia)
def SetLegInertias(self, leg_inertias):
"""Set the inertias of the legs.
Args:
leg_inertias: The leg and motor inertias for all the leg links and motors.
Raises:
ValueError: It is raised when the length of inertias is not equal to
the number of links + motors or leg_inertias contains negative values.
"""
if len(leg_inertias) != len(self._leg_link_ids) + len(
self._motor_link_ids):
raise ValueError("The number of values passed to SetLegMasses are "
"different than number of leg links and motors.")
for leg_id, leg_inertia in zip(self._leg_link_ids, leg_inertias):
for inertia_value in leg_inertias:
if (np.asarray(inertia_value) < 0).any():
raise ValueError(
"Values in inertia matrix should be non-negative.")
self._pybullet_client.changeDynamics(
self.quadruped, leg_id, localInertiaDiagonal=leg_inertia)
motor_inertias = leg_inertias[len(self._leg_link_ids):]
for link_id, motor_inertia in zip(self._motor_link_ids,
motor_inertias):
for inertia_value in motor_inertias:
if (np.asarray(inertia_value) < 0).any():
raise ValueError(
"Values in inertia matrix should be non-negative.")
self._pybullet_client.changeDynamics(
self.quadruped, link_id, localInertiaDiagonal=motor_inertia)
def SetFootFriction(self, foot_friction=100.0):
"""Set the lateral friction of the feet.
Args:
foot_friction: The lateral friction coefficient of the foot. This value is
shared by all four feet.
"""
for link_id in self._foot_link_ids:
self._pybullet_client.changeDynamics(self.quadruped,
link_id,
lateralFriction=foot_friction)
# TODO(b/73748980): Add more API's to set other contact parameters.
def SetFootRestitution(self, link_id, foot_restitution=1.0):
"""Set the coefficient of restitution at the feet.
Args:
foot_restitution: The coefficient of restitution (bounciness) of the feet.
This value is shared by all four feet.
"""
self._pybullet_client.changeDynamics(self.quadruped,
link_id,
restitution=foot_restitution)
def SetJointFriction(self, joint_frictions):
for knee_joint_id, friction in zip(self._foot_link_ids,
joint_frictions):
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=knee_joint_id,
controlMode=self._pybullet_client.VELOCITY_CONTROL,
targetVelocity=0,
force=friction)
def GetNumKneeJoints(self):
return len(self._foot_link_ids)
def SetBatteryVoltage(self, voltage):
if self._accurate_motor_model_enabled:
self._motor_model.set_voltage(voltage)
def SetMotorViscousDamping(self, viscous_damping):
if self._accurate_motor_model_enabled:
self._motor_model.set_viscous_damping(viscous_damping)
def RealisticObservation(self):
"""Receive the observation from sensors.
This function is called once per step. The observations are only updated
when this function is called.
"""
self._observation_history.appendleft(self.GetObservation())
self._control_observation = self._GetDelayedObservation(
self._control_latency)
self._control_observation = self._AddSensorNoise(
self._control_observation, self._observation_noise_stdev)
return self._control_observation
def _GetDelayedObservation(self, latency):
"""Get observation that is delayed by the amount specified in latency.
Args:
latency: The latency (in seconds) of the delayed observation.
Returns:
observation: The observation which was actually latency seconds ago.
"""
if latency <= 0 or len(self._observation_history) == 1:
observation = self._observation_history[0]
else:
n_steps_ago = int(latency / self.time_step)
if n_steps_ago + 1 >= len(self._observation_history):
return self._observation_history[-1]
remaining_latency = latency - n_steps_ago * self.time_step
blend_alpha = remaining_latency / self.time_step
observation = (
(1.0 - blend_alpha) *
np.array(self._observation_history[n_steps_ago]) +
blend_alpha *
np.array(self._observation_history[n_steps_ago + 1]))
return observation
def _GetPDObservation(self):
pd_delayed_observation = self._GetDelayedObservation(self._pd_latency)
q = pd_delayed_observation[0:self.num_motors]
qdot = pd_delayed_observation[self.num_motors:2 * self.num_motors]
return (np.array(q), np.array(qdot))
def _AddSensorNoise(self, observation, noise_stdev):
# if self._observation_noise_stdev > 0:
# observation += (self.np_random.normal(scale=noise_stdev,
# size=observation.shape) *
# self.GetObservationUpperBound())
return observation
def SetControlLatency(self, latency):
"""Set the latency of the control loop.
It measures the duration between sending an action from Nvidia TX2 and
receiving the observation from microcontroller.
Args:
latency: The latency (in seconds) of the control loop.
"""
self._control_latency = latency
def GetControlLatency(self):
"""Get the control latency.
Returns:
The latency (in seconds) between when the motor command is sent and when
the sensor measurements are reported back to the controller.
"""
return self._control_latency
def SetMotorGains(self, kp, kd):
"""Set the gains of all motors.
These gains are PD gains for motor positional control. kp is the
proportional gain and kd is the derivative gain.
Args:
kp: proportional gain of the motors.
kd: derivative gain of the motors.
"""
self._kp = kp
self._kd = kd
if self._accurate_motor_model_enabled:
self._motor_model.set_motor_gains(kp, kd)
def GetMotorGains(self):
"""Get the gains of the motor.
Returns:
The proportional gain.
The derivative gain.
"""
return self._kp, self._kd
def SetMotorStrengthRatio(self, ratio):
"""Set the strength of all motors relative to the default value.
Args:
ratio: The relative strength. A scalar range from 0.0 to 1.0.
"""
if self._accurate_motor_model_enabled:
self._motor_model.set_strength_ratios([ratio] * self.num_motors)
def SetMotorStrengthRatios(self, ratios):
"""Set the strength of each motor relative to the default value.
Args:
ratios: The relative strength. A numpy array ranging from 0.0 to 1.0.
"""
if self._accurate_motor_model_enabled:
self._motor_model.set_strength_ratios(ratios)
def SetTimeSteps(self, action_repeat, simulation_step):
"""Set the time steps of the control and simulation.
Args:
action_repeat: The number of simulation steps that the same action is
repeated.
simulation_step: The simulation time step.
"""
self.time_step = simulation_step
self._action_repeat = action_repeat
@property
def chassis_link_ids(self):
return self._chassis_link_ids
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/env_randomizer_base.py | """Abstract base class for environment randomizer.
Source: https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py
"""
import abc
class EnvRandomizerBase(object):
"""Abstract base class for environment randomizer.
An EnvRandomizer is called in environment.reset(). It will
randomize physical parameters of the objects in the simulation.
The physical parameters will be fixed for that episode and be
randomized again in the next environment.reset().
"""
__metaclass__ = abc.ABCMeta
@abc.abstractmethod
def randomize_env(self, env):
"""Randomize the simulated_objects in the environment.
Args:
env: The environment to be randomized.
"""
pass
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/spot_gym_env.py | """
CODE BASED ON EXAMPLE FROM:
@misc{coumans2017pybullet,
title={Pybullet, a python module for physics simulation in robotics, games and machine learning},
author={Coumans, Erwin and Bai, Yunfei},
url={www.pybullet.org},
year={2017},
}
Example: minitaur_gym_env.py
https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
"""
import math
import time
import gym
import numpy as np
import pybullet
import pybullet_data
from gym import spaces
from gym.utils import seeding
from pkg_resources import parse_version
from spotmicro import spot
import pybullet_utils.bullet_client as bullet_client
from gym.envs.registration import register
from spotmicro.heightfield import HeightField
from spotmicro.OpenLoopSM.SpotOL import BezierStepper
import spotmicro.Kinematics.LieAlgebra as LA
from spotmicro.spot_env_randomizer import SpotEnvRandomizer
NUM_SUBSTEPS = 5
NUM_MOTORS = 12
MOTOR_ANGLE_OBSERVATION_INDEX = 0
MOTOR_VELOCITY_OBSERVATION_INDEX = MOTOR_ANGLE_OBSERVATION_INDEX + NUM_MOTORS
MOTOR_TORQUE_OBSERVATION_INDEX = MOTOR_VELOCITY_OBSERVATION_INDEX + NUM_MOTORS
BASE_ORIENTATION_OBSERVATION_INDEX = MOTOR_TORQUE_OBSERVATION_INDEX + NUM_MOTORS
ACTION_EPS = 0.01
OBSERVATION_EPS = 0.01
RENDER_HEIGHT = 720
RENDER_WIDTH = 960
SENSOR_NOISE_STDDEV = spot.SENSOR_NOISE_STDDEV
DEFAULT_URDF_VERSION = "default"
NUM_SIMULATION_ITERATION_STEPS = 1000
spot_URDF_VERSION_MAP = {DEFAULT_URDF_VERSION: spot.Spot}
# Register as OpenAI Gym Environment
register(
id="SpotMicroEnv-v0",
entry_point='spotmicro.spot_gym_env:spotGymEnv',
max_episode_steps=1000,
)
def convert_to_list(obj):
try:
iter(obj)
return obj
except TypeError:
return [obj]
class spotGymEnv(gym.Env):
"""The gym environment for spot.
It simulates the locomotion of spot, a quadruped robot. The state space
include the angles, velocities and torques for all the motors and the action
space is the desired motor angle for each motor. The reward function is based
on how far spot walks in 1000 steps and penalizes the energy
expenditure.
"""
metadata = {
"render.modes": ["human", "rgb_array"],
"video.frames_per_second": 50
}
def __init__(self,
distance_weight=1.0,
rotation_weight=1.0,
energy_weight=0.0005,
shake_weight=0.005,
drift_weight=2.0,
rp_weight=0.1,
rate_weight=0.1,
urdf_root=pybullet_data.getDataPath(),
urdf_version=None,
distance_limit=float("inf"),
observation_noise_stdev=SENSOR_NOISE_STDDEV,
self_collision_enabled=True,
motor_velocity_limit=np.inf,
pd_control_enabled=False,
leg_model_enabled=False,
accurate_motor_model_enabled=False,
remove_default_joint_damping=False,
motor_kp=2.0,
motor_kd=0.03,
control_latency=0.0,
pd_latency=0.0,
torque_control_enabled=False,
motor_overheat_protection=False,
hard_reset=False,
on_rack=False,
render=True,
num_steps_to_log=1000,
action_repeat=1,
control_time_step=None,
env_randomizer=SpotEnvRandomizer(),
forward_reward_cap=float("inf"),
reflection=True,
log_path=None,
desired_velocity=0.5,
desired_rate=0.0,
lateral=False,
draw_foot_path=False,
height_field=False,
height_field_iters=2,
AutoStepper=False,
contacts=True):
"""Initialize the spot gym environment.
Args:
urdf_root: The path to the urdf data folder.
urdf_version: [DEFAULT_URDF_VERSION] are allowable
versions. If None, DEFAULT_URDF_VERSION is used.
distance_weight: The weight of the distance term in the reward.
energy_weight: The weight of the energy term in the reward.
shake_weight: The weight of the vertical shakiness term in the reward.
drift_weight: The weight of the sideways drift term in the reward.
distance_limit: The maximum distance to terminate the episode.
observation_noise_stdev: The standard deviation of observation noise.
self_collision_enabled: Whether to enable self collision in the sim.
motor_velocity_limit: The velocity limit of each motor.
pd_control_enabled: Whether to use PD controller for each motor.
leg_model_enabled: Whether to use a leg motor to reparameterize the action
space.
accurate_motor_model_enabled: Whether to use the accurate DC motor model.
remove_default_joint_damping: Whether to remove the default joint damping.
motor_kp: proportional gain for the accurate motor model.
motor_kd: derivative gain for the accurate motor model.
control_latency: It is the delay in the controller between when an
observation is made at some point, and when that reading is reported
back to the Neural Network.
pd_latency: latency of the PD controller loop. PD calculates PWM based on
the motor angle and velocity. The latency measures the time between when
the motor angle and velocity are observed on the microcontroller and
when the true state happens on the motor. It is typically (0.001-
0.002s).
torque_control_enabled: Whether to use the torque control, if set to
False, pose control will be used.
motor_overheat_protection: Whether to shutdown the motor that has exerted
large torque (OVERHEAT_SHUTDOWN_TORQUE) for an extended amount of time
(OVERHEAT_SHUTDOWN_TIME). See ApplyAction() in spot.py for more
details.
hard_reset: Whether to wipe the simulation and load everything when reset
is called. If set to false, reset just place spot back to start
position and set its pose to initial configuration.
on_rack: Whether to place spot on rack. This is only used to debug
the walking gait. In this mode, spot's base is hanged midair so
that its walking gait is clearer to visualize.
render: Whether to render the simulation.
num_steps_to_log: The max number of control steps in one episode that will
be logged. If the number of steps is more than num_steps_to_log, the
environment will still be running, but only first num_steps_to_log will
be recorded in logging.
action_repeat: The number of simulation steps before actions are applied.
control_time_step: The time step between two successive control signals.
env_randomizer: An instance (or a list) of EnvRandomizer(s). An
EnvRandomizer may randomize the physical property of spot, change
the terrrain during reset(), or add perturbation forces during step().
forward_reward_cap: The maximum value that forward reward is capped at.
Disabled (Inf) by default.
log_path: The path to write out logs. For the details of logging, refer to
spot_logging.proto.
Raises:
ValueError: If the urdf_version is not supported.
"""
# Sense Contacts
self.contacts = contacts
# Enable Auto Stepper State Machine
self.AutoStepper = AutoStepper
# Enable Rough Terrain or Not
self.height_field = height_field
self.draw_foot_path = draw_foot_path
# DRAWING FEET PATH
self.prev_feet_path = np.array([[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0]])
# CONTROL METRICS
self.desired_velocity = desired_velocity
self.desired_rate = desired_rate
self.lateral = lateral
# Set up logging.
self._log_path = log_path
# @TODO fix logging
# NUM ITERS
self._time_step = 0.01
self._action_repeat = action_repeat
self._num_bullet_solver_iterations = 300
self.logging = None
if pd_control_enabled or accurate_motor_model_enabled:
self._time_step /= NUM_SUBSTEPS
self._num_bullet_solver_iterations /= NUM_SUBSTEPS
self._action_repeat *= NUM_SUBSTEPS
# PD control needs smaller time step for stability.
if control_time_step is not None:
self.control_time_step = control_time_step
else:
# Get Control Timestep
self.control_time_step = self._time_step * self._action_repeat
# TODO: Fix the value of self._num_bullet_solver_iterations.
self._num_bullet_solver_iterations = int(
NUM_SIMULATION_ITERATION_STEPS / self._action_repeat)
# URDF
self._urdf_root = urdf_root
self._self_collision_enabled = self_collision_enabled
self._motor_velocity_limit = motor_velocity_limit
self._observation = []
self._true_observation = []
self._objectives = []
self._objective_weights = [
distance_weight, energy_weight, drift_weight, shake_weight
]
self._env_step_counter = 0
self._num_steps_to_log = num_steps_to_log
self._is_render = render
self._last_base_position = [0, 0, 0]
self._last_base_orientation = [0, 0, 0, 1]
self._distance_weight = distance_weight
self._rotation_weight = rotation_weight
self._energy_weight = energy_weight
self._drift_weight = drift_weight
self._shake_weight = shake_weight
self._rp_weight = rp_weight
self._rate_weight = rate_weight
self._distance_limit = distance_limit
self._observation_noise_stdev = observation_noise_stdev
self._action_bound = 1
self._pd_control_enabled = pd_control_enabled
self._leg_model_enabled = leg_model_enabled
self._accurate_motor_model_enabled = accurate_motor_model_enabled
self._remove_default_joint_damping = remove_default_joint_damping
self._motor_kp = motor_kp
self._motor_kd = motor_kd
self._torque_control_enabled = torque_control_enabled
self._motor_overheat_protection = motor_overheat_protection
self._on_rack = on_rack
self._cam_dist = 1.0
self._cam_yaw = 0
self._cam_pitch = -30
self._forward_reward_cap = forward_reward_cap
self._hard_reset = True
self._last_frame_time = 0.0
self._control_latency = control_latency
self._pd_latency = pd_latency
self._urdf_version = urdf_version
self._ground_id = None
self._reflection = reflection
self._env_randomizer = env_randomizer
# @TODO fix logging
self._episode_proto = None
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(
connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
if self._urdf_version is None:
self._urdf_version = DEFAULT_URDF_VERSION
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
self.seed()
# Only update after HF has been generated
self.height_field = False
self.reset()
observation_high = (self.spot.GetObservationUpperBound() +
OBSERVATION_EPS)
observation_low = (self.spot.GetObservationLowerBound() -
OBSERVATION_EPS)
action_dim = NUM_MOTORS
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.observation_space = spaces.Box(observation_low, observation_high)
self.viewer = None
self._hard_reset = hard_reset # This assignment need to be after reset()
self.goal_reached = False
# Generate HeightField or not
self.height_field = height_field
self.hf = HeightField()
if self.height_field:
# Do 3x for extra roughness
for i in range(height_field_iters):
self.hf._generate_field(self)
def set_env_randomizer(self, env_randomizer):
self._env_randomizer = env_randomizer
def configure(self, args):
self._args = args
def reset(self,
initial_motor_angles=None,
reset_duration=1.0,
desired_velocity=None,
desired_rate=None):
# Use Autostepper
if self.AutoStepper:
self.StateMachine = BezierStepper(dt=self._time_step)
# Shuffle order of states
self.StateMachine.reshuffle()
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_RENDERING, 0)
if self._hard_reset:
self._pybullet_client.resetSimulation()
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=int(self._num_bullet_solver_iterations))
self._pybullet_client.setTimeStep(self._time_step)
self._ground_id = self._pybullet_client.loadURDF("%s/plane.urdf" %
self._urdf_root)
if self._reflection:
self._pybullet_client.changeVisualShape(
self._ground_id, -1, rgbaColor=[1, 1, 1, 0.8])
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,
self._ground_id)
self._pybullet_client.setGravity(0, 0, -9.81)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection
if self._urdf_version not in spot_URDF_VERSION_MAP:
raise ValueError("%s is not a supported urdf_version." %
self._urdf_version)
else:
self.spot = (spot_URDF_VERSION_MAP[self._urdf_version](
pybullet_client=self._pybullet_client,
action_repeat=self._action_repeat,
urdf_root=self._urdf_root,
time_step=self._time_step,
self_collision_enabled=self._self_collision_enabled,
motor_velocity_limit=self._motor_velocity_limit,
pd_control_enabled=self._pd_control_enabled,
accurate_motor_model_enabled=acc_motor,
remove_default_joint_damping=self.
_remove_default_joint_damping,
motor_kp=self._motor_kp,
motor_kd=self._motor_kd,
control_latency=self._control_latency,
pd_latency=self._pd_latency,
observation_noise_stdev=self._observation_noise_stdev,
torque_control_enabled=self._torque_control_enabled,
motor_overheat_protection=motor_protect,
on_rack=self._on_rack,
np_random=self.np_random,
contacts=self.contacts))
self.spot.Reset(reload_urdf=False,
default_motor_angles=initial_motor_angles,
reset_time=reset_duration)
if self._env_randomizer is not None:
self._env_randomizer.randomize_env(self)
# Also update heightfield if wr are wholly randomizing
if self.height_field:
self.hf.UpdateHeightField()
if desired_velocity is not None:
self.desired_velocity = desired_velocity
if desired_rate is not None:
self.desired_rate = desired_rate
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
self._env_step_counter = 0
self._last_base_position = [0, 0, 0]
self._last_base_orientation = [0, 0, 0, 1]
self._objectives = []
self._pybullet_client.resetDebugVisualizerCamera(
self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0])
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_RENDERING, 1)
return self._get_observation()
def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
def _transform_action_to_motor_command(self, action):
if self._leg_model_enabled:
for i, action_component in enumerate(action):
if not (-self._action_bound - ACTION_EPS <= action_component <=
self._action_bound + ACTION_EPS):
raise ValueError("{}th action {} out of bounds.".format(
i, action_component))
action = self.spot.ConvertFromLegModel(action)
return action
def step(self, action):
"""Step forward the simulation, given the action.
Args:
action: A list of desired motor angles for eight motors.
Returns:
observations: The angles, velocities and torques of all motors.
reward: The reward for the current state-action pair.
done: Whether the episode has ended.
info: A dictionary that stores diagnostic information.
Raises:
ValueError: The action dimension is not the same as the number of motors.
ValueError: The magnitude of actions is out of bounds.
"""
self._last_base_position = self.spot.GetBasePosition()
self._last_base_orientation = self.spot.GetBaseOrientation()
# print("ACTION:")
# print(action)
if self._is_render:
# Sleep, otherwise the computation takes less time than real time,
# which will make the visualization like a fast-forward video.
time_spent = time.time() - self._last_frame_time
self._last_frame_time = time.time()
time_to_sleep = self.control_time_step - time_spent
if time_to_sleep > 0:
time.sleep(time_to_sleep)
base_pos = self.spot.GetBasePosition()
# Keep the previous orientation of the camera set by the user.
[yaw, pitch,
dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11]
self._pybullet_client.resetDebugVisualizerCamera(
dist, yaw, pitch, base_pos)
action = self._transform_action_to_motor_command(action)
self.spot.Step(action)
reward = self._reward()
done = self._termination()
self._env_step_counter += 1
# DRAW FOOT PATH
if self.draw_foot_path:
self.DrawFootPath()
return np.array(self._get_observation()), reward, done, {}
def render(self, mode="rgb_array", close=False):
if mode != "rgb_array":
return np.array([])
base_pos = self.spot.GetBasePosition()
view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(
fov=60,
aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
nearVal=0.1,
farVal=100.0)
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=RENDER_WIDTH,
height=RENDER_HEIGHT,
renderer=self._pybullet_client.ER_BULLET_HARDWARE_OPENGL,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
def DrawFootPath(self):
# Get Foot Positions
FL = self._pybullet_client.getLinkState(self.spot.quadruped,
self.spot._foot_id_list[0])[0]
FR = self._pybullet_client.getLinkState(self.spot.quadruped,
self.spot._foot_id_list[1])[0]
BL = self._pybullet_client.getLinkState(self.spot.quadruped,
self.spot._foot_id_list[2])[0]
BR = self._pybullet_client.getLinkState(self.spot.quadruped,
self.spot._foot_id_list[3])[0]
lifetime = 3.0 # sec
self._pybullet_client.addUserDebugLine(self.prev_feet_path[0],
FL, [1, 0, 0],
lifeTime=lifetime)
self._pybullet_client.addUserDebugLine(self.prev_feet_path[1],
FR, [0, 1, 0],
lifeTime=lifetime)
self._pybullet_client.addUserDebugLine(self.prev_feet_path[2],
BL, [0, 0, 1],
lifeTime=lifetime)
self._pybullet_client.addUserDebugLine(self.prev_feet_path[3],
BR, [1, 1, 0],
lifeTime=lifetime)
self.prev_feet_path[0] = FL
self.prev_feet_path[1] = FR
self.prev_feet_path[2] = BL
self.prev_feet_path[3] = BR
def get_spot_motor_angles(self):
"""Get the spot's motor angles.
Returns:
A numpy array of motor angles.
"""
return np.array(
self._observation[MOTOR_ANGLE_OBSERVATION_INDEX:
MOTOR_ANGLE_OBSERVATION_INDEX + NUM_MOTORS])
def get_spot_motor_velocities(self):
"""Get the spot's motor velocities.
Returns:
A numpy array of motor velocities.
"""
return np.array(
self._observation[MOTOR_VELOCITY_OBSERVATION_INDEX:
MOTOR_VELOCITY_OBSERVATION_INDEX + NUM_MOTORS])
def get_spot_motor_torques(self):
"""Get the spot's motor torques.
Returns:
A numpy array of motor torques.
"""
return np.array(
self._observation[MOTOR_TORQUE_OBSERVATION_INDEX:
MOTOR_TORQUE_OBSERVATION_INDEX + NUM_MOTORS])
def get_spot_base_orientation(self):
"""Get the spot's base orientation, represented by a quaternion.
Returns:
A numpy array of spot's orientation.
"""
return np.array(self._observation[BASE_ORIENTATION_OBSERVATION_INDEX:])
def is_fallen(self):
"""Decide whether spot has fallen.
If the up directions between the base and the world is larger (the dot
product is smaller than 0.85) or the base is very low on the ground
(the height is smaller than 0.13 meter), spot is considered fallen.
Returns:
Boolean value that indicates whether spot has fallen.
"""
orientation = self.spot.GetBaseOrientation()
rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation)
local_up = rot_mat[6:]
pos = self.spot.GetBasePosition()
# or pos[2] < 0.13
return (np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.55)
def _termination(self):
position = self.spot.GetBasePosition()
distance = math.sqrt(position[0]**2 + position[1]**2)
return self.is_fallen() or distance > self._distance_limit
def _reward(self):
""" NOTE: reward now consists of:
roll, pitch at desired 0
acc (y,z) = 0
FORWARD-BACKWARD: rate(x,y,z) = 0
--> HIDDEN REWARD: x(+-) velocity reference, not incl. in obs
SPIN: acc(x) = 0, rate(x,y) = 0, rate (z) = rate reference
Also include drift, energy vanilla rewards
"""
current_base_position = self.spot.GetBasePosition()
# get observation
obs = self._get_observation()
# forward_reward = current_base_position[0] - self._last_base_position[0]
# # POSITIVE FOR FORWARD, NEGATIVE FOR BACKWARD | NOTE: HIDDEN
# GETTING TWIST IN BODY FRAME
pos = self.spot.GetBasePosition()
orn = self.spot.GetBaseOrientation()
roll, pitch, yaw = self._pybullet_client.getEulerFromQuaternion(
[orn[0], orn[1], orn[2], orn[3]])
rpy = LA.RPY(roll, pitch, yaw)
R, _ = LA.TransToRp(rpy)
T_wb = LA.RpToTrans(R, np.array([pos[0], pos[1], pos[2]]))
T_bw = LA.TransInv(T_wb)
Adj_Tbw = LA.Adjoint(T_bw)
Vw = np.concatenate(
(self.spot.prev_ang_twist, self.spot.prev_lin_twist))
Vb = np.dot(Adj_Tbw, Vw)
# New Twist in Body Frame
# POSITIVE FOR FORWARD, NEGATIVE FOR BACKWARD | NOTE: HIDDEN
fwd_speed = -Vb[3] # vx
lat_speed = -Vb[4] # vy
# fwd_speed = self.spot.prev_lin_twist[0]
# lat_speed = self.spot.prev_lin_twist[1]
# print("FORWARD SPEED: {} \t STATE SPEED: {}".format(
# fwd_speed, self.desired_velocity))
# self.desired_velocity = 0.4
# Modification for lateral/fwd rewards
reward_max = 1.0
# FORWARD
if not self.lateral:
# f(x)=-(x-desired))^(2)*((1/desired)^2)+1
# to make sure that at 0vel there is 0 reawrd.
# also squishes allowable tolerance
forward_reward = reward_max * np.exp(
-(fwd_speed - self.desired_velocity)**2 / (0.1))
# LATERAL
else:
forward_reward = reward_max * np.exp(
-(lat_speed - self.desired_velocity)**2 / (0.1))
yaw_rate = obs[4]
rot_reward = reward_max * np.exp(-(yaw_rate - self.desired_rate)**2 /
(0.1))
# Make sure that for forward-policy there is the appropriate rotation penalty
if self.desired_velocity != 0:
self._rotation_weight = self._rate_weight
rot_reward = -abs(obs[4])
elif self.desired_rate != 0:
forward_reward = 0.0
# penalty for nonzero roll, pitch
rp_reward = -(abs(obs[0]) + abs(obs[1]))
# print("ROLL: {} \t PITCH: {}".format(obs[0], obs[1]))
# penalty for nonzero acc(z)
shake_reward = -abs(obs[4])
# penalty for nonzero rate (x,y,z)
rate_reward = -(abs(obs[2]) + abs(obs[3]))
# drift_reward = -abs(current_base_position[1] -
# self._last_base_position[1])
# this penalizes absolute error, and does not penalize correction
# NOTE: for side-side, drift reward becomes in x instead
drift_reward = -abs(current_base_position[1])
# If Lateral, change drift reward
if self.lateral:
drift_reward = -abs(current_base_position[0])
# shake_reward = -abs(current_base_position[2] -
# self._last_base_position[2])
self._last_base_position = current_base_position
energy_reward = -np.abs(
np.dot(self.spot.GetMotorTorques(),
self.spot.GetMotorVelocities())) * self._time_step
reward = (self._distance_weight * forward_reward +
self._rotation_weight * rot_reward +
self._energy_weight * energy_reward +
self._drift_weight * drift_reward +
self._shake_weight * shake_reward +
self._rp_weight * rp_reward +
self._rate_weight * rate_reward)
self._objectives.append(
[forward_reward, energy_reward, drift_reward, shake_reward])
# print("REWARD: ", reward)
return reward
def get_objectives(self):
return self._objectives
@property
def objective_weights(self):
"""Accessor for the weights for all the objectives.
Returns:
List of floating points that corresponds to weights for the objectives in
the order that objectives are stored.
"""
return self._objective_weights
def _get_observation(self):
"""Get observation of this environment, including noise and latency.
spot class maintains a history of true observations. Based on the
latency, this function will find the observation at the right time,
interpolate if necessary. Then Gaussian noise is added to this observation
based on self.observation_noise_stdev.
Returns:
The noisy observation with latency.
"""
self._observation = self.spot.GetObservation()
return self._observation
def _get_realistic_observation(self):
"""Get the observations of this environment.
It includes the angles, velocities, torques and the orientation of the base.
Returns:
The observation list. observation[0:8] are motor angles. observation[8:16]
are motor velocities, observation[16:24] are motor torques.
observation[24:28] is the orientation of the base, in quaternion form.
"""
self._observation = self.spot.RealisticObservation()
return self._observation
if parse_version(gym.__version__) < parse_version('0.9.6'):
_render = render
_reset = reset
_seed = seed
_step = step
def set_time_step(self, control_step, simulation_step=0.001):
"""Sets the time step of the environment.
Args:
control_step: The time period (in seconds) between two adjacent control
actions are applied.
simulation_step: The simulation time step in PyBullet. By default, the
simulation step is 0.001s, which is a good trade-off between simulation
speed and accuracy.
Raises:
ValueError: If the control step is smaller than the simulation step.
"""
if control_step < simulation_step:
raise ValueError(
"Control step should be larger than or equal to simulation step."
)
self.control_time_step = control_step
self._time_step = simulation_step
self._action_repeat = int(round(control_step / simulation_step))
self._num_bullet_solver_iterations = (NUM_SIMULATION_ITERATION_STEPS /
self._action_repeat)
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=self._num_bullet_solver_iterations)
self._pybullet_client.setTimeStep(self._time_step)
self.spot.SetTimeSteps(action_repeat=self._action_repeat,
simulation_step=self._time_step)
@property
def pybullet_client(self):
return self._pybullet_client
@property
def ground_id(self):
return self._ground_id
@ground_id.setter
def ground_id(self, new_ground_id):
self._ground_id = new_ground_id
@property
def env_step_counter(self):
return self._env_step_counter
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/motor.py | """This file implements an accurate motor model.
Source: https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/minitaur/envs/motor.py
"""
import numpy as np
VOLTAGE_CLIPPING = 8.4
OBSERVED_TORQUE_LIMIT = 5.7
MOTOR_VOLTAGE = 7.4
MOTOR_RESISTANCE = 0.086
MOTOR_TORQUE_CONSTANT = 0.00954
MOTOR_VISCOUS_DAMPING = 0.0
MOTOR_SPEED_LIMIT = 9.5
class MotorModel(object):
"""The accurate motor model, which is based on the physics of DC motors.
The motor model support two types of control: position control and torque
control. In position control mode, a desired motor angle is specified, and a
torque is computed based on the internal motor model. When the torque control
is specified, a pwm signal in the range of [-1.0, 1.0] is converted to the
torque.
The internal motor model takes the following factors into consideration:
pd gains, viscous friction, back-EMF voltage and current-torque profile.
"""
def __init__(self, torque_control_enabled=False, kp=1.2, kd=0):
self._torque_control_enabled = torque_control_enabled
self._kp = kp
self._kd = kd
self._resistance = MOTOR_RESISTANCE
self._voltage = MOTOR_VOLTAGE
self._torque_constant = MOTOR_TORQUE_CONSTANT
self._viscous_damping = MOTOR_VISCOUS_DAMPING
self._current_table = [0, 10, 20, 30, 40, 50, 60]
self._torque_table = [0, 1, 1.9, 2.45, 3.0, 3.25, 3.5]
def set_voltage(self, voltage):
self._voltage = voltage
def get_voltage(self):
return self._voltage
def set_viscous_damping(self, viscous_damping):
self._viscous_damping = viscous_damping
def get_viscous_dampling(self):
return self._viscous_damping
def convert_to_torque(self, motor_commands, current_motor_angle,
current_motor_velocity):
"""Convert the commands (position control or torque control) to torque.
Args:
motor_commands: The desired motor angle if the motor is in position
control mode. The pwm signal if the motor is in torque control mode.
current_motor_angle: The motor angle at the current time step.
current_motor_velocity: The motor velocity at the current time step.
Returns:
actual_torque: The torque that needs to be applied to the motor.
observed_torque: The torque observed by the sensor.
"""
if self._torque_control_enabled:
pwm = motor_commands
else:
pwm = (-self._kp * (current_motor_angle - motor_commands) -
self._kd * current_motor_velocity)
pwm = np.clip(pwm, -1.0, 1.0)
return self._convert_to_torque_from_pwm(pwm, current_motor_velocity)
def _convert_to_torque_from_pwm(self, pwm, current_motor_velocity):
"""Convert the pwm signal to torque.
Args:
pwm: The pulse width modulation.
current_motor_velocity: The motor velocity at the current time step.
Returns:
actual_torque: The torque that needs to be applied to the motor.
observed_torque: The torque observed by the sensor.
"""
observed_torque = np.clip(
self._torque_constant * (pwm * self._voltage / self._resistance),
-OBSERVED_TORQUE_LIMIT, OBSERVED_TORQUE_LIMIT)
# Net voltage is clipped at 50V by diodes on the motor controller.
voltage_net = np.clip(
pwm * self._voltage -
(self._torque_constant + self._viscous_damping) *
current_motor_velocity, -VOLTAGE_CLIPPING, VOLTAGE_CLIPPING)
current = voltage_net / self._resistance
current_sign = np.sign(current)
current_magnitude = np.absolute(current)
# Saturate torque based on empirical current relation.
actual_torque = np.interp(current_magnitude, self._current_table,
self._torque_table)
actual_torque = np.multiply(current_sign, actual_torque)
return actual_torque, observed_torque
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/spot_env_randomizer.py | """
CODE BASED ON EXAMPLE FROM:
@misc{coumans2017pybullet,
title={Pybullet, a python module for physics simulation in robotics, games and machine learning},
author={Coumans, Erwin and Bai, Yunfei},
url={www.pybullet.org},
year={2017},
}
Example: minitaur_env_randomizer.py
https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py
"""
import numpy as np
from . import env_randomizer_base
# Relative range.
spot_BASE_MASS_ERROR_RANGE = (-0.2, 0.2) # 0.2 means 20%
spot_LEG_MASS_ERROR_RANGE = (-0.2, 0.2) # 0.2 means 20%
# Absolute range.
BATTERY_VOLTAGE_RANGE = (7.0, 8.4) # Unit: Volt
MOTOR_VISCOUS_DAMPING_RANGE = (0, 0.01) # Unit: N*m*s/rad (torque/angular vel)
spot_LEG_FRICTION = (0.8, 1.5) # Unit: dimensionless
class SpotEnvRandomizer(env_randomizer_base.EnvRandomizerBase):
"""A randomizer that change the spot_gym_env during every reset."""
def __init__(self,
spot_base_mass_err_range=spot_BASE_MASS_ERROR_RANGE,
spot_leg_mass_err_range=spot_LEG_MASS_ERROR_RANGE,
battery_voltage_range=BATTERY_VOLTAGE_RANGE,
motor_viscous_damping_range=MOTOR_VISCOUS_DAMPING_RANGE):
self._spot_base_mass_err_range = spot_base_mass_err_range
self._spot_leg_mass_err_range = spot_leg_mass_err_range
self._battery_voltage_range = battery_voltage_range
self._motor_viscous_damping_range = motor_viscous_damping_range
np.random.seed(0)
def randomize_env(self, env):
self._randomize_spot(env.spot)
def _randomize_spot(self, spot):
"""Randomize various physical properties of spot.
It randomizes the mass/inertia of the base, mass/inertia of the legs,
friction coefficient of the feet, the battery voltage and the motor damping
at each reset() of the environment.
Args:
spot: the spot instance in spot_gym_env environment.
"""
base_mass = spot.GetBaseMassFromURDF()
# print("BM: ", base_mass)
randomized_base_mass = np.random.uniform(
np.array([base_mass]) * (1.0 + self._spot_base_mass_err_range[0]),
np.array([base_mass]) * (1.0 + self._spot_base_mass_err_range[1]))
spot.SetBaseMass(randomized_base_mass[0])
leg_masses = spot.GetLegMassesFromURDF()
leg_masses_lower_bound = np.array(leg_masses) * (
1.0 + self._spot_leg_mass_err_range[0])
leg_masses_upper_bound = np.array(leg_masses) * (
1.0 + self._spot_leg_mass_err_range[1])
randomized_leg_masses = [
np.random.uniform(leg_masses_lower_bound[i],
leg_masses_upper_bound[i])
for i in range(len(leg_masses))
]
spot.SetLegMasses(randomized_leg_masses)
randomized_battery_voltage = np.random.uniform(
BATTERY_VOLTAGE_RANGE[0], BATTERY_VOLTAGE_RANGE[1])
spot.SetBatteryVoltage(randomized_battery_voltage)
randomized_motor_damping = np.random.uniform(
MOTOR_VISCOUS_DAMPING_RANGE[0], MOTOR_VISCOUS_DAMPING_RANGE[1])
spot.SetMotorViscousDamping(randomized_motor_damping)
randomized_foot_friction = np.random.uniform(spot_LEG_FRICTION[0],
spot_LEG_FRICTION[1])
spot.SetFootFriction(randomized_foot_friction)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/heightfield.py | """
CODE BASED ON EXAMPLE FROM:
@misc{coumans2017pybullet,
title={Pybullet, a python module for physics simulation in robotics, games and machine learning},
author={Coumans, Erwin and Bai, Yunfei},
url={www.pybullet.org},
year={2017},
}
Example: heightfield.py
https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
"""
import pybullet as p
import pybullet_data as pd
import math
import time
textureId = -1
useProgrammatic = 0
useTerrainFromPNG = 1
useDeepLocoCSV = 2
updateHeightfield = False
heightfieldSource = useProgrammatic
numHeightfieldRows = 256
numHeightfieldColumns = 256
import random
random.seed(10)
class HeightField():
def __init__(self):
self.hf_id = 0
self.terrainShape = 0
self.heightfieldData = [0] * numHeightfieldRows * numHeightfieldColumns
def _generate_field(self, env, heightPerturbationRange=0.08):
env.pybullet_client.setAdditionalSearchPath(pd.getDataPath())
env.pybullet_client.configureDebugVisualizer(
env.pybullet_client.COV_ENABLE_RENDERING, 0)
heightPerturbationRange = heightPerturbationRange
if heightfieldSource == useProgrammatic:
for j in range(int(numHeightfieldColumns / 2)):
for i in range(int(numHeightfieldRows / 2)):
height = random.uniform(0, heightPerturbationRange)
self.heightfieldData[2 * i +
2 * j * numHeightfieldRows] = height
self.heightfieldData[2 * i + 1 +
2 * j * numHeightfieldRows] = height
self.heightfieldData[2 * i + (2 * j + 1) *
numHeightfieldRows] = height
self.heightfieldData[2 * i + 1 + (2 * j + 1) *
numHeightfieldRows] = height
terrainShape = env.pybullet_client.createCollisionShape(
shapeType=env.pybullet_client.GEOM_HEIGHTFIELD,
meshScale=[.07, .07, 1.6],
heightfieldTextureScaling=(numHeightfieldRows - 1) / 2,
heightfieldData=self.heightfieldData,
numHeightfieldRows=numHeightfieldRows,
numHeightfieldColumns=numHeightfieldColumns)
terrain = env.pybullet_client.createMultiBody(0, terrainShape)
env.pybullet_client.resetBasePositionAndOrientation(
terrain, [0, 0, 0.0], [0, 0, 0, 1])
env.pybullet_client.changeDynamics(terrain,
-1,
lateralFriction=1.0)
if heightfieldSource == useDeepLocoCSV:
terrainShape = env.pybullet_client.createCollisionShape(
shapeType=env.pybullet_client.GEOM_HEIGHTFIELD,
meshScale=[.5, .5, 2.5],
fileName="heightmaps/ground0.txt",
heightfieldTextureScaling=128)
terrain = env.pybullet_client.createMultiBody(0, terrainShape)
env.pybullet_client.resetBasePositionAndOrientation(
terrain, [0, 0, 0], [0, 0, 0, 1])
env.pybullet_client.changeDynamics(terrain,
-1,
lateralFriction=1.0)
if heightfieldSource == useTerrainFromPNG:
terrainShape = env.pybullet_client.createCollisionShape(
shapeType=env.pybullet_client.GEOM_HEIGHTFIELD,
meshScale=[.05, .05, 1.8],
fileName="heightmaps/wm_height_out.png")
textureId = env.pybullet_client.loadTexture(
"heightmaps/gimp_overlay_out.png")
terrain = env.pybullet_client.createMultiBody(0, terrainShape)
env.pybullet_client.changeVisualShape(terrain,
-1,
textureUniqueId=textureId)
env.pybullet_client.resetBasePositionAndOrientation(
terrain, [0, 0, 0.1], [0, 0, 0, 1])
env.pybullet_client.changeDynamics(terrain,
-1,
lateralFriction=1.0)
self.hf_id = terrainShape
self.terrainShape = terrainShape
print("TERRAIN SHAPE: {}".format(terrainShape))
env.pybullet_client.changeVisualShape(terrain,
-1,
rgbaColor=[1, 1, 1, 1])
env.pybullet_client.configureDebugVisualizer(
env.pybullet_client.COV_ENABLE_RENDERING, 1)
def UpdateHeightField(self, heightPerturbationRange=0.08):
if heightfieldSource == useProgrammatic:
for j in range(int(numHeightfieldColumns / 2)):
for i in range(int(numHeightfieldRows / 2)):
height = random.uniform(
0, heightPerturbationRange) # +math.sin(time.time())
self.heightfieldData[2 * i +
2 * j * numHeightfieldRows] = height
self.heightfieldData[2 * i + 1 +
2 * j * numHeightfieldRows] = height
self.heightfieldData[2 * i + (2 * j + 1) *
numHeightfieldRows] = height
self.heightfieldData[2 * i + 1 + (2 * j + 1) *
numHeightfieldRows] = height
#GEOM_CONCAVE_INTERNAL_EDGE may help avoid getting stuck at an internal (shared) edge of the triangle/heightfield.
#GEOM_CONCAVE_INTERNAL_EDGE is a bit slower to build though.
#flags = p.GEOM_CONCAVE_INTERNAL_EDGE
flags = 0
self.terrainShape = p.createCollisionShape(
shapeType=p.GEOM_HEIGHTFIELD,
flags=flags,
meshScale=[.05, .05, 1],
heightfieldTextureScaling=(numHeightfieldRows - 1) / 2,
heightfieldData=self.heightfieldData,
numHeightfieldRows=numHeightfieldRows,
numHeightfieldColumns=numHeightfieldColumns,
replaceHeightfieldIndex=self.terrainShape)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/Kinematics/SpotKinematics.py | #!/usr/bin/env python
import numpy as np
from spotmicro.Kinematics.LegKinematics import LegIK
from spotmicro.Kinematics.LieAlgebra import RpToTrans, TransToRp, TransInv, RPY, TransformVector
from collections import OrderedDict
class SpotModel:
def __init__(self,
shoulder_length=0.055,
elbow_length=0.10652,
wrist_length=0.145,
hip_x=0.23,
hip_y=0.075,
foot_x=0.23,
foot_y=0.185,
height=0.20,
com_offset=0.016,
shoulder_lim=[-0.548, 0.548],
elbow_lim=[-2.17, 0.97],
wrist_lim=[-0.1, 2.59]):
"""
Spot Micro Kinematics
"""
# COM offset in x direction
self.com_offset = com_offset
# Leg Parameters
self.shoulder_length = shoulder_length
self.elbow_length = elbow_length
self.wrist_length = wrist_length
# Leg Vector desired_positions
# Distance Between Hips
# Length
self.hip_x = hip_x
# Width
self.hip_y = hip_y
# Distance Between Feet
# Length
self.foot_x = foot_x
# Width
self.foot_y = foot_y
# Body Height
self.height = height
# Joint Parameters
self.shoulder_lim = shoulder_lim
self.elbow_lim = elbow_lim
self.wrist_lim = wrist_lim
# Dictionary to store Leg IK Solvers
self.Legs = OrderedDict()
self.Legs["FL"] = LegIK("LEFT", self.shoulder_length,
self.elbow_length, self.wrist_length,
self.shoulder_lim, self.elbow_lim,
self.wrist_lim)
self.Legs["FR"] = LegIK("RIGHT", self.shoulder_length,
self.elbow_length, self.wrist_length,
self.shoulder_lim, self.elbow_lim,
self.wrist_lim)
self.Legs["BL"] = LegIK("LEFT", self.shoulder_length,
self.elbow_length, self.wrist_length,
self.shoulder_lim, self.elbow_lim,
self.wrist_lim)
self.Legs["BR"] = LegIK("RIGHT", self.shoulder_length,
self.elbow_length, self.wrist_length,
self.shoulder_lim, self.elbow_lim,
self.wrist_lim)
# Dictionary to store Hip and Foot Transforms
# Transform of Hip relative to world frame
# With Body Centroid also in world frame
Rwb = np.eye(3)
self.WorldToHip = OrderedDict()
self.ph_FL = np.array([self.hip_x / 2.0, self.hip_y / 2.0, 0])
self.WorldToHip["FL"] = RpToTrans(Rwb, self.ph_FL)
self.ph_FR = np.array([self.hip_x / 2.0, -self.hip_y / 2.0, 0])
self.WorldToHip["FR"] = RpToTrans(Rwb, self.ph_FR)
self.ph_BL = np.array([-self.hip_x / 2.0, self.hip_y / 2.0, 0])
self.WorldToHip["BL"] = RpToTrans(Rwb, self.ph_BL)
self.ph_BR = np.array([-self.hip_x / 2.0, -self.hip_y / 2.0, 0])
self.WorldToHip["BR"] = RpToTrans(Rwb, self.ph_BR)
# Transform of Foot relative to world frame
# With Body Centroid also in world frame
self.WorldToFoot = OrderedDict()
self.pf_FL = np.array(
[self.foot_x / 2.0, self.foot_y / 2.0, -self.height])
self.WorldToFoot["FL"] = RpToTrans(Rwb, self.pf_FL)
self.pf_FR = np.array(
[self.foot_x / 2.0, -self.foot_y / 2.0, -self.height])
self.WorldToFoot["FR"] = RpToTrans(Rwb, self.pf_FR)
self.pf_BL = np.array(
[-self.foot_x / 2.0, self.foot_y / 2.0, -self.height])
self.WorldToFoot["BL"] = RpToTrans(Rwb, self.pf_BL)
self.pf_BR = np.array(
[-self.foot_x / 2.0, -self.foot_y / 2.0, -self.height])
self.WorldToFoot["BR"] = RpToTrans(Rwb, self.pf_BR)
def HipToFoot(self, orn, pos, T_bf):
"""
Converts a desired position and orientation wrt Spot's
home position, with a desired body-to-foot Transform
into a body-to-hip Transform, which is used to extract
and return the Hip To Foot Vector.
:param orn: A 3x1 np.array([]) with Spot's Roll, Pitch, Yaw angles
:param pos: A 3x1 np.array([]) with Spot's X, Y, Z coordinates
:param T_bf: Dictionary of desired body-to-foot Transforms.
:return: Hip To Foot Vector for each of Spot's Legs.
"""
# Following steps in attached document: SpotBodyIK.
# TODO: LINK DOC
# Only get Rot component
Rb, _ = TransToRp(RPY(orn[0], orn[1], orn[2]))
pb = pos
T_wb = RpToTrans(Rb, pb)
# Dictionary to store vectors
HipToFoot_List = OrderedDict()
for i, (key, T_wh) in enumerate(self.WorldToHip.items()):
# ORDER: FL, FR, FR, BL, BR
# Extract vector component
_, p_bf = TransToRp(T_bf[key])
# Step 1, get T_bh for each leg
T_bh = np.dot(TransInv(T_wb), T_wh)
# Step 2, get T_hf for each leg
# VECTOR ADDITION METHOD
_, p_bh = TransToRp(T_bh)
p_hf0 = p_bf - p_bh
# TRANSFORM METHOD
T_hf = np.dot(TransInv(T_bh), T_bf[key])
_, p_hf1 = TransToRp(T_hf)
# They should yield the same result
if p_hf1.all() != p_hf0.all():
print("NOT EQUAL")
p_hf = p_hf1
HipToFoot_List[key] = p_hf
return HipToFoot_List
def IK(self, orn, pos, T_bf):
"""
Uses HipToFoot() to convert a desired position
and orientation wrt Spot's home position into a
Hip To Foot Vector, which is fed into the LegIK solver.
Finally, the resultant joint angles are returned
from the LegIK solver for each leg.
:param orn: A 3x1 np.array([]) with Spot's Roll, Pitch, Yaw angles
:param pos: A 3x1 np.array([]) with Spot's X, Y, Z coordinates
:param T_bf: Dictionary of desired body-to-foot Transforms.
:return: Joint angles for each of Spot's joints.
"""
# Following steps in attached document: SpotBodyIK.
# TODO: LINK DOC
# Modify x by com offset
pos[0] += self.com_offset
# 4 legs, 3 joints per leg
joint_angles = np.zeros((4, 3))
# print("T_bf: {}".format(T_bf))
# Steps 1 and 2 of pipeline here
HipToFoot = self.HipToFoot(orn, pos, T_bf)
for i, (key, p_hf) in enumerate(HipToFoot.items()):
# ORDER: FL, FR, FR, BL, BR
# print("LEG: {} \t HipToFoot: {}".format(key, p_hf))
# Step 3, compute joint angles from T_hf for each leg
joint_angles[i, :] = self.Legs[key].solve(p_hf)
# print("-----------------------------")
return joint_angles
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/Kinematics/LegKinematics.py | #!/usr/bin/env python
# https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot
import numpy as np
class LegIK():
def __init__(self,
legtype="RIGHT",
shoulder_length=0.04,
elbow_length=0.1,
wrist_length=0.125,
hip_lim=[-0.548, 0.548],
shoulder_lim=[-2.17, 0.97],
leg_lim=[-0.1, 2.59]):
self.legtype = legtype
self.shoulder_length = shoulder_length
self.elbow_length = elbow_length
self.wrist_length = wrist_length
self.hip_lim = hip_lim
self.shoulder_lim = shoulder_lim
self.leg_lim = leg_lim
def get_domain(self, x, y, z):
"""
Calculates the leg's Domain and caps it in case of a breach
:param x,y,z: hip-to-foot distances in each dimension
:return: Leg Domain D
"""
D = (y**2 + (-z)**2 - self.shoulder_length**2 +
(-x)**2 - self.elbow_length**2 - self.wrist_length**2) / (
2 * self.wrist_length * self.elbow_length)
if D > 1 or D < -1:
# DOMAIN BREACHED
# print("---------DOMAIN BREACH---------")
D = np.clip(D, -1.0, 1.0)
return D
else:
return D
def solve(self, xyz_coord):
"""
Generic Leg Inverse Kinematics Solver
:param xyz_coord: hip-to-foot distances in each dimension
:return: Joint Angles required for desired position
"""
x = xyz_coord[0]
y = xyz_coord[1]
z = xyz_coord[2]
D = self.get_domain(x, y, z)
if self.legtype == "RIGHT":
return self.RightIK(x, y, z, D)
else:
return self.LeftIK(x, y, z, D)
def RightIK(self, x, y, z, D):
"""
Right Leg Inverse Kinematics Solver
:param x,y,z: hip-to-foot distances in each dimension
:param D: leg domain
:return: Joint Angles required for desired position
"""
wrist_angle = np.arctan2(-np.sqrt(1 - D**2), D)
sqrt_component = y**2 + (-z)**2 - self.shoulder_length**2
if sqrt_component < 0.0:
# print("NEGATIVE SQRT")
sqrt_component = 0.0
shoulder_angle = -np.arctan2(z, y) - np.arctan2(
np.sqrt(sqrt_component), -self.shoulder_length)
elbow_angle = np.arctan2(-x, np.sqrt(sqrt_component)) - np.arctan2(
self.wrist_length * np.sin(wrist_angle),
self.elbow_length + self.wrist_length * np.cos(wrist_angle))
joint_angles = np.array([-shoulder_angle, elbow_angle, wrist_angle])
return joint_angles
def LeftIK(self, x, y, z, D):
"""
Left Leg Inverse Kinematics Solver
:param x,y,z: hip-to-foot distances in each dimension
:param D: leg domain
:return: Joint Angles required for desired position
"""
wrist_angle = np.arctan2(-np.sqrt(1 - D**2), D)
sqrt_component = y**2 + (-z)**2 - self.shoulder_length**2
if sqrt_component < 0.0:
print("NEGATIVE SQRT")
sqrt_component = 0.0
shoulder_angle = -np.arctan2(z, y) - np.arctan2(
np.sqrt(sqrt_component), self.shoulder_length)
elbow_angle = np.arctan2(-x, np.sqrt(sqrt_component)) - np.arctan2(
self.wrist_length * np.sin(wrist_angle),
self.elbow_length + self.wrist_length * np.cos(wrist_angle))
joint_angles = np.array([-shoulder_angle, elbow_angle, wrist_angle])
return joint_angles
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/Kinematics/LieAlgebra.py | #!/usr/bin/env python
import numpy as np
# NOTE: Code snippets from Modern Robotics at Northwestern University:
# See https://github.com/NxRLab/ModernRobotics
def RpToTrans(R, p):
"""
Converts a rotation matrix and a position vector into homogeneous
transformation matrix
:param R: A 3x3 rotation matrix
:param p: A 3-vector
:return: A homogeneous transformation matrix corresponding to the inputs
Example Input:
R = np.array([[1, 0, 0],
[0, 0, -1],
[0, 1, 0]])
p = np.array([1, 2, 5])
Output:
np.array([[1, 0, 0, 1],
[0, 0, -1, 2],
[0, 1, 0, 5],
[0, 0, 0, 1]])
"""
return np.r_[np.c_[R, p], [[0, 0, 0, 1]]]
def TransToRp(T):
"""
Converts a homogeneous transformation matrix into a rotation matrix
and position vector
:param T: A homogeneous transformation matrix
:return R: The corresponding rotation matrix,
:return p: The corresponding position vector.
Example Input:
T = np.array([[1, 0, 0, 0],
[0, 0, -1, 0],
[0, 1, 0, 3],
[0, 0, 0, 1]])
Output:
(np.array([[1, 0, 0],
[0, 0, -1],
[0, 1, 0]]),
np.array([0, 0, 3]))
"""
T = np.array(T)
return T[0:3, 0:3], T[0:3, 3]
def TransInv(T):
"""
Inverts a homogeneous transformation matrix
:param T: A homogeneous transformation matrix
:return: The inverse of T
Uses the structure of transformation matrices to avoid taking a matrix
inverse, for efficiency.
Example input:
T = np.array([[1, 0, 0, 0],
[0, 0, -1, 0],
[0, 1, 0, 3],
[0, 0, 0, 1]])
Output:
np.array([[1, 0, 0, 0],
[0, 0, 1, -3],
[0, -1, 0, 0],
[0, 0, 0, 1]])
"""
R, p = TransToRp(T)
Rt = np.array(R).T
return np.r_[np.c_[Rt, -np.dot(Rt, p)], [[0, 0, 0, 1]]]
def Adjoint(T):
"""
Computes the adjoint representation of a homogeneous transformation
matrix
:param T: A homogeneous transformation matrix
:return: The 6x6 adjoint representation [AdT] of T
Example Input:
T = np.array([[1, 0, 0, 0],
[0, 0, -1, 0],
[0, 1, 0, 3],
[0, 0, 0, 1]])
Output:
np.array([[1, 0, 0, 0, 0, 0],
[0, 0, -1, 0, 0, 0],
[0, 1, 0, 0, 0, 0],
[0, 0, 3, 1, 0, 0],
[3, 0, 0, 0, 0, -1],
[0, 0, 0, 0, 1, 0]])
"""
R, p = TransToRp(T)
return np.r_[np.c_[R, np.zeros((3, 3))], np.c_[np.dot(VecToso3(p), R), R]]
def VecToso3(omg):
"""
Converts a 3-vector to an so(3) representation
:param omg: A 3-vector
:return: The skew symmetric representation of omg
Example Input:
omg = np.array([1, 2, 3])
Output:
np.array([[ 0, -3, 2],
[ 3, 0, -1],
[-2, 1, 0]])
"""
return np.array([[0, -omg[2], omg[1]], [omg[2], 0, -omg[0]],
[-omg[1], omg[0], 0]])
def RPY(roll, pitch, yaw):
"""
Creates a Roll, Pitch, Yaw Transformation Matrix
:param roll: roll component of matrix
:param pitch: pitch component of matrix
:param yaw: yaw component of matrix
:return: The transformation matrix
Example Input:
roll = 0.0
pitch = 0.0
yaw = 0.0
Output:
np.array([[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]])
"""
Roll = np.array([[1, 0, 0, 0], [0, np.cos(roll), -np.sin(roll), 0],
[0, np.sin(roll), np.cos(roll), 0], [0, 0, 0, 1]])
Pitch = np.array([[np.cos(pitch), 0, np.sin(pitch), 0], [0, 1, 0, 0],
[-np.sin(pitch), 0, np.cos(pitch), 0], [0, 0, 0, 1]])
Yaw = np.array([[np.cos(yaw), -np.sin(yaw), 0, 0],
[np.sin(yaw), np.cos(yaw), 0, 0], [0, 0, 1, 0],
[0, 0, 0, 1]])
return np.matmul(np.matmul(Roll, Pitch), Yaw)
def RotateTranslate(rotation, position):
"""
Creates a Transformation Matrix from a Rotation, THEN, a Translation
:param rotation: pure rotation matrix
:param translation: pure translation matrix
:return: The transformation matrix
"""
trans = np.eye(4)
trans[0, 3] = position[0]
trans[1, 3] = position[1]
trans[2, 3] = position[2]
return np.dot(rotation, trans)
def TransformVector(xyz_coord, rotation, translation):
"""
Transforms a vector by a specified Rotation THEN Translation Matrix
:param xyz_coord: the vector to transform
:param rotation: pure rotation matrix
:param translation: pure translation matrix
:return: The transformed vector
"""
xyz_vec = np.append(xyz_coord, 1.0)
Transformed = np.dot(RotateTranslate(rotation, translation), xyz_vec)
return Transformed[:3]
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/Kinematics/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/gui.py | #!/usr/bin/env python
import pybullet as pb
import time
import numpy as np
import sys
class GUI:
def __init__(self, quadruped):
time.sleep(0.5)
self.cyaw = 0
self.cpitch = -7
self.cdist = 0.66
self.xId = pb.addUserDebugParameter("x", -0.10, 0.10, 0.)
self.yId = pb.addUserDebugParameter("y", -0.10, 0.10, 0.)
self.zId = pb.addUserDebugParameter("z", -0.055, 0.17, 0.)
self.rollId = pb.addUserDebugParameter("roll", -np.pi / 4, np.pi / 4,
0.)
self.pitchId = pb.addUserDebugParameter("pitch", -np.pi / 4, np.pi / 4,
0.)
self.yawId = pb.addUserDebugParameter("yaw", -np.pi / 4, np.pi / 4, 0.)
self.StepLengthID = pb.addUserDebugParameter("Step Length", -0.1, 0.1,
0.0)
self.YawRateId = pb.addUserDebugParameter("Yaw Rate", -2.0, 2.0, 0.)
self.LateralFractionId = pb.addUserDebugParameter(
"Lateral Fraction", -np.pi / 2.0, np.pi / 2.0, 0.)
self.StepVelocityId = pb.addUserDebugParameter("Step Velocity", 0.001,
3., 0.001)
self.SwingPeriodId = pb.addUserDebugParameter("Swing Period", 0.1, 0.4,
0.2)
self.ClearanceHeightId = pb.addUserDebugParameter(
"Clearance Height", 0.0, 0.1, 0.045)
self.PenetrationDepthId = pb.addUserDebugParameter(
"Penetration Depth", 0.0, 0.05, 0.003)
self.quadruped = quadruped
def UserInput(self):
quadruped_pos, _ = pb.getBasePositionAndOrientation(self.quadruped)
pb.resetDebugVisualizerCamera(cameraDistance=self.cdist,
cameraYaw=self.cyaw,
cameraPitch=self.cpitch,
cameraTargetPosition=quadruped_pos)
keys = pb.getKeyboardEvents()
# Keys to change camera
if keys.get(100): # D
self.cyaw += 1
if keys.get(97): # A
self.cyaw -= 1
if keys.get(99): # C
self.cpitch += 1
if keys.get(102): # F
self.cpitch -= 1
if keys.get(122): # Z
self.cdist += .01
if keys.get(120): # X
self.cdist -= .01
if keys.get(27): # ESC
pb.disconnect()
sys.exit()
# Read Robot Transform from GUI
pos = np.array([
pb.readUserDebugParameter(self.xId),
pb.readUserDebugParameter(self.yId),
pb.readUserDebugParameter(self.zId)
])
orn = np.array([
pb.readUserDebugParameter(self.rollId),
pb.readUserDebugParameter(self.pitchId),
pb.readUserDebugParameter(self.yawId)
])
StepLength = pb.readUserDebugParameter(self.StepLengthID)
YawRate = pb.readUserDebugParameter(self.YawRateId)
LateralFraction = pb.readUserDebugParameter(self.LateralFractionId)
StepVelocity = pb.readUserDebugParameter(self.StepVelocityId)
ClearanceHeight = pb.readUserDebugParameter(self.ClearanceHeightId)
PenetrationDepth = pb.readUserDebugParameter(self.PenetrationDepthId)
SwingPeriod = pb.readUserDebugParameter(self.SwingPeriodId)
return pos, orn, StepLength, LateralFraction, YawRate, StepVelocity, ClearanceHeight, PenetrationDepth, SwingPeriod
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/action_mapper.py | STATIC_ACTIONS_MAP = {
'gallop': ('rex_gym/policies/galloping/balanced', 'model.ckpt-20000000'),
'walk': ('rex_gym/policies/walking/alternating_legs', 'model.ckpt-16000000'),
'standup': ('rex_gym/policies/standup', 'model.ckpt-10000000')
}
DYNAMIC_ACTIONS_MAP = {
'turn': ('rex_gym/policies/turn', 'model.ckpt-16000000')
}
ACTIONS_TO_ENV_NAMES = {
'gallop': 'RexReactiveEnv',
'walk': 'RexWalkEnv',
'turn': 'RexTurnEnv',
'standup': 'RexStandupEnv'
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/bullet_client.py | """A wrapper for pybullet to manage different clients."""
from __future__ import absolute_import
from __future__ import division
import functools
import inspect
import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=None):
"""Creates a Bullet client and connects to a simulation.
Args:
connection_mode:
`None` connects to an existing simulation or, if fails, creates a
new headless simulation,
`pybullet.GUI` creates a new simulation with a GUI,
`pybullet.DIRECT` creates a headless simulation,
`pybullet.SHARED_MEMORY` connects to an existing simulation.
"""
self._shapes = {}
if connection_mode is None:
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if self._client >= 0:
return
else:
connection_mode = pybullet.DIRECT
self._client = pybullet.connect(connection_mode)
def __del__(self):
"""Clean up connection if not already done."""
try:
pybullet.disconnect(physicsClientId=self._client)
except pybullet.error:
pass
def __getattr__(self, name):
"""Inject the client id into Bullet functions."""
attribute = getattr(pybullet, name)
if inspect.isbuiltin(attribute):
if name not in [
"invertTransform",
"multiplyTransforms",
"getMatrixFromQuaternion",
"getEulerFromQuaternion",
"computeViewMatrixFromYawPitchRoll",
"computeProjectionMatrixFOV",
"getQuaternionFromEuler",
]: # A temporary hack for now.
attribute = functools.partial(attribute, physicsClientId=self._client)
return attribute
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/plane_implicit.urdf | <?xml version="1.0" ?>
<robot name="plane">
<link name="planeLink">
<contact>
<lateral_friction value="0.9"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<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="plane100.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!--<origin rpy="0 0 0" xyz="0 0 -5"/>-->
<geometry>
<plane normal="0 0 1"/>
<!--<box size="100 100 10"/>-->
</geometry>
</collision>
</link>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/plane.urdf | <?xml version="0.0" ?>
<robot name="plane">
<link name="planeLink">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<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="plane.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -5"/>
<geometry>
<box size="30 30 10"/>
</geometry>
</collision>
</link>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/plane_transparent.urdf | <?xml version="1.0" ?>
<robot name="plane">
<link name="planeLink">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<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="plane_transparent.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 .7"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -5"/>
<geometry>
<box size="30 30 10"/>
</geometry>
</collision>
</link>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/__init__.py | import os
def getDataPath():
resdir = os.path.join(os.path.dirname(__file__))
return resdir
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/plane100.urdf | <?xml version="0.0" ?>
<robot name="floor">
<link name="floor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<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="plane100.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="200 200 0.001"/>
</geometry>
</collision>
</link>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/plane_stadium.sdf | <sdf version='1.6'>
<world name='default'>
<gravity>0 0 -9.8</gravity>
<model name='floor_obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='floor'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision_1'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>plane100.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>.5 .5 .5 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</world>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/assets/urdf/spot.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.114 0.2 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="0.6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
</inertial>
</link>
<!-- m to mm -->
<link name="battery">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.048 0.145 0.026"/>
</geometry>
</collision>
<inertial>
<mass value="0.4"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
</inertial>
</link>
<!-- m to mm -->
<link name="chassis_left">
<visual>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<!-- m to mm -->
<link name="chassis_right">
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<!-- m to mm -->
<link name="front">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
<geometry>
<box size="0.114 0.045 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
</inertial>
</link>
<!-- m to mm -->
<link name="back">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
<geometry>
<box size="0.114 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
</inertial>
</link>
<!-- m to mm -->
<link name="front_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<!-- m to mm -->
<link name="back_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<!-- m to mm -->
<link name="front_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<joint name="motor_front_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_left_hip"/>
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<joint name="motor_front_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="front_left_hip"/>
<child link="front_left_upper_leg"/>
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<joint name="motor_front_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="front_left_upper_leg"/>
<child link="front_left_lower_leg"/>
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<joint name="front_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_left_lower_leg"/>
<child link="front_left_foot"/>
</joint>
<link name="back_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<joint name="motor_back_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_left_hip"/>
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<joint name="motor_back_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="back_left_hip"/>
<child link="back_left_upper_leg"/>
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<joint name="motor_back_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="back_left_upper_leg"/>
<child link="back_left_lower_leg"/>
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<joint name="back_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_left_lower_leg"/>
<child link="back_left_foot"/>
</joint>
<link name="front_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<joint name="motor_front_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_right_hip"/>
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<joint name="motor_front_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="front_right_hip"/>
<child link="front_right_upper_leg"/>
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<joint name="motor_front_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="front_right_upper_leg"/>
<child link="front_right_lower_leg"/>
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<joint name="front_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_right_lower_leg"/>
<child link="front_right_foot"/>
</joint>
<link name="back_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<joint name="motor_back_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_right_hip"/>
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<joint name="motor_back_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="back_right_hip"/>
<child link="back_right_upper_leg"/>
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<joint name="motor_back_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="back_right_upper_leg"/>
<child link="back_right_lower_leg"/>
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<joint name="back_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_right_lower_leg"/>
<child link="back_right_foot"/>
</joint>
<joint name="base_battery" type="fixed">
<origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
<parent link="base_link"/>
<child link="battery"/>
</joint>
<joint name="base_left" type="fixed">
<origin rpy="0 0 0" xyz="0.00 0.052 0"/>
<parent link="base_link"/>
<child link="chassis_left"/>
</joint>
<joint name="base_right" type="fixed">
<origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
<parent link="base_link"/>
<child link="chassis_right"/>
</joint>
<joint name="base_front" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front"/>
</joint>
<joint name="base_back" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back"/>
</joint>
<joint name="base_front_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front_bracket"/>
</joint>
<joint name="base_back_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back_bracket"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/assets/urdf/spot_old.urdf | <?xml version="1.0" encoding="utf-8"?>
<robot name="rex" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Params -->
<!-- Macros -->
<!-- Robot Body -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="stl/mainbody.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy="0 0 0" xyz="-0.045 -0.060 -0.015"/>
</visual>
<collision>
<geometry>
<box size="0.14 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="1.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<!-- @TODO add lidar sensor-->
<!-- Lidar Backpack -->
<!-- <link name="lidar_link">-->
<!-- <visual>-->
<!-- <geometry>-->
<!-- <mesh filename="stl/rplidar_main.STL" scale="0.001 0.001 0.001"/>-->
<!-- </geometry>-->
<!-- <material name="black"/>-->
<!-- <origin rpy="1.57075 0 0" xyz="-0.06425 0.02885 0"/>-->
<!-- </visual>-->
<!-- <collision>-->
<!-- <geometry>-->
<!-- <box size="0.0985 0.0577 0.07"/>-->
<!-- </geometry>-->
<!-- <origin rpy="0 0 0" xyz="0 0 0"/>-->
<!-- </collision>-->
<!-- <inertial>-->
<!-- <mass value="0.50"/>-->
<!-- <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>-->
<!-- </inertial>-->
<!-- </link>-->
<!-- <joint name="base_lidar" type="fixed">-->
<!-- <parent link="base_link"/>-->
<!-- <child link="lidar_link"/>-->
<!-- <origin xyz="0 0 0.035"/>-->
<!-- </joint>-->
<!-- create head & tail -->
<link name="chassis_front_link">
<visual>
<geometry>
<mesh filename="stl/frontpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.058 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.145 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="chassis_base_front" type="fixed">
<parent link="base_link"/>
<child link="chassis_front_link"/>
</joint>
<link name="chassis_rear_link">
<visual>
<geometry>
<mesh filename="stl/backpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.04 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0.135 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="chassis_base_rear" type="fixed">
<parent link="base_link"/>
<child link="chassis_rear_link"/>
</joint>
<!-- create Legs -->
<link name="front_left_shoulder_link">
<visual>
<geometry>
<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_left_leg_link">
<visual>
<geometry>
<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_left_foot_link">
<visual>
<geometry>
<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.115"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_left_toe_link">
<visual>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<contact_coefficients mu="100.0"/>
</collision>
<inertial>
<mass value="0.005"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="motor_front_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 -0.036 0"/>
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="motor_front_left_leg" type="revolute">
<parent link="front_left_shoulder_link"/>
<child link="front_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.052 0"/>
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="front_left_leg_cover_joint" type="fixed">
<parent link="front_left_leg_link"/>
<child link="front_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="foot_motor_front_left" type="revolute">
<parent link="front_left_leg_link"/>
<child link="front_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="front_left_toe" type="fixed">
<parent link="front_left_foot_link"/>
<child link="front_left_toe_link"/>
<origin xyz="0 0 -0.115"/>
</joint>
<link name="front_right_shoulder_link">
<visual>
<geometry>
<mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_right_leg_link">
<visual>
<geometry>
<mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_right_foot_link">
<visual>
<geometry>
<mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.115"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_right_toe_link">
<visual>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<contact_coefficients mu="100.0"/>
</collision>
<inertial>
<mass value="0.005"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="motor_front_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 0.036 0"/>
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="motor_front_right_leg" type="revolute">
<parent link="front_right_shoulder_link"/>
<child link="front_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.052 0"/>
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="front_right_leg_cover_joint" type="fixed">
<parent link="front_right_leg_link"/>
<child link="front_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="foot_motor_front_right" type="revolute">
<parent link="front_right_leg_link"/>
<child link="front_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="front_right_toe" type="fixed">
<parent link="front_right_foot_link"/>
<child link="front_right_toe_link"/>
<origin xyz="0 0 -0.115"/>
</joint>
<link name="rear_left_shoulder_link">
<visual>
<geometry>
<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_left_leg_link">
<visual>
<geometry>
<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_left_foot_link">
<visual>
<geometry>
<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.115"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_left_toe_link">
<visual>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<contact_coefficients mu="100.0"/>
</collision>
<inertial>
<mass value="0.005"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="motor_rear_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 -0.036 0"/>
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="motor_rear_left_leg" type="revolute">
<parent link="rear_left_shoulder_link"/>
<child link="rear_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.052 0"/>
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="rear_left_leg_cover_joint" type="fixed">
<parent link="rear_left_leg_link"/>
<child link="rear_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="foot_motor_rear_left" type="revolute">
<parent link="rear_left_leg_link"/>
<child link="rear_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="rear_left_toe" type="fixed">
<parent link="rear_left_foot_link"/>
<child link="rear_left_toe_link"/>
<origin xyz="0 0 -0.115"/>
</joint>
<link name="rear_right_shoulder_link">
<visual>
<geometry>
<mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_right_leg_link">
<visual>
<geometry>
<mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_right_foot_link">
<visual>
<geometry>
<mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.115"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_right_toe_link">
<visual>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
<contact_coefficients mu="100.0"/>
</collision>
<inertial>
<mass value="0.005"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="motor_rear_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 0.036 0"/>
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="motor_rear_right_leg" type="revolute">
<parent link="rear_right_shoulder_link"/>
<child link="rear_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.052 0"/>
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="rear_right_leg_cover_joint" type="fixed">
<parent link="rear_right_leg_link"/>
<child link="rear_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="foot_motor_rear_right" type="revolute">
<parent link="rear_right_leg_link"/>
<child link="rear_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<joint name="rear_right_toe" type="fixed">
<parent link="rear_right_foot_link"/>
<child link="rear_right_toe_link"/>
<origin xyz="0 0 -0.115"/>
</joint>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/assets/urdf/stl/LICENSE.txt | Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/util/pybullet_data/assets/urdf/stl/README.txt | .: :,
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,:: ::::::: ::, ::::::: `:::::::.,:: ::: ::: .:::::: ::::: :::::: .::::::
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http://www.thingiverse.com/thing:3445283
Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
# Summary
I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
The ultra sonic sensor can be used for mapping or obstacle avoidance.
When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
Assembly video part 1 : https://youtu.be/03RR-mz2hwA
Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
Instagram : https://www.instagram.com/kim.d.yeon/
To make this, you need the following...
_Electronics_
12 × MG 996 R servo motor
1 × Arduino Mega
2 × HC-SR04 Ultrasonic sensor
1 × HC-06 Bluetooth module
1 × MPU-6050 Gyro sensor
1 × I2C 16x2 LCD Module
1 × Rleil rocker switch RL3-4
7.4v Battery
_Screws, Nuts and Bearings_
8 × 'M5×15'
40 × 'M4×20'
8 × 'M4×15'
48 × 'M4 nut'
4 × 'M3×20'
28 × 'M3×10'
16 × 'M3 nut'
8 × 'F625zz Flange ball bearing'
Made by Deok-yeon Kim
# Print Settings
Printer Brand: Creality
Printer: Ender 3
Infill: 10~20%
Filament_brand: .
Filament_color: Yellow, Black, Gray
Filament_material: PLA, Flexible
# Post-Printing
 |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/OpenLoopSM/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/OpenLoopSM/SpotOL.py | """ Open Loop Controller for Spot Micro. Takes GUI params or uses default
"""
import numpy as np
from random import shuffle
import copy
# Ensuring totally random seed every step!
np.random.seed()
FB = 0
LAT = 1
ROT = 2
COMBI = 3
FWD = 0
ALL = 1
class BezierStepper():
def __init__(self,
pos=np.array([0.0, 0.0, 0.0]),
orn=np.array([0.0, 0.0, 0.0]),
StepLength=0.04,
LateralFraction=0.0,
YawRate=0.0,
StepVelocity=0.001,
ClearanceHeight=0.045,
PenetrationDepth=0.003,
episode_length=5000,
dt=0.01,
num_shuffles=2,
mode=FWD):
self.pos = pos
self.orn = orn
self.desired_StepLength = StepLength
self.StepLength = StepLength
self.StepLength_LIMITS = [-0.05, 0.05]
self.LateralFraction = LateralFraction
self.LateralFraction_LIMITS = [-np.pi / 2.0, np.pi / 2.0]
self.YawRate = YawRate
self.YawRate_LIMITS = [-1.0, 1.0]
self.StepVelocity = StepVelocity
self.StepVelocity_LIMITS = [0.1, 1.5]
self.ClearanceHeight = ClearanceHeight
self.ClearanceHeight_LIMITS = [0.0, 0.04]
self.PenetrationDepth = PenetrationDepth
self.PenetrationDepth_LIMITS = [0.0, 0.02]
self.mode = mode
self.dt = dt
# Keep track of state machine
self.time = 0
# Decide how long to stay in each phase based on maxtime
self.max_time = episode_length
""" States
1: FWD/BWD
2: Lat
3: Rot
4: Combined
"""
self.order = [FB, LAT, ROT, COMBI]
# Shuffles list in place so the order of states is unpredictable
# NOTE: increment num_shuffles by episode num (cap at 10
# and reset or someting) for some forced randomness
for _ in range(num_shuffles):
shuffle(self.order)
# Forward/Backward always needs to be first!
self.reshuffle()
# Current State
self.current_state = self.order[0]
# Divide by number of states (see RL_SM())
self.time_per_episode = int(self.max_time / len(self.order))
def ramp_up(self):
if self.StepLength < self.desired_StepLength:
self.StepLength += self.desired_StepLength * self.dt
def reshuffle(self):
self.time = 0
# Make sure FWD/BWD is always first state
FB_index = self.order.index(FB)
if FB_index != 0:
what_was_in_zero = self.order[0]
self.order[0] = FB
self.order[FB_index] = what_was_in_zero
def which_state(self):
# Ensuring totally random seed every step!
np.random.seed()
if self.time > self.max_time:
# Combined
self.current_state = COMBI
self.time = 0
else:
index = int(self.time / self.time_per_episode)
if index > len(self.order) - 1:
index = len(self.order) - 1
self.current_state = self.order[index]
def StateMachine(self):
"""
State Machined used for training robust RL on top of OL gait.
STATES:
Forward/Backward: All Default Values.
Can have slow changes to
StepLength(+-) and Velocity
Lateral: As above (fwd or bwd random) with added random
slow changing LateralFraction param
Rotating: As above except with YawRate
Combined: ALL changeable values may change!
StepLength
StepVelocity
LateralFraction
YawRate
NOTE: the RL is solely responsible for modulating Clearance Height
and Penetration Depth
"""
if self.mode is ALL:
self.which_state()
if self.current_state == FB:
# print("FORWARD/BACKWARD")
self.FB()
elif self.current_state == LAT:
# print("LATERAL")
self.LAT()
elif self.current_state == ROT:
# print("ROTATION")
self.ROT()
elif self.current_state == COMBI:
# print("COMBINED")
self.COMBI()
return self.return_bezier_params()
def return_bezier_params(self):
# First, Clip Everything
self.StepLength = np.clip(self.StepLength, self.StepLength_LIMITS[0],
self.StepLength_LIMITS[1])
self.StepVelocity = np.clip(self.StepVelocity,
self.StepVelocity_LIMITS[0],
self.StepVelocity_LIMITS[1])
self.LateralFraction = np.clip(self.LateralFraction,
self.LateralFraction_LIMITS[0],
self.LateralFraction_LIMITS[1])
self.YawRate = np.clip(self.YawRate, self.YawRate_LIMITS[0],
self.YawRate_LIMITS[1])
self.ClearanceHeight = np.clip(self.ClearanceHeight,
self.ClearanceHeight_LIMITS[0],
self.ClearanceHeight_LIMITS[1])
self.PenetrationDepth = np.clip(self.PenetrationDepth,
self.PenetrationDepth_LIMITS[0],
self.PenetrationDepth_LIMITS[1])
# Then, return
# FIRST COPY TO AVOID OVERWRITING
pos = copy.deepcopy(self.pos)
orn = copy.deepcopy(self.orn)
StepLength = copy.deepcopy(self.StepLength)
LateralFraction = copy.deepcopy(self.LateralFraction)
YawRate = copy.deepcopy(self.YawRate)
StepVelocity = copy.deepcopy(self.StepVelocity)
ClearanceHeight = copy.deepcopy(self.ClearanceHeight)
PenetrationDepth = copy.deepcopy(self.PenetrationDepth)
return pos, orn, StepLength, LateralFraction,\
YawRate, StepVelocity,\
ClearanceHeight, PenetrationDepth
def FB(self):
"""
Here, we can modulate StepLength and StepVelocity
"""
# The maximum update amount for these element
StepLength_DELTA = self.dt * (self.StepLength_LIMITS[1] -
self.StepLength_LIMITS[0]) / (6.0)
StepVelocity_DELTA = self.dt * (self.StepVelocity_LIMITS[1] -
self.StepVelocity_LIMITS[0]) / (2.0)
# Add either positive or negative or zero delta for each
# NOTE: 'High' is open bracket ) so the max is 1
if self.StepLength < -self.StepLength_LIMITS[0] / 2.0:
StepLength_DIRECTION = np.random.randint(-1, 3, 1)[0]
elif self.StepLength > self.StepLength_LIMITS[1] / 2.0:
StepLength_DIRECTION = np.random.randint(-2, 2, 1)[0]
else:
StepLength_DIRECTION = np.random.randint(-1, 2, 1)[0]
StepVelocity_DIRECTION = np.random.randint(-1, 2, 1)[0]
# Now, modify modifiable params AND CLIP
self.StepLength += StepLength_DIRECTION * StepLength_DELTA
self.StepLength = np.clip(self.StepLength, self.StepLength_LIMITS[0],
self.StepLength_LIMITS[1])
self.StepVelocity += StepVelocity_DIRECTION * StepVelocity_DELTA
self.StepVelocity = np.clip(self.StepVelocity,
self.StepVelocity_LIMITS[0],
self.StepVelocity_LIMITS[1])
def LAT(self):
"""
Here, we can modulate StepLength and LateralFraction
"""
# The maximum update amount for these element
LateralFraction_DELTA = self.dt * (self.LateralFraction_LIMITS[1] -
self.LateralFraction_LIMITS[0]) / (
2.0)
# Add either positive or negative or zero delta for each
# NOTE: 'High' is open bracket ) so the max is 1
LateralFraction_DIRECTION = np.random.randint(-1, 2, 1)[0]
# Now, modify modifiable params AND CLIP
self.LateralFraction += LateralFraction_DIRECTION * LateralFraction_DELTA
self.LateralFraction = np.clip(self.LateralFraction,
self.LateralFraction_LIMITS[0],
self.LateralFraction_LIMITS[1])
def ROT(self):
"""
Here, we can modulate StepLength and YawRate
"""
# The maximum update amount for these element
# no dt since YawRate is already mult by dt
YawRate_DELTA = (self.YawRate_LIMITS[1] -
self.YawRate_LIMITS[0]) / (2.0)
# Add either positive or negative or zero delta for each
# NOTE: 'High' is open bracket ) so the max is 1
YawRate_DIRECTION = np.random.randint(-1, 2, 1)[0]
# Now, modify modifiable params AND CLIP
self.YawRate += YawRate_DIRECTION * YawRate_DELTA
self.YawRate = np.clip(self.YawRate, self.YawRate_LIMITS[0],
self.YawRate_LIMITS[1])
def COMBI(self):
"""
Here, we can modify all the parameters
"""
self.FB()
self.LAT()
self.ROT()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/GymEnvs/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/GymEnvs/spot_bezier_env.py | """ This file implements the gym environment of SpotMicro with Bezier Curve.
"""
import math
import time
import gym
import numpy as np
import pybullet
import pybullet_data
from gym import spaces
from gym.utils import seeding
from pkg_resources import parse_version
from spotmicro import spot
import pybullet_utils.bullet_client as bullet_client
from gym.envs.registration import register
from spotmicro.OpenLoopSM.SpotOL import BezierStepper
from spotmicro.spot_gym_env import spotGymEnv
import spotmicro.Kinematics.LieAlgebra as LA
from spotmicro.spot_env_randomizer import SpotEnvRandomizer
SENSOR_NOISE_STDDEV = spot.SENSOR_NOISE_STDDEV
# Register as OpenAI Gym Environment
register(
id="SpotMicroEnv-v1",
entry_point='spotmicro.GymEnvs.spot_bezier_env:spotBezierEnv',
max_episode_steps=1000,
)
class spotBezierEnv(spotGymEnv):
"""The gym environment for spot.
It simulates the locomotion of spot, a quadruped robot. The state space
include the angles, velocities and torques for all the motors and the action
space is the desired motor angle for each motor. The reward function is based
on how far spot walks in 1000 steps and penalizes the energy
expenditure.
"""
metadata = {
"render.modes": ["human", "rgb_array"],
"video.frames_per_second": 50
}
def __init__(self,
distance_weight=1.0,
rotation_weight=0.0,
energy_weight=0.000,
shake_weight=0.00,
drift_weight=0.0,
rp_weight=10.0,
rate_weight=.03,
urdf_root=pybullet_data.getDataPath(),
urdf_version=None,
distance_limit=float("inf"),
observation_noise_stdev=SENSOR_NOISE_STDDEV,
self_collision_enabled=True,
motor_velocity_limit=np.inf,
pd_control_enabled=False,
leg_model_enabled=False,
accurate_motor_model_enabled=False,
remove_default_joint_damping=False,
motor_kp=2.0,
motor_kd=0.03,
control_latency=0.0,
pd_latency=0.0,
torque_control_enabled=False,
motor_overheat_protection=False,
hard_reset=False,
on_rack=False,
render=True,
num_steps_to_log=1000,
action_repeat=1,
control_time_step=None,
env_randomizer=SpotEnvRandomizer(),
forward_reward_cap=float("inf"),
reflection=True,
log_path=None,
desired_velocity=0.5,
desired_rate=0.0,
lateral=False,
draw_foot_path=False,
height_field=False,
AutoStepper=True,
action_dim=14,
contacts=True):
super(spotBezierEnv, self).__init__(
distance_weight=distance_weight,
rotation_weight=rotation_weight,
energy_weight=energy_weight,
shake_weight=shake_weight,
drift_weight=drift_weight,
rp_weight=rp_weight,
rate_weight=rate_weight,
urdf_root=urdf_root,
urdf_version=urdf_version,
distance_limit=distance_limit,
observation_noise_stdev=observation_noise_stdev,
self_collision_enabled=self_collision_enabled,
motor_velocity_limit=motor_velocity_limit,
pd_control_enabled=pd_control_enabled,
leg_model_enabled=leg_model_enabled,
accurate_motor_model_enabled=accurate_motor_model_enabled,
remove_default_joint_damping=remove_default_joint_damping,
motor_kp=motor_kp,
motor_kd=motor_kd,
control_latency=control_latency,
pd_latency=pd_latency,
torque_control_enabled=torque_control_enabled,
motor_overheat_protection=motor_overheat_protection,
hard_reset=hard_reset,
on_rack=on_rack,
render=render,
num_steps_to_log=num_steps_to_log,
action_repeat=action_repeat,
control_time_step=control_time_step,
env_randomizer=env_randomizer,
forward_reward_cap=forward_reward_cap,
reflection=reflection,
log_path=log_path,
desired_velocity=desired_velocity,
desired_rate=desired_rate,
lateral=lateral,
draw_foot_path=draw_foot_path,
height_field=height_field,
AutoStepper=AutoStepper,
contacts=contacts)
# Residuals + Clearance Height + Penetration Depth
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high)
print("Action SPACE: {}".format(self.action_space))
self.prev_pos = np.array([0.0, 0.0, 0.0])
self.yaw = 0.0
def pass_joint_angles(self, ja):
""" For executing joint angles
"""
self.ja = ja
def step(self, action):
"""Step forward the simulation, given the action.
Args:
action: A list of desired motor angles for eight motors.
smach: the bezier state machine containing simulated
random controll inputs
Returns:
observations: The angles, velocities and torques of all motors.
reward: The reward for the current state-action pair.
done: Whether the episode has ended.
info: A dictionary that stores diagnostic information.
Raises:
ValueError: The action dimension is not the same as the number of motors.
ValueError: The magnitude of actions is out of bounds.
"""
# Discard all but joint angles
action = self.ja
self._last_base_position = self.spot.GetBasePosition()
self._last_base_orientation = self.spot.GetBaseOrientation()
# print("ACTION:")
# print(action)
if self._is_render:
# Sleep, otherwise the computation takes less time than real time,
# which will make the visualization like a fast-forward video.
time_spent = time.time() - self._last_frame_time
self._last_frame_time = time.time()
time_to_sleep = self.control_time_step - time_spent
if time_to_sleep > 0:
time.sleep(time_to_sleep)
base_pos = self.spot.GetBasePosition()
# Keep the previous orientation of the camera set by the user.
[yaw, pitch,
dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11]
self._pybullet_client.resetDebugVisualizerCamera(
dist, yaw, pitch, base_pos)
action = self._transform_action_to_motor_command(action)
self.spot.Step(action)
# NOTE: SMACH is passed to the reward method
reward = self._reward()
done = self._termination()
self._env_step_counter += 1
# DRAW FOOT PATH
if self.draw_foot_path:
self.DrawFootPath()
return np.array(self._get_observation()), reward, done, {}
def return_state(self):
return np.array(self._get_observation())
def return_yaw(self):
return self.yaw
def _reward(self):
# get observation
obs = self._get_observation()
orn = self.spot.GetBaseOrientation()
# Return StepVelocity with the sign of StepLength
DesiredVelicty = math.copysign(self.spot.StepVelocity / 4.0,
self.spot.StepLength)
fwd_speed = self.spot.prev_lin_twist[0] # vx
lat_speed = self.spot.prev_lin_twist[1] # vy
# DEBUG
lt, at = self.spot.GetBaseTwist()
# ONLY WORKS FOR MOVING PURELY FORWARD
pos = self.spot.GetBasePosition()
forward_reward = pos[0] - self.prev_pos[0]
# yaw_rate = obs[4]
rot_reward = 0.0
roll, pitch, yaw = self._pybullet_client.getEulerFromQuaternion(
[orn[0], orn[1], orn[2], orn[3]])
# if yaw < 0.0:
# yaw += np.pi
# else:
# yaw -= np.pi
# For auto correct
self.yaw = yaw
# penalty for nonzero PITCH and YAW(hidden) ONLY
# NOTE: Added Yaw mult
rp_reward = -(abs(obs[0]) + abs(obs[1]))
# print("YAW: {}".format(yaw))
# print("RP RWD: {:.2f}".format(rp_reward))
# print("ROLL: {} \t PITCH: {}".format(obs[0], obs[1]))
# penalty for nonzero acc(z) - UNRELIABLE ON IMU
shake_reward = 0
# penalty for nonzero rate (x,y,z)
rate_reward = -(abs(obs[2]) + abs(obs[3]))
# print("RATES: {}".format(obs[2:5]))
drift_reward = -abs(pos[1])
energy_reward = -np.abs(
np.dot(self.spot.GetMotorTorques(),
self.spot.GetMotorVelocities())) * self._time_step
reward = (self._distance_weight * forward_reward +
self._rotation_weight * rot_reward +
self._energy_weight * energy_reward +
self._drift_weight * drift_reward +
self._shake_weight * shake_reward +
self._rp_weight * rp_reward +
self._rate_weight * rate_reward)
self._objectives.append(
[forward_reward, energy_reward, drift_reward, shake_reward])
# print("REWARD: ", reward)
# NOTE: return yaw for automatic correction (not part of RL)
return reward |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/GaitGenerator/__init__.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/GaitGenerator/Raibert.py | |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/spotmicro/GaitGenerator/Bezier.py | import numpy as np
from spotmicro.Kinematics.LieAlgebra import TransToRp
import copy
STANCE = 0
SWING = 1
# Bezier Curves from: https://dspace.mit.edu/handle/1721.1/98270
# Rotation Logic from: http://www.inase.org/library/2014/santorini/bypaper/ROBCIRC/ROBCIRC-54.pdf
class BezierGait():
def __init__(self, dSref=[0.0, 0.0, 0.5, 0.5], dt=0.01, Tswing=0.2):
# Phase Lag Per Leg: FL, FR, BL, BR
# Reference Leg is FL, always 0
self.dSref = dSref
self.Prev_fxyz = [0.0, 0.0, 0.0, 0.0]
# Number of control points is n + 1 = 11 + 1 = 12
self.NumControlPoints = 11
# Timestep
self.dt = dt
# Total Elapsed Time
self.time = 0.0
# Touchdown Time
self.TD_time = 0.0
# Time Since Last Touchdown
self.time_since_last_TD = 0.0
# Trajectory Mode
self.StanceSwing = SWING
# Swing Phase value [0, 1] of Reference Foot
self.SwRef = 0.0
self.Stref = 0.0
# Whether Reference Foot has Touched Down
self.TD = False
# Stance Time
self.Tswing = Tswing
# Reference Leg
self.ref_idx = 0
# Store all leg phases
self.Phases = self.dSref
def reset(self):
"""Resets the parameters of the Bezier Gait Generator
"""
self.Prev_fxyz = [0.0, 0.0, 0.0, 0.0]
# Total Elapsed Time
self.time = 0.0
# Touchdown Time
self.TD_time = 0.0
# Time Since Last Touchdown
self.time_since_last_TD = 0.0
# Trajectory Mode
self.StanceSwing = SWING
# Swing Phase value [0, 1] of Reference Foot
self.SwRef = 0.0
self.Stref = 0.0
# Whether Reference Foot has Touched Down
self.TD = False
def GetPhase(self, index, Tstance, Tswing):
"""Retrieves the phase of an individual leg.
NOTE modification
from original paper:
if ti < -Tswing:
ti += Tstride
This is to avoid a phase discontinuity if the user selects
a Step Length and Velocity combination that causes Tstance > Tswing.
:param index: the leg's index, used to identify the required
phase lag
:param Tstance: the current user-specified stance period
:param Tswing: the swing period (constant, class member)
:return: Leg Phase, and StanceSwing (bool) to indicate whether
leg is in stance or swing mode
"""
StanceSwing = STANCE
Sw_phase = 0.0
Tstride = Tstance + Tswing
ti = self.Get_ti(index, Tstride)
# NOTE: PAPER WAS MISSING THIS LOGIC!!
if ti < -Tswing:
ti += Tstride
# STANCE
if ti >= 0.0 and ti <= Tstance:
StanceSwing = STANCE
if Tstance == 0.0:
Stnphase = 0.0
else:
Stnphase = ti / float(Tstance)
if index == self.ref_idx:
# print("STANCE REF: {}".format(Stnphase))
self.StanceSwing = StanceSwing
return Stnphase, StanceSwing
# SWING
elif ti >= -Tswing and ti < 0.0:
StanceSwing = SWING
Sw_phase = (ti + Tswing) / Tswing
elif ti > Tstance and ti <= Tstride:
StanceSwing = SWING
Sw_phase = (ti - Tstance) / Tswing
# Touchdown at End of Swing
if Sw_phase >= 1.0:
Sw_phase = 1.0
if index == self.ref_idx:
# print("SWING REF: {}".format(Sw_phase))
self.StanceSwing = StanceSwing
self.SwRef = Sw_phase
# REF Touchdown at End of Swing
if self.SwRef >= 0.999:
self.TD = True
# else:
# self.TD = False
return Sw_phase, StanceSwing
def Get_ti(self, index, Tstride):
"""Retrieves the time index for the individual leg
:param index: the leg's index, used to identify the required
phase lag
:param Tstride: the total leg movement period (Tstance + Tswing)
:return: the leg's time index
"""
# NOTE: for some reason python's having numerical issues w this
# setting to 0 for ref leg by force
if index == self.ref_idx:
self.dSref[index] = 0.0
return self.time_since_last_TD - self.dSref[index] * Tstride
def Increment(self, dt, Tstride):
"""Increments the Bezier gait generator's internal clock (self.time)
:param dt: the time step
phase lag
:param Tstride: the total leg movement period (Tstance + Tswing)
:return: the leg's time index
"""
self.CheckTouchDown()
self.time_since_last_TD = self.time - self.TD_time
if self.time_since_last_TD > Tstride:
self.time_since_last_TD = Tstride
elif self.time_since_last_TD < 0.0:
self.time_since_last_TD = 0.0
# print("T STRIDE: {}".format(Tstride))
# Increment Time at the end in case TD just happened
# So that we get time_since_last_TD = 0.0
self.time += dt
# If Tstride = Tswing, Tstance = 0
# RESET ALL
if Tstride < self.Tswing + dt:
self.time = 0.0
self.time_since_last_TD = 0.0
self.TD_time = 0.0
self.SwRef = 0.0
def CheckTouchDown(self):
"""Checks whether a reference leg touchdown
has occured, and whether this warrants
resetting the touchdown time
"""
if self.SwRef >= 0.9 and self.TD:
self.TD_time = self.time
self.TD = False
self.SwRef = 0.0
def BernSteinPoly(self, t, k, point):
"""Calculate the point on the Berinstein Polynomial
based on phase (0->1), point number (0-11),
and the value of the control point itself
:param t: phase
:param k: point number
:param point: point value
:return: Value through Bezier Curve
"""
return point * self.Binomial(k) * np.power(t, k) * np.power(
1 - t, self.NumControlPoints - k)
def Binomial(self, k):
"""Solves the binomial theorem given a Bezier point number
relative to the total number of Bezier points.
:param k: Bezier point number
:returns: Binomial solution
"""
return np.math.factorial(self.NumControlPoints) / (
np.math.factorial(k) *
np.math.factorial(self.NumControlPoints - k))
def BezierSwing(self, phase, L, LateralFraction, clearance_height=0.04):
"""Calculates the step coordinates for the Bezier (swing) period
:param phase: current trajectory phase
:param L: step length
:param LateralFraction: determines how lateral the movement is
:param clearance_height: foot clearance height during swing phase
:returns: X,Y,Z Foot Coordinates relative to unmodified body
"""
# Polar Leg Coords
X_POLAR = np.cos(LateralFraction)
Y_POLAR = np.sin(LateralFraction)
# Bezier Curve Points (12 pts)
# NOTE: L is HALF of STEP LENGTH
# Forward Component
STEP = np.array([
-L, # Ctrl Point 0, half of stride len
-L * 1.4, # Ctrl Point 1 diff btwn 1 and 0 = x Lift vel
-L * 1.5, # Ctrl Pts 2, 3, 4 are overlapped for
-L * 1.5, # Direction change after
-L * 1.5, # Follow Through
0.0, # Change acceleration during Protraction
0.0, # So we include three
0.0, # Overlapped Ctrl Pts: 5, 6, 7
L * 1.5, # Changing direction for swing-leg retraction
L * 1.5, # requires double overlapped Ctrl Pts: 8, 9
L * 1.4, # Swing Leg Retraction Velocity = Ctrl 11 - 10
L
])
# Account for lateral movements by multiplying with polar coord.
# LateralFraction switches leg movements from X over to Y+ or Y-
# As it tends away from zero
X = STEP * X_POLAR
# Account for lateral movements by multiplying with polar coord.
# LateralFraction switches leg movements from X over to Y+ or Y-
# As it tends away from zero
Y = STEP * Y_POLAR
# Vertical Component
Z = np.array([
0.0, # Double Overlapped Ctrl Pts for zero Lift
0.0, # Veloicty wrt hip (Pts 0 and 1)
clearance_height * 0.9, # Triple overlapped control for change in
clearance_height * 0.9, # Force direction during transition from
clearance_height * 0.9, # follow-through to protraction (2, 3, 4)
clearance_height * 0.9, # Double Overlapped Ctrl Pts for Traj
clearance_height * 0.9, # Dirctn Change during Protraction (5, 6)
clearance_height * 1.1, # Maximum Clearance at mid Traj, Pt 7
clearance_height * 1.1, # Smooth Transition from Protraction
clearance_height * 1.1, # To Retraction, Two Ctrl Pts (8, 9)
0.0, # Double Overlap Ctrl Pts for 0 Touchdown
0.0, # Veloicty wrt hip (Pts 10 and 11)
])
stepX = 0.
stepY = 0.
stepZ = 0.
# Bernstein Polynomial sum over control points
for i in range(len(X)):
stepX += self.BernSteinPoly(phase, i, X[i])
stepY += self.BernSteinPoly(phase, i, Y[i])
stepZ += self.BernSteinPoly(phase, i, Z[i])
return stepX, stepY, stepZ
def SineStance(self, phase, L, LateralFraction, penetration_depth=0.00):
"""Calculates the step coordinates for the Sinusoidal stance period
:param phase: current trajectory phase
:param L: step length
:param LateralFraction: determines how lateral the movement is
:param penetration_depth: foot penetration depth during stance phase
:returns: X,Y,Z Foot Coordinates relative to unmodified body
"""
X_POLAR = np.cos(LateralFraction)
Y_POLAR = np.sin(LateralFraction)
# moves from +L to -L
step = L * (1.0 - 2.0 * phase)
stepX = step * X_POLAR
stepY = step * Y_POLAR
if L != 0.0:
stepZ = -penetration_depth * np.cos(
(np.pi * (stepX + stepY)) / (2.0 * L))
else:
stepZ = 0.0
return stepX, stepY, stepZ
def YawCircle(self, T_bf, index):
""" Calculates the required rotation of the trajectory plane
for yaw motion
:param T_bf: default body-to-foot Vector
:param index: the foot index in the container
:returns: phi_arc, the plane rotation angle required for yaw motion
"""
# Foot Magnitude depending on leg type
DefaultBodyToFoot_Magnitude = np.sqrt(T_bf[0]**2 + T_bf[1]**2)
# Rotation Angle depending on leg type
DefaultBodyToFoot_Direction = np.arctan2(T_bf[1], T_bf[0])
# Previous leg coordinates relative to default coordinates
g_xyz = self.Prev_fxyz[index] - np.array([T_bf[0], T_bf[1], T_bf[2]])
# Modulate Magnitude to keep tracing circle
g_mag = np.sqrt((g_xyz[0])**2 + (g_xyz[1])**2)
th_mod = np.arctan2(g_mag, DefaultBodyToFoot_Magnitude)
# Angle Traced by Foot for Rotation
# FR and BL
if index == 1 or index == 2:
phi_arc = np.pi / 2.0 + DefaultBodyToFoot_Direction + th_mod
# FL and BR
else:
phi_arc = np.pi / 2.0 - DefaultBodyToFoot_Direction + th_mod
# print("INDEX {}: \t Angle: {}".format(
# index, np.degrees(DefaultBodyToFoot_Direction)))
return phi_arc
def SwingStep(self, phase, L, LateralFraction, YawRate, clearance_height,
T_bf, key, index):
"""Calculates the step coordinates for the Bezier (swing) period
using a combination of forward and rotational step coordinates
initially decomposed from user input of
L, LateralFraction and YawRate
:param phase: current trajectory phase
:param L: step length
:param LateralFraction: determines how lateral the movement is
:param YawRate: the desired body yaw rate
:param clearance_height: foot clearance height during swing phase
:param T_bf: default body-to-foot Vector
:param key: indicates which foot is being processed
:param index: the foot index in the container
:returns: Foot Coordinates relative to unmodified body
"""
# Yaw foot angle for tangent-to-circle motion
phi_arc = self.YawCircle(T_bf, index)
# Get Foot Coordinates for Forward Motion
X_delta_lin, Y_delta_lin, Z_delta_lin = self.BezierSwing(
phase, L, LateralFraction, clearance_height)
X_delta_rot, Y_delta_rot, Z_delta_rot = self.BezierSwing(
phase, YawRate, phi_arc, clearance_height)
coord = np.array([
X_delta_lin + X_delta_rot, Y_delta_lin + Y_delta_rot,
Z_delta_lin + Z_delta_rot
])
self.Prev_fxyz[index] = coord
return coord
def StanceStep(self, phase, L, LateralFraction, YawRate, penetration_depth,
T_bf, key, index):
"""Calculates the step coordinates for the Sine (stance) period
using a combination of forward and rotational step coordinates
initially decomposed from user input of
L, LateralFraction and YawRate
:param phase: current trajectory phase
:param L: step length
:param LateralFraction: determines how lateral the movement is
:param YawRate: the desired body yaw rate
:param penetration_depth: foot penetration depth during stance phase
:param T_bf: default body-to-foot Vector
:param key: indicates which foot is being processed
:param index: the foot index in the container
:returns: Foot Coordinates relative to unmodified body
"""
# Yaw foot angle for tangent-to-circle motion
phi_arc = self.YawCircle(T_bf, index)
# Get Foot Coordinates for Forward Motion
X_delta_lin, Y_delta_lin, Z_delta_lin = self.SineStance(
phase, L, LateralFraction, penetration_depth)
X_delta_rot, Y_delta_rot, Z_delta_rot = self.SineStance(
phase, YawRate, phi_arc, penetration_depth)
coord = np.array([
X_delta_lin + X_delta_rot, Y_delta_lin + Y_delta_rot,
Z_delta_lin + Z_delta_rot
])
self.Prev_fxyz[index] = coord
return coord
def GetFootStep(self, L, LateralFraction, YawRate, clearance_height,
penetration_depth, Tstance, T_bf, index, key):
"""Calculates the step coordinates in either the Bezier or
Sine portion of the trajectory depending on the retrieved phase
:param phase: current trajectory phase
:param L: step length
:param LateralFraction: determines how lateral the movement is
:param YawRate: the desired body yaw rate
:param clearance_height: foot clearance height during swing phase
:param penetration_depth: foot penetration depth during stance phase
:param Tstance: the current user-specified stance period
:param T_bf: default body-to-foot Vector
:param index: the foot index in the container
:param key: indicates which foot is being processed
:returns: Foot Coordinates relative to unmodified body
"""
phase, StanceSwing = self.GetPhase(index, Tstance, self.Tswing)
if StanceSwing == SWING:
stored_phase = phase + 1.0
else:
stored_phase = phase
# Just for keeping track
self.Phases[index] = stored_phase
# print("LEG: {} \t PHASE: {}".format(index, stored_phase))
if StanceSwing == STANCE:
return self.StanceStep(phase, L, LateralFraction, YawRate,
penetration_depth, T_bf, key, index)
elif StanceSwing == SWING:
return self.SwingStep(phase, L, LateralFraction, YawRate,
clearance_height, T_bf, key, index)
def GenerateTrajectory(self,
L,
LateralFraction,
YawRate,
vel,
T_bf_,
T_bf_curr,
clearance_height=0.06,
penetration_depth=0.01,
contacts=[0, 0, 0, 0],
dt=None):
"""Calculates the step coordinates for each foot
:param L: step length
:param LateralFraction: determines how lateral the movement is
:param YawRate: the desired body yaw rate
:param vel: the desired step velocity
:param clearance_height: foot clearance height during swing phase
:param penetration_depth: foot penetration depth during stance phase
:param contacts: array containing 1 for contact and 0 otherwise
:param dt: the time step
:returns: Foot Coordinates relative to unmodified body
"""
# First, get Tstance from desired speed and stride length
# NOTE: L is HALF of stride length
if vel != 0.0:
Tstance = 2.0 * abs(L) / abs(vel)
else:
Tstance = 0.0
L = 0.0
self.TD = False
self.time = 0.0
self.time_since_last_TD = 0.0
# Then, get time since last Touchdown and increment time counter
if dt is None:
dt = self.dt
YawRate *= dt
# Catch infeasible timesteps
if Tstance < dt:
Tstance = 0.0
L = 0.0
self.TD = False
self.time = 0.0
self.time_since_last_TD = 0.0
YawRate = 0.0
# NOTE: MUCH MORE STABLE WITH THIS
elif Tstance > 1.3 * self.Tswing:
Tstance = 1.3 * self.Tswing
# Check contacts
if contacts[0] == 1 and Tstance > dt:
self.TD = True
self.Increment(dt, Tstance + self.Tswing)
T_bf = copy.deepcopy(T_bf_)
for i, (key, Tbf_in) in enumerate(T_bf_.items()):
# TODO: MAKE THIS MORE ELEGANT
if key == "FL":
self.ref_idx = i
self.dSref[i] = 0.0
if key == "FR":
self.dSref[i] = 0.5
if key == "BL":
self.dSref[i] = 0.5
if key == "BR":
self.dSref[i] = 0.0
_, p_bf = TransToRp(Tbf_in)
if Tstance > 0.0:
step_coord = self.GetFootStep(L, LateralFraction, YawRate,
clearance_height,
penetration_depth, Tstance, p_bf,
i, key)
else:
step_coord = np.array([0.0, 0.0, 0.0])
T_bf[key][0, 3] = Tbf_in[0, 3] + step_coord[0]
T_bf[key][1, 3] = Tbf_in[1, 3] + step_coord[1]
T_bf[key][2, 3] = Tbf_in[2, 3] + step_coord[2]
return T_bf
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/mkdocs.yml | site_name: Spot Mini Mini
nav:
- Home: index.rst
- Simulation: simulation.rst
- Reinforcement Learning: rl.rst
theme: readthedocs |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/rl.md | ## Reinforcement Learning Environment
We now have a [Reinforcement Learning Environment](https://github.com/moribots/spot_mini_mini) which uses Pybullet and OpenAI Gym! It contains a variety of optional terrains, which can be activated using **heightfield=True** in the environment class constructor.
If you try to launch the vanilla gait on fairly difficult terrain, Spot will fall very quickly:
By training an Augmented Random Search agent, this can be overcome:
If you are new to RL, I recommend you try a simpler example. Notice that if we choose non-ideal parameters for the generated gait, the robot drifts over time with a forward command:
You should try to train a policy which outputs a yaw command to eliminate the robot's drift, like this:
You can choose a PNG-generated terrain:
Or, for more control, you can choose a programmatically generated heightfield:
Notice that when the simulation resets, the terrain changes. What you cannot see is that the robot's link masses and frictions also change under the hood for added training robustness:
### Quickstart Reinforcement Learning
```
pip3 install numpy
pip3 install pybullet
pip3 install gym
cd spot_bullet/src
./spot_ars_eval.py
```
**Optional Arguments**
```
-h, --help show this help message and exit
-hf, --HeightField Use HeightField
-r, --DebugRack Put Spot on an Elevated Rack
-p, --DebugPath Draw Spot's Foot Path
-a, --AgentNum Agent Number To Load
``` |
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