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renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/launch/driver.launch | <launch>
<arg name="username" default="dummyusername" />
<arg name="password" default="dummypassword" />
<arg name="app_token" default="/home/spot/.bosdyn/dev.app_token" />
<arg name="hostname" default="192.168.50.3" />
<include file="$(find spot_description)/launch/description.launch" />
<include file="$(find spot_driver)/launch/control.launch" />
<node pkg="spot_driver" type="spot_ros.py" name="spot_ros" ns="spot" output="screen">
<rosparam file="$(find spot_driver)/config/spot_ros.yaml" command="load" />
<param name="username" value="$(arg username)" />
<param name="password" value="$(arg password)" />
<param name="app_token" value="$(arg app_token)" />
<param name="hostname" value="$(arg hostname)" />
<remap from="joint_states" to="/joint_states"/>
<remap from="tf" to="/tf"/>
</node>
<node pkg="twist_mux" type="twist_mux" name="twist_mux" >
<rosparam command="load" file="$(find spot_driver)/config/twist_mux.yaml" />
<remap from="cmd_vel_out" to="spot/cmd_vel"/>
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/scripts/__init__.py | import spot_ros
import spot_wrapper.py
import ros_helpers.py
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/scripts/spot_ros.py | #!/usr/bin/env python3
import rospy
from std_srvs.srv import Trigger, TriggerResponse
from std_msgs.msg import Bool
from tf2_msgs.msg import TFMessage
from geometry_msgs.msg import TransformStamped
from sensor_msgs.msg import Image, CameraInfo
from sensor_msgs.msg import JointState
from geometry_msgs.msg import TwistWithCovarianceStamped, Twist, Pose
from bosdyn.api.geometry_pb2 import Quaternion
import bosdyn.geometry
from spot_msgs.msg import Metrics
from spot_msgs.msg import LeaseArray, LeaseResource
from spot_msgs.msg import FootState, FootStateArray
from spot_msgs.msg import EStopState, EStopStateArray
from spot_msgs.msg import WiFiState
from spot_msgs.msg import PowerState
from spot_msgs.msg import BehaviorFault, BehaviorFaultState
from spot_msgs.msg import SystemFault, SystemFaultState
from spot_msgs.msg import BatteryState, BatteryStateArray
from spot_msgs.msg import Feedback
from ros_helpers import *
from spot_wrapper import SpotWrapper
import logging
class SpotROS():
"""Parent class for using the wrapper. Defines all callbacks and keeps the wrapper alive"""
def __init__(self):
self.spot_wrapper = None
self.callbacks = {}
"""Dictionary listing what callback to use for what data task"""
self.callbacks["robot_state"] = self.RobotStateCB
self.callbacks["metrics"] = self.MetricsCB
self.callbacks["lease"] = self.LeaseCB
self.callbacks["front_image"] = self.FrontImageCB
self.callbacks["side_image"] = self.SideImageCB
self.callbacks["rear_image"] = self.RearImageCB
def RobotStateCB(self, results):
"""Callback for when the Spot Wrapper gets new robot state data.
Args:
results: FutureWrapper object of AsyncPeriodicQuery callback
"""
state = self.spot_wrapper.robot_state
if state:
## joint states ##
joint_state = GetJointStatesFromState(state, self.spot_wrapper)
self.joint_state_pub.publish(joint_state)
## TF ##
tf_msg = GetTFFromState(state, self.spot_wrapper)
if len(tf_msg.transforms) > 0:
self.tf_pub.publish(tf_msg)
# Odom Twist #
twist_odom_msg = GetOdomTwistFromState(state, self.spot_wrapper)
self.odom_twist_pub.publish(twist_odom_msg)
# Feet #
foot_array_msg = GetFeetFromState(state, self.spot_wrapper)
self.feet_pub.publish(foot_array_msg)
# EStop #
estop_array_msg = GetEStopStateFromState(state, self.spot_wrapper)
self.estop_pub.publish(estop_array_msg)
# WIFI #
wifi_msg = GetWifiFromState(state, self.spot_wrapper)
self.wifi_pub.publish(wifi_msg)
# Battery States #
battery_states_array_msg = GetBatteryStatesFromState(state, self.spot_wrapper)
self.battery_pub.publish(battery_states_array_msg)
# Power State #
power_state_msg = GetPowerStatesFromState(state, self.spot_wrapper)
self.power_pub.publish(power_state_msg)
# System Faults #
system_fault_state_msg = GetSystemFaultsFromState(state, self.spot_wrapper)
self.system_faults_pub.publish(system_fault_state_msg)
# Behavior Faults #
behavior_fault_state_msg = getBehaviorFaultsFromState(state, self.spot_wrapper)
self.behavior_faults_pub.publish(behavior_fault_state_msg)
def MetricsCB(self, results):
"""Callback for when the Spot Wrapper gets new metrics data.
Args:
results: FutureWrapper object of AsyncPeriodicQuery callback
"""
metrics = self.spot_wrapper.metrics
if metrics:
metrics_msg = Metrics()
local_time = self.spot_wrapper.robotToLocalTime(metrics.timestamp)
metrics_msg.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
for metric in metrics.metrics:
if metric.label == "distance":
metrics_msg.distance = metric.float_value
if metric.label == "gait cycles":
metrics_msg.gait_cycles = metric.int_value
if metric.label == "time moving":
metrics_msg.time_moving = rospy.Time(metric.duration.seconds, metric.duration.nanos)
if metric.label == "electric power":
metrics_msg.electric_power = rospy.Time(metric.duration.seconds, metric.duration.nanos)
self.metrics_pub.publish(metrics_msg)
def LeaseCB(self, results):
"""Callback for when the Spot Wrapper gets new lease data.
Args:
results: FutureWrapper object of AsyncPeriodicQuery callback
"""
lease_array_msg = LeaseArray()
lease_list = self.spot_wrapper.lease
if lease_list:
for resource in lease_list:
new_resource = LeaseResource()
new_resource.resource = resource.resource
new_resource.lease.resource = resource.lease.resource
new_resource.lease.epoch = resource.lease.epoch
for seq in resource.lease.sequence:
new_resource.lease.sequence.append(seq)
new_resource.lease_owner.client_name = resource.lease_owner.client_name
new_resource.lease_owner.user_name = resource.lease_owner.user_name
lease_array_msg.resources.append(new_resource)
self.lease_pub.publish(lease_array_msg)
def FrontImageCB(self, results):
"""Callback for when the Spot Wrapper gets new front image data.
Args:
results: FutureWrapper object of AsyncPeriodicQuery callback
"""
data = self.spot_wrapper.front_images
if data:
image_msg0, camera_info_msg0, camera_tf_msg0 = getImageMsg(data[0], self.spot_wrapper)
self.frontleft_image_pub.publish(image_msg0)
self.frontleft_image_info_pub.publish(camera_info_msg0)
self.tf_pub.publish(camera_tf_msg0)
image_msg1, camera_info_msg1, camera_tf_msg1 = getImageMsg(data[1], self.spot_wrapper)
self.frontright_image_pub.publish(image_msg1)
self.frontright_image_info_pub.publish(camera_info_msg1)
self.tf_pub.publish(camera_tf_msg1)
image_msg2, camera_info_msg2, camera_tf_msg2 = getImageMsg(data[2], self.spot_wrapper)
self.frontleft_depth_pub.publish(image_msg2)
self.frontleft_depth_info_pub.publish(camera_info_msg2)
self.tf_pub.publish(camera_tf_msg2)
image_msg3, camera_info_msg3, camera_tf_msg3 = getImageMsg(data[3], self.spot_wrapper)
self.frontright_depth_pub.publish(image_msg3)
self.frontright_depth_info_pub.publish(camera_info_msg3)
self.tf_pub.publish(camera_tf_msg3)
def SideImageCB(self, results):
"""Callback for when the Spot Wrapper gets new side image data.
Args:
results: FutureWrapper object of AsyncPeriodicQuery callback
"""
data = self.spot_wrapper.side_images
if data:
image_msg0, camera_info_msg0, camera_tf_msg0 = getImageMsg(data[0], self.spot_wrapper)
self.left_image_pub.publish(image_msg0)
self.left_image_info_pub.publish(camera_info_msg0)
self.tf_pub.publish(camera_tf_msg0)
image_msg1, camera_info_msg1, camera_tf_msg1 = getImageMsg(data[1], self.spot_wrapper)
self.right_image_pub.publish(image_msg1)
self.right_image_info_pub.publish(camera_info_msg1)
self.tf_pub.publish(camera_tf_msg1)
image_msg2, camera_info_msg2, camera_tf_msg2 = getImageMsg(data[2], self.spot_wrapper)
self.left_depth_pub.publish(image_msg2)
self.left_depth_info_pub.publish(camera_info_msg2)
self.tf_pub.publish(camera_tf_msg2)
image_msg3, camera_info_msg3, camera_tf_msg3 = getImageMsg(data[3], self.spot_wrapper)
self.right_depth_pub.publish(image_msg3)
self.right_depth_info_pub.publish(camera_info_msg3)
self.tf_pub.publish(camera_tf_msg3)
def RearImageCB(self, results):
"""Callback for when the Spot Wrapper gets new rear image data.
Args:
results: FutureWrapper object of AsyncPeriodicQuery callback
"""
data = self.spot_wrapper.rear_images
if data:
mage_msg0, camera_info_msg0, camera_tf_msg0 = getImageMsg(data[0], self.spot_wrapper)
self.back_image_pub.publish(mage_msg0)
self.back_image_info_pub.publish(camera_info_msg0)
self.tf_pub.publish(camera_tf_msg0)
mage_msg1, camera_info_msg1, camera_tf_msg1 = getImageMsg(data[1], self.spot_wrapper)
self.back_depth_pub.publish(mage_msg1)
self.back_depth_info_pub.publish(camera_info_msg1)
self.tf_pub.publish(camera_tf_msg1)
def handle_claim(self, req):
"""ROS service handler for the claim service"""
resp = self.spot_wrapper.claim()
return TriggerResponse(resp[0], resp[1])
def handle_release(self, req):
"""ROS service handler for the release service"""
resp = self.spot_wrapper.release()
return TriggerResponse(resp[0], resp[1])
def handle_stop(self, req):
"""ROS service handler for the stop service"""
resp = self.spot_wrapper.stop()
return TriggerResponse(resp[0], resp[1])
def handle_self_right(self, req):
"""ROS service handler for the self-right service"""
resp = self.spot_wrapper.self_right()
return TriggerResponse(resp[0], resp[1])
def handle_sit(self, req):
"""ROS service handler for the sit service"""
resp = self.spot_wrapper.sit()
return TriggerResponse(resp[0], resp[1])
def handle_stand(self, req):
"""ROS service handler for the stand service"""
resp = self.spot_wrapper.stand()
return TriggerResponse(resp[0], resp[1])
def handle_power_on(self, req):
"""ROS service handler for the power-on service"""
resp = self.spot_wrapper.power_on()
return TriggerResponse(resp[0], resp[1])
def handle_safe_power_off(self, req):
"""ROS service handler for the safe-power-off service"""
resp = self.spot_wrapper.safe_power_off()
return TriggerResponse(resp[0], resp[1])
def handle_estop_hard(self, req):
"""ROS service handler to hard-eStop the robot. The robot will immediately cut power to the motors"""
resp = self.spot_wrapper.assertEStop(True)
return TriggerResponse(resp[0], resp[1])
def handle_estop_soft(self, req):
"""ROS service handler to soft-eStop the robot. The robot will try to settle on the ground before cutting power to the motors"""
resp = self.spot_wrapper.assertEStop(False)
return TriggerResponse(resp[0], resp[1])
def cmdVelCallback(self, data):
"""Callback for cmd_vel command"""
self.spot_wrapper.velocity_cmd(data.linear.x, data.linear.y, data.angular.z)
def bodyPoseCallback(self, data):
"""Callback for cmd_vel command"""
q = Quaternion()
q.x = data.orientation.x
q.y = data.orientation.y
q.z = data.orientation.z
q.w = data.orientation.w
euler_zxy = q.to_euler_zxy()
self.spot_wrapper.set_mobility_params(data.position.z, euler_zxy)
def shutdown(self):
rospy.loginfo("Shutting down ROS driver for Spot")
self.spot_wrapper.sit()
rospy.Rate(0.25).sleep()
self.spot_wrapper.disconnect()
def main(self):
"""Main function for the SpotROS class. Gets config from ROS and initializes the wrapper. Holds lease from wrapper and updates all async tasks at the ROS rate"""
rospy.init_node('spot_ros', anonymous=True)
rate = rospy.Rate(50)
self.rates = rospy.get_param('~rates', {})
self.username = rospy.get_param('~username', 'default_value')
self.password = rospy.get_param('~password', 'default_value')
self.app_token = rospy.get_param('~app_token', 'default_value')
self.hostname = rospy.get_param('~hostname', 'default_value')
self.motion_deadzone = rospy.get_param('~deadzone', 0.05)
self.logger = logging.getLogger('rosout')
rospy.loginfo("Starting ROS driver for Spot")
self.spot_wrapper = SpotWrapper(self.username, self.password, self.app_token, self.hostname, self.logger, self.rates, self.callbacks)
if self.spot_wrapper.is_valid:
# Images #
self.back_image_pub = rospy.Publisher('camera/back/image', Image, queue_size=10)
self.frontleft_image_pub = rospy.Publisher('camera/frontleft/image', Image, queue_size=10)
self.frontright_image_pub = rospy.Publisher('camera/frontright/image', Image, queue_size=10)
self.left_image_pub = rospy.Publisher('camera/left/image', Image, queue_size=10)
self.right_image_pub = rospy.Publisher('camera/right/image', Image, queue_size=10)
# Depth #
self.back_depth_pub = rospy.Publisher('depth/back/image', Image, queue_size=10)
self.frontleft_depth_pub = rospy.Publisher('depth/frontleft/image', Image, queue_size=10)
self.frontright_depth_pub = rospy.Publisher('depth/frontright/image', Image, queue_size=10)
self.left_depth_pub = rospy.Publisher('depth/left/image', Image, queue_size=10)
self.right_depth_pub = rospy.Publisher('depth/right/image', Image, queue_size=10)
# Image Camera Info #
self.back_image_info_pub = rospy.Publisher('camera/back/camera_info', CameraInfo, queue_size=10)
self.frontleft_image_info_pub = rospy.Publisher('camera/frontleft/camera_info', CameraInfo, queue_size=10)
self.frontright_image_info_pub = rospy.Publisher('camera/frontright/camera_info', CameraInfo, queue_size=10)
self.left_image_info_pub = rospy.Publisher('camera/left/camera_info', CameraInfo, queue_size=10)
self.right_image_info_pub = rospy.Publisher('camera/right/camera_info', CameraInfo, queue_size=10)
# Depth Camera Info #
self.back_depth_info_pub = rospy.Publisher('depth/back/camera_info', CameraInfo, queue_size=10)
self.frontleft_depth_info_pub = rospy.Publisher('depth/frontleft/camera_info', CameraInfo, queue_size=10)
self.frontright_depth_info_pub = rospy.Publisher('depth/frontright/camera_info', CameraInfo, queue_size=10)
self.left_depth_info_pub = rospy.Publisher('depth/left/camera_info', CameraInfo, queue_size=10)
self.right_depth_info_pub = rospy.Publisher('depth/right/camera_info', CameraInfo, queue_size=10)
# Status Publishers #
self.joint_state_pub = rospy.Publisher('joint_states', JointState, queue_size=10)
"""Defining a TF publisher manually because of conflicts between Python3 and tf"""
self.tf_pub = rospy.Publisher('tf', TFMessage, queue_size=10)
self.metrics_pub = rospy.Publisher('status/metrics', Metrics, queue_size=10)
self.lease_pub = rospy.Publisher('status/leases', LeaseArray, queue_size=10)
self.odom_twist_pub = rospy.Publisher('odometry/twist', TwistWithCovarianceStamped, queue_size=10)
self.feet_pub = rospy.Publisher('status/feet', FootStateArray, queue_size=10)
self.estop_pub = rospy.Publisher('status/estop', EStopStateArray, queue_size=10)
self.wifi_pub = rospy.Publisher('status/wifi', WiFiState, queue_size=10)
self.power_pub = rospy.Publisher('status/power_state', PowerState, queue_size=10)
self.battery_pub = rospy.Publisher('status/battery_states', BatteryStateArray, queue_size=10)
self.behavior_faults_pub = rospy.Publisher('status/behavior_faults', BehaviorFaultState, queue_size=10)
self.system_faults_pub = rospy.Publisher('status/system_faults', SystemFaultState, queue_size=10)
self.feedback_pub = rospy.Publisher('status/feedback', Feedback, queue_size=10)
rospy.Subscriber('cmd_vel', Twist, self.cmdVelCallback)
rospy.Subscriber('body_pose', Pose, self.bodyPoseCallback)
rospy.Service("claim", Trigger, self.handle_claim)
rospy.Service("release", Trigger, self.handle_release)
rospy.Service("stop", Trigger, self.handle_stop)
rospy.Service("self_right", Trigger, self.handle_self_right)
rospy.Service("sit", Trigger, self.handle_sit)
rospy.Service("stand", Trigger, self.handle_stand)
rospy.Service("power_on", Trigger, self.handle_power_on)
rospy.Service("power_off", Trigger, self.handle_safe_power_off)
rospy.Service("estop/hard", Trigger, self.handle_estop_hard)
rospy.Service("estop/gentle", Trigger, self.handle_estop_soft)
rospy.on_shutdown(self.shutdown)
self.spot_wrapper.resetEStop()
self.auto_claim = rospy.get_param('~auto_claim', False)
self.auto_power_on = rospy.get_param('~auto_power_on', False)
self.auto_stand = rospy.get_param('~auto_stand', False)
if self.auto_claim:
self.spot_wrapper.claim()
if self.auto_power_on:
self.spot_wrapper.power_on()
if self.auto_stand:
self.spot_wrapper.stand()
while not rospy.is_shutdown():
self.spot_wrapper.updateTasks()
feedback_msg = Feedback()
feedback_msg.standing = self.spot_wrapper.is_standing
feedback_msg.sitting = self.spot_wrapper.is_sitting
feedback_msg.moving = self.spot_wrapper.is_moving
id = self.spot_wrapper.id
try:
feedback_msg.serial_number = id.serial_number
feedback_msg.species = id.species
feedback_msg.version = id.version
feedback_msg.nickname = id.nickname
feedback_msg.computer_serial_number = id.computer_serial_number
except:
pass
self.feedback_pub.publish(feedback_msg)
rate.sleep()
if __name__ == "__main__":
SR = SpotROS()
SR.main()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/scripts/ros_helpers.py | import rospy
from std_msgs.msg import Empty
from tf2_msgs.msg import TFMessage
from geometry_msgs.msg import TransformStamped
from sensor_msgs.msg import Image, CameraInfo
from sensor_msgs.msg import JointState
from geometry_msgs.msg import TwistWithCovarianceStamped
from spot_msgs.msg import Metrics
from spot_msgs.msg import LeaseArray, LeaseResource
from spot_msgs.msg import FootState, FootStateArray
from spot_msgs.msg import EStopState, EStopStateArray
from spot_msgs.msg import WiFiState
from spot_msgs.msg import PowerState
from spot_msgs.msg import BehaviorFault, BehaviorFaultState
from spot_msgs.msg import SystemFault, SystemFaultState
from spot_msgs.msg import BatteryState, BatteryStateArray
from bosdyn.api import image_pb2
friendly_joint_names = {}
"""Dictionary for mapping BD joint names to more friendly names"""
friendly_joint_names["fl.hx"] = "front_left_hip_x"
friendly_joint_names["fl.hy"] = "front_left_hip_y"
friendly_joint_names["fl.kn"] = "front_left_knee"
friendly_joint_names["fr.hx"] = "front_right_hip_x"
friendly_joint_names["fr.hy"] = "front_right_hip_y"
friendly_joint_names["fr.kn"] = "front_right_knee"
friendly_joint_names["hl.hx"] = "rear_left_hip_x"
friendly_joint_names["hl.hy"] = "rear_left_hip_y"
friendly_joint_names["hl.kn"] = "rear_left_knee"
friendly_joint_names["hr.hx"] = "rear_right_hip_x"
friendly_joint_names["hr.hy"] = "rear_right_hip_y"
friendly_joint_names["hr.kn"] = "rear_right_knee"
class DefaultCameraInfo(CameraInfo):
"""Blank class extending CameraInfo ROS topic that defaults most parameters"""
def __init__(self):
super().__init__()
self.distortion_model = "plumb_bob"
self.D.append(0)
self.D.append(0)
self.D.append(0)
self.D.append(0)
self.D.append(0)
self.K[1] = 0
self.K[3] = 0
self.K[6] = 0
self.K[7] = 0
self.K[8] = 1
self.R[0] = 1
self.R[1] = 0
self.R[2] = 0
self.R[3] = 0
self.R[4] = 1
self.R[5] = 0
self.R[6] = 0
self.R[7] = 0
self.R[8] = 1
self.P[1] = 0
self.P[3] = 0
self.P[4] = 0
self.P[7] = 0
self.P[8] = 0
self.P[9] = 0
self.P[10] = 1
self.P[11] = 0
def getImageMsg(data, spot_wrapper):
"""Takes the image, camera, and TF data and populates the necessary ROS messages
Args:
data: Image proto
spot_wrapper: A SpotWrapper object
Returns:
(tuple):
* Image: message of the image captured
* CameraInfo: message to define the state and config of the camera that took the image
* TFMessage: with the transforms necessary to locate the image frames
"""
tf_msg = TFMessage()
for frame_name in data.shot.transforms_snapshot.child_to_parent_edge_map:
if data.shot.transforms_snapshot.child_to_parent_edge_map.get(frame_name).parent_frame_name:
transform = data.shot.transforms_snapshot.child_to_parent_edge_map.get(frame_name)
new_tf = TransformStamped()
local_time = spot_wrapper.robotToLocalTime(data.shot.acquisition_time)
new_tf.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
new_tf.header.frame_id = transform.parent_frame_name
new_tf.child_frame_id = frame_name
new_tf.transform.translation.x = transform.parent_tform_child.position.x
new_tf.transform.translation.y = transform.parent_tform_child.position.y
new_tf.transform.translation.z = transform.parent_tform_child.position.z
new_tf.transform.rotation.x = transform.parent_tform_child.rotation.x
new_tf.transform.rotation.y = transform.parent_tform_child.rotation.y
new_tf.transform.rotation.z = transform.parent_tform_child.rotation.z
new_tf.transform.rotation.w = transform.parent_tform_child.rotation.w
tf_msg.transforms.append(new_tf)
image_msg = Image()
local_time = spot_wrapper.robotToLocalTime(data.shot.acquisition_time)
image_msg.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
image_msg.header.frame_id = data.shot.frame_name_image_sensor
image_msg.height = data.shot.image.rows
image_msg.width = data.shot.image.cols
# Color/greyscale formats.
# JPEG format
if data.shot.image.format == image_pb2.Image.FORMAT_JPEG:
image_msg.encoding = "rgb8"
image_msg.is_bigendian = True
image_msg.step = 3 * data.shot.image.cols
image_msg.data = data.shot.image.data
# Uncompressed. Requires pixel_format.
if data.shot.image.format == image_pb2.Image.FORMAT_RAW:
# One byte per pixel.
if data.shot.image.pixel_format == image_pb2.Image.PIXEL_FORMAT_GREYSCALE_U8:
image_msg.encoding = "mono8"
image_msg.is_bigendian = True
image_msg.step = data.shot.image.cols
image_msg.data = data.shot.image.data
# Three bytes per pixel.
if data.shot.image.pixel_format == image_pb2.Image.PIXEL_FORMAT_RGB_U8:
image_msg.encoding = "rgb8"
image_msg.is_bigendian = True
image_msg.step = 3 * data.shot.image.cols
image_msg.data = data.shot.image.data
# Four bytes per pixel.
if data.shot.image.pixel_format == image_pb2.Image.PIXEL_FORMAT_RGBA_U8:
image_msg.encoding = "rgba8"
image_msg.is_bigendian = True
image_msg.step = 4 * data.shot.image.cols
image_msg.data = data.shot.image.data
# Little-endian uint16 z-distance from camera (mm).
if data.shot.image.pixel_format == image_pb2.Image.PIXEL_FORMAT_DEPTH_U16:
image_msg.encoding = "mono16"
image_msg.is_bigendian = False
image_msg.step = 2 * data.shot.image.cols
image_msg.data = data.shot.image.data
camera_info_msg = DefaultCameraInfo()
local_time = spot_wrapper.robotToLocalTime(data.shot.acquisition_time)
camera_info_msg.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
camera_info_msg.header.frame_id = data.shot.frame_name_image_sensor
camera_info_msg.height = data.shot.image.rows
camera_info_msg.width = data.shot.image.cols
camera_info_msg.K[0] = data.source.pinhole.intrinsics.focal_length.x
camera_info_msg.K[2] = data.source.pinhole.intrinsics.principal_point.x
camera_info_msg.K[4] = data.source.pinhole.intrinsics.focal_length.y
camera_info_msg.K[5] = data.source.pinhole.intrinsics.principal_point.y
camera_info_msg.P[0] = data.source.pinhole.intrinsics.focal_length.x
camera_info_msg.P[2] = data.source.pinhole.intrinsics.principal_point.x
camera_info_msg.P[5] = data.source.pinhole.intrinsics.focal_length.y
camera_info_msg.P[6] = data.source.pinhole.intrinsics.principal_point.y
return image_msg, camera_info_msg, tf_msg
def GetJointStatesFromState(state, spot_wrapper):
"""Maps joint state data from robot state proto to ROS JointState message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
JointState message
"""
joint_state = JointState()
local_time = spot_wrapper.robotToLocalTime(state.kinematic_state.acquisition_timestamp)
joint_state.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
for joint in state.kinematic_state.joint_states:
joint_state.name.append(friendly_joint_names.get(joint.name, "ERROR"))
joint_state.position.append(joint.position.value)
joint_state.velocity.append(joint.velocity.value)
joint_state.effort.append(joint.load.value)
return joint_state
def GetEStopStateFromState(state, spot_wrapper):
"""Maps eStop state data from robot state proto to ROS EStopArray message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
EStopArray message
"""
estop_array_msg = EStopStateArray()
for estop in state.estop_states:
estop_msg = EStopState()
local_time = spot_wrapper.robotToLocalTime(estop.timestamp)
estop_msg.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
estop_msg.name = estop.name
estop_msg.type = estop.type
estop_msg.state = estop.state
estop_array_msg.estop_states.append(estop_msg)
return estop_array_msg
def GetFeetFromState(state, spot_wrapper):
"""Maps foot position state data from robot state proto to ROS FootStateArray message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
FootStateArray message
"""
foot_array_msg = FootStateArray()
for foot in state.foot_state:
foot_msg = FootState()
foot_msg.foot_position_rt_body.x = foot.foot_position_rt_body.x
foot_msg.foot_position_rt_body.y = foot.foot_position_rt_body.y
foot_msg.foot_position_rt_body.z = foot.foot_position_rt_body.z
foot_msg.contact = foot.contact
foot_array_msg.states.append(foot_msg)
return foot_array_msg
def GetOdomTwistFromState(state, spot_wrapper):
"""Maps odometry data from robot state proto to ROS TwistWithCovarianceStamped message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
TwistWithCovarianceStamped message
"""
twist_odom_msg = TwistWithCovarianceStamped()
local_time = spot_wrapper.robotToLocalTime(state.kinematic_state.acquisition_timestamp)
twist_odom_msg.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
twist_odom_msg.twist.twist.linear.x = state.kinematic_state.velocity_of_body_in_odom.linear.x
twist_odom_msg.twist.twist.linear.y = state.kinematic_state.velocity_of_body_in_odom.linear.y
twist_odom_msg.twist.twist.linear.z = state.kinematic_state.velocity_of_body_in_odom.linear.z
twist_odom_msg.twist.twist.angular.x = state.kinematic_state.velocity_of_body_in_odom.angular.x
twist_odom_msg.twist.twist.angular.y = state.kinematic_state.velocity_of_body_in_odom.angular.y
twist_odom_msg.twist.twist.angular.z = state.kinematic_state.velocity_of_body_in_odom.angular.z
return twist_odom_msg
def GetWifiFromState(state, spot_wrapper):
"""Maps wireless state data from robot state proto to ROS WiFiState message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
WiFiState message
"""
wifi_msg = WiFiState()
for comm_state in state.comms_states:
if comm_state.HasField('wifi_state'):
wifi_msg.current_mode = comm_state.wifi_state.current_mode
wifi_msg.essid = comm_state.wifi_state.essid
return wifi_msg
def GetTFFromState(state, spot_wrapper):
"""Maps robot link state data from robot state proto to ROS TFMessage message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
TFMessage message
"""
tf_msg = TFMessage()
for frame_name in state.kinematic_state.transforms_snapshot.child_to_parent_edge_map:
if state.kinematic_state.transforms_snapshot.child_to_parent_edge_map.get(frame_name).parent_frame_name:
transform = state.kinematic_state.transforms_snapshot.child_to_parent_edge_map.get(frame_name)
new_tf = TransformStamped()
local_time = spot_wrapper.robotToLocalTime(state.kinematic_state.acquisition_timestamp)
new_tf.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
new_tf.header.frame_id = transform.parent_frame_name
new_tf.child_frame_id = frame_name
new_tf.transform.translation.x = transform.parent_tform_child.position.x
new_tf.transform.translation.y = transform.parent_tform_child.position.y
new_tf.transform.translation.z = transform.parent_tform_child.position.z
new_tf.transform.rotation.x = transform.parent_tform_child.rotation.x
new_tf.transform.rotation.y = transform.parent_tform_child.rotation.y
new_tf.transform.rotation.z = transform.parent_tform_child.rotation.z
new_tf.transform.rotation.w = transform.parent_tform_child.rotation.w
tf_msg.transforms.append(new_tf)
return tf_msg
def GetBatteryStatesFromState(state, spot_wrapper):
"""Maps battery state data from robot state proto to ROS BatteryStateArray message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
BatteryStateArray message
"""
battery_states_array_msg = BatteryStateArray()
for battery in state.battery_states:
battery_msg = BatteryState()
local_time = spot_wrapper.robotToLocalTime(battery.timestamp)
battery_msg.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
battery_msg.identifier = battery.identifier
battery_msg.charge_percentage = battery.charge_percentage.value
battery_msg.estimated_runtime = rospy.Time(battery.estimated_runtime.seconds, battery.estimated_runtime.nanos)
battery_msg.current = battery.current.value
battery_msg.voltage = battery.voltage.value
for temp in battery.temperatures:
battery_msg.temperatures.append(temp)
battery_msg.status = battery.status
battery_states_array_msg.battery_states.append(battery_msg)
return battery_states_array_msg
def GetPowerStatesFromState(state, spot_wrapper):
"""Maps power state data from robot state proto to ROS PowerState message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
PowerState message
"""
power_state_msg = PowerState()
local_time = spot_wrapper.robotToLocalTime(state.power_state.timestamp)
power_state_msg.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
power_state_msg.motor_power_state = state.power_state.motor_power_state
power_state_msg.shore_power_state = state.power_state.shore_power_state
power_state_msg.locomotion_charge_percentage = state.power_state.locomotion_charge_percentage.value
power_state_msg.locomotion_estimated_runtime = rospy.Time(state.power_state.locomotion_estimated_runtime.seconds, state.power_state.locomotion_estimated_runtime.nanos)
return power_state_msg
def getBehaviorFaults(behavior_faults, spot_wrapper):
"""Helper function to strip out behavior faults into a list
Args:
behavior_faults: List of BehaviorFaults
spot_wrapper: A SpotWrapper object
Returns:
List of BehaviorFault messages
"""
faults = []
for fault in behavior_faults:
new_fault = BehaviorFault()
new_fault.behavior_fault_id = fault.behavior_fault_id
local_time = spot_wrapper.robotToLocalTime(fault.onset_timestamp)
new_fault.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
new_fault.cause = fault.cause
new_fault.status = fault.status
faults.append(new_fault)
return faults
def getSystemFaults(system_faults, spot_wrapper):
"""Helper function to strip out system faults into a list
Args:
systen_faults: List of SystemFaults
spot_wrapper: A SpotWrapper object
Returns:
List of SystemFault messages
"""
faults = []
for fault in system_faults:
new_fault = SystemFault()
new_fault.name = fault.name
local_time = spot_wrapper.robotToLocalTime(fault.onset_timestamp)
new_fault.header.stamp = rospy.Time(local_time.seconds, local_time.nanos)
new_fault.duration = rospy.Time(fault.duration.seconds, fault.duration.nanos)
new_fault.code = fault.code
new_fault.uid = fault.uid
new_fault.error_message = fault.error_message
for att in fault.attributes:
new_fault.attributes.append(att)
new_fault.severity = fault.severity
faults.append(new_fault)
return faults
def GetSystemFaultsFromState(state, spot_wrapper):
"""Maps system fault data from robot state proto to ROS SystemFaultState message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
SystemFaultState message
"""
system_fault_state_msg = SystemFaultState()
system_fault_state_msg.faults = getSystemFaults(state.system_fault_state.faults, spot_wrapper)
system_fault_state_msg.historical_faults = getSystemFaults(state.system_fault_state.historical_faults, spot_wrapper)
return system_fault_state_msg
def getBehaviorFaultsFromState(state, spot_wrapper):
"""Maps behavior fault data from robot state proto to ROS BehaviorFaultState message
Args:
data: Robot State proto
spot_wrapper: A SpotWrapper object
Returns:
BehaviorFaultState message
"""
behavior_fault_state_msg = BehaviorFaultState()
behavior_fault_state_msg.faults = getBehaviorFaults(state.behavior_fault_state.faults, spot_wrapper)
return behavior_fault_state_msg
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/scripts/spot_wrapper.py | import time
from bosdyn.client import create_standard_sdk, ResponseError, RpcError
from bosdyn.client.async_tasks import AsyncPeriodicQuery, AsyncTasks
from bosdyn.geometry import EulerZXY
from bosdyn.client.robot_state import RobotStateClient
from bosdyn.client.robot_command import RobotCommandClient, RobotCommandBuilder
from bosdyn.client.power import PowerClient
from bosdyn.client.lease import LeaseClient, LeaseKeepAlive
from bosdyn.client.image import ImageClient, build_image_request
from bosdyn.api import image_pb2
from bosdyn.client.estop import EstopClient, EstopEndpoint, EstopKeepAlive
from bosdyn.client import power
import bosdyn.api.robot_state_pb2 as robot_state_proto
from bosdyn.api import basic_command_pb2
from google.protobuf.timestamp_pb2 import Timestamp
front_image_sources = ['frontleft_fisheye_image', 'frontright_fisheye_image', 'frontleft_depth', 'frontright_depth']
"""List of image sources for front image periodic query"""
side_image_sources = ['left_fisheye_image', 'right_fisheye_image', 'left_depth', 'right_depth']
"""List of image sources for side image periodic query"""
rear_image_sources = ['back_fisheye_image', 'back_depth']
"""List of image sources for rear image periodic query"""
class AsyncRobotState(AsyncPeriodicQuery):
"""Class to get robot state at regular intervals. get_robot_state_async query sent to the robot at every tick. Callback registered to defined callback function.
Attributes:
client: The Client to a service on the robot
logger: Logger object
rate: Rate (Hz) to trigger the query
callback: Callback function to call when the results of the query are available
"""
def __init__(self, client, logger, rate, callback):
super(AsyncRobotState, self).__init__("robot-state", client, logger,
period_sec=1.0/max(rate, 1.0))
self._callback = None
if rate > 0.0:
self._callback = callback
def _start_query(self):
if self._callback:
callback_future = self._client.get_robot_state_async()
callback_future.add_done_callback(self._callback)
return callback_future
class AsyncMetrics(AsyncPeriodicQuery):
"""Class to get robot metrics at regular intervals. get_robot_metrics_async query sent to the robot at every tick. Callback registered to defined callback function.
Attributes:
client: The Client to a service on the robot
logger: Logger object
rate: Rate (Hz) to trigger the query
callback: Callback function to call when the results of the query are available
"""
def __init__(self, client, logger, rate, callback):
super(AsyncMetrics, self).__init__("robot-metrics", client, logger,
period_sec=1.0/max(rate, 1.0))
self._callback = None
if rate > 0.0:
self._callback = callback
def _start_query(self):
if self._callback:
callback_future = self._client.get_robot_metrics_async()
callback_future.add_done_callback(self._callback)
return callback_future
class AsyncLease(AsyncPeriodicQuery):
"""Class to get lease state at regular intervals. list_leases_async query sent to the robot at every tick. Callback registered to defined callback function.
Attributes:
client: The Client to a service on the robot
logger: Logger object
rate: Rate (Hz) to trigger the query
callback: Callback function to call when the results of the query are available
"""
def __init__(self, client, logger, rate, callback):
super(AsyncLease, self).__init__("lease", client, logger,
period_sec=1.0/max(rate, 1.0))
self._callback = None
if rate > 0.0:
self._callback = callback
def _start_query(self):
if self._callback:
callback_future = self._client.list_leases_async()
callback_future.add_done_callback(self._callback)
return callback_future
class AsyncImageService(AsyncPeriodicQuery):
"""Class to get images at regular intervals. get_image_from_sources_async query sent to the robot at every tick. Callback registered to defined callback function.
Attributes:
client: The Client to a service on the robot
logger: Logger object
rate: Rate (Hz) to trigger the query
callback: Callback function to call when the results of the query are available
"""
def __init__(self, client, logger, rate, callback, image_requests):
super(AsyncImageService, self).__init__("robot_image_service", client, logger,
period_sec=1.0/max(rate, 1.0))
self._callback = None
if rate > 0.0:
self._callback = callback
self._image_requests = image_requests
def _start_query(self):
if self._callback:
callback_future = self._client.get_image_async(self._image_requests)
callback_future.add_done_callback(self._callback)
return callback_future
class AsyncIdle(AsyncPeriodicQuery):
"""Class to check if the robot is moving, and if not, command a stand with the set mobility parameters
Attributes:
client: The Client to a service on the robot
logger: Logger object
rate: Rate (Hz) to trigger the query
spot_wrapper: A handle to the wrapper library
"""
def __init__(self, client, logger, rate, spot_wrapper):
super(AsyncIdle, self).__init__("idle", client, logger,
period_sec=1.0/rate)
self._spot_wrapper = spot_wrapper
def _start_query(self):
if self._spot_wrapper._last_stand_command != None:
self._spot_wrapper._is_sitting = False
response = self._client.robot_command_feedback(self._spot_wrapper._last_stand_command)
if (response.feedback.mobility_feedback.stand_feedback.status ==
basic_command_pb2.StandCommand.Feedback.STATUS_IS_STANDING):
self._spot_wrapper._is_standing = True
self._spot_wrapper._last_stand_command = None
else:
self._spot_wrapper._is_standing = False
if self._spot_wrapper._last_sit_command != None:
self._spot_wrapper._is_standing = False
response = self._client.robot_command_feedback(self._spot_wrapper._last_sit_command)
if (response.feedback.mobility_feedback.sit_feedback.status ==
basic_command_pb2.SitCommand.Feedback.STATUS_IS_SITTING):
self._spot_wrapper._is_sitting = True
self._spot_wrapper._last_sit_command = None
else:
self._spot_wrapper._is_sitting = False
is_moving = False
if self._spot_wrapper._last_motion_command_time != None:
if time.time() < self._spot_wrapper._last_motion_command_time:
is_moving = True
else:
self._spot_wrapper._last_motion_command_time = None
if self._spot_wrapper._last_motion_command != None:
response = self._client.robot_command_feedback(self._spot_wrapper._last_motion_command)
if (response.feedback.mobility_feedback.se2_trajectory_feedback.status ==
basic_command_pb2.SE2TrajectoryCommand.Feedback.STATUS_GOING_TO_GOAL):
is_moving = True
else:
self._spot_wrapper._last_motion_command = None
self._spot_wrapper._is_moving = is_moving
if self._spot_wrapper.is_standing and not self._spot_wrapper.is_moving:
self._spot_wrapper.stand(False)
class SpotWrapper():
"""Generic wrapper class to encompass release 1.1.4 API features as well as maintaining leases automatically"""
def __init__(self, username, password, token, hostname, logger, rates = {}, callbacks = {}):
self._username = username
self._password = password
self._token = token
self._hostname = hostname
self._logger = logger
self._rates = rates
self._callbacks = callbacks
self._keep_alive = True
self._valid = True
self._mobility_params = RobotCommandBuilder.mobility_params()
self._is_standing = False
self._is_sitting = True
self._is_moving = False
self._last_stand_command = None
self._last_sit_command = None
self._last_motion_command = None
self._last_motion_command_time = None
self._front_image_requests = []
for source in front_image_sources:
self._front_image_requests.append(build_image_request(source, image_format=image_pb2.Image.Format.FORMAT_RAW))
self._side_image_requests = []
for source in side_image_sources:
self._side_image_requests.append(build_image_request(source, image_format=image_pb2.Image.Format.FORMAT_RAW))
self._rear_image_requests = []
for source in rear_image_sources:
self._rear_image_requests.append(build_image_request(source, image_format=image_pb2.Image.Format.FORMAT_RAW))
try:
self._sdk = create_standard_sdk('ros_spot')
except Exception as e:
self._logger.error("Error creating SDK object: %s", e)
self._valid = False
return
try:
self._sdk.load_app_token(self._token)
except Exception as e:
self._logger.error("Error loading developer token: %s", e)
self._valid = False
return
self._robot = self._sdk.create_robot(self._hostname)
try:
self._robot.authenticate(self._username, self._password)
self._robot.start_time_sync()
except RpcError as err:
self._logger.error("Failed to communicate with robot: %s", err)
self._valid = False
return
if self._robot:
# Clients
try:
self._robot_state_client = self._robot.ensure_client(RobotStateClient.default_service_name)
self._robot_command_client = self._robot.ensure_client(RobotCommandClient.default_service_name)
self._power_client = self._robot.ensure_client(PowerClient.default_service_name)
self._lease_client = self._robot.ensure_client(LeaseClient.default_service_name)
self._image_client = self._robot.ensure_client(ImageClient.default_service_name)
self._estop_client = self._robot.ensure_client(EstopClient.default_service_name)
except Exception as e:
self._logger.error("Unable to create client service: %s", e)
self._valid = False
return
# Async Tasks
self._async_task_list = []
self._robot_state_task = AsyncRobotState(self._robot_state_client, self._logger, max(0.0, self._rates.get("robot_state", 0.0)), self._callbacks.get("robot_state", lambda:None))
self._robot_metrics_task = AsyncMetrics(self._robot_state_client, self._logger, max(0.0, self._rates.get("metrics", 0.0)), self._callbacks.get("metrics", lambda:None))
self._lease_task = AsyncLease(self._lease_client, self._logger, max(0.0, self._rates.get("lease", 0.0)), self._callbacks.get("lease", lambda:None))
self._front_image_task = AsyncImageService(self._image_client, self._logger, max(0.0, self._rates.get("front_image", 0.0)), self._callbacks.get("front_image", lambda:None), self._front_image_requests)
self._side_image_task = AsyncImageService(self._image_client, self._logger, max(0.0, self._rates.get("side_image", 0.0)), self._callbacks.get("side_image", lambda:None), self._side_image_requests)
self._rear_image_task = AsyncImageService(self._image_client, self._logger, max(0.0, self._rates.get("rear_image", 0.0)), self._callbacks.get("rear_image", lambda:None), self._rear_image_requests)
self._idle_task = AsyncIdle(self._robot_command_client, self._logger, 10.0, self)
self._estop_endpoint = EstopEndpoint(self._estop_client, 'ros', 9.0)
self._async_tasks = AsyncTasks(
[self._robot_state_task, self._robot_metrics_task, self._lease_task, self._front_image_task, self._side_image_task, self._rear_image_task, self._idle_task])
self._robot_id = None
self._lease = None
@property
def is_valid(self):
"""Return boolean indicating if the wrapper initialized successfully"""
return self._valid
@property
def id(self):
"""Return robot's ID"""
return self._robot_id
@property
def robot_state(self):
"""Return latest proto from the _robot_state_task"""
return self._robot_state_task.proto
@property
def metrics(self):
"""Return latest proto from the _robot_metrics_task"""
return self._robot_metrics_task.proto
@property
def lease(self):
"""Return latest proto from the _lease_task"""
return self._lease_task.proto
@property
def front_images(self):
"""Return latest proto from the _front_image_task"""
return self._front_image_task.proto
@property
def side_images(self):
"""Return latest proto from the _side_image_task"""
return self._side_image_task.proto
@property
def rear_images(self):
"""Return latest proto from the _rear_image_task"""
return self._rear_image_task.proto
@property
def is_standing(self):
"""Return boolean of standing state"""
return self._is_standing
@property
def is_sitting(self):
"""Return boolean of standing state"""
return self._is_sitting
@property
def is_moving(self):
"""Return boolean of walking state"""
return self._is_moving
@property
def time_skew(self):
"""Return the time skew between local and spot time"""
return self._robot.time_sync.endpoint.clock_skew
def robotToLocalTime(self, timestamp):
"""Takes a timestamp and an estimated skew and return seconds and nano seconds
Args:
timestamp: google.protobuf.Timestamp
Returns:
google.protobuf.Timestamp
"""
rtime = Timestamp()
rtime.seconds = timestamp.seconds - self.time_skew.seconds
rtime.nanos = timestamp.nanos - self.time_skew.nanos
if rtime.nanos < 0:
rtime.nanos = rtime.nanos + 1000000000
rtime.seconds = rtime.seconds - 1
return rtime
def claim(self):
"""Get a lease for the robot, a handle on the estop endpoint, and the ID of the robot."""
try:
self._robot_id = self._robot.get_id()
self.getLease()
self.resetEStop()
return True, "Success"
except (ResponseError, RpcError) as err:
self._logger.error("Failed to initialize robot communication: %s", err)
return False, str(err)
def updateTasks(self):
"""Loop through all periodic tasks and update their data if needed."""
self._async_tasks.update()
def resetEStop(self):
"""Get keepalive for eStop"""
self._estop_endpoint.force_simple_setup() # Set this endpoint as the robot's sole estop.
self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)
def assertEStop(self, severe=True):
"""Forces the robot into eStop state.
Args:
severe: Default True - If true, will cut motor power immediately. If false, will try to settle the robot on the ground first
"""
try:
if severe:
self._estop_endpoint.stop()
else:
self._estop_endpoint.settle_then_cut()
return True, "Success"
except:
return False, "Error"
def releaseEStop(self):
"""Stop eStop keepalive"""
if self._estop_keepalive:
self._estop_keepalive.stop()
self._estop_keepalive = None
def getLease(self):
"""Get a lease for the robot and keep the lease alive automatically."""
self._lease = self._lease_client.acquire()
self._lease_keepalive = LeaseKeepAlive(self._lease_client)
def releaseLease(self):
"""Return the lease on the body."""
if self._lease:
self._lease_client.return_lease(self._lease)
self._lease = None
def release(self):
"""Return the lease on the body and the eStop handle."""
try:
self.releaseLease()
self.releaseEStop()
return True, "Success"
except Exception as e:
return False, str(e)
def disconnect(self):
"""Release control of robot as gracefully as posssible."""
if self._robot.time_sync:
self._robot.time_sync.stop()
self.releaseLease()
self.releaseEStop()
def _robot_command(self, command_proto, end_time_secs=None):
"""Generic blocking function for sending commands to robots.
Args:
command_proto: robot_command_pb2 object to send to the robot. Usually made with RobotCommandBuilder
end_time_secs: (optional) Time-to-live for the command in seconds
"""
try:
id = self._robot_command_client.robot_command(lease=None, command=command_proto, end_time_secs=end_time_secs)
return True, "Success", id
except Exception as e:
return False, str(e), None
def stop(self):
"""Stop the robot's motion."""
response = self._robot_command(RobotCommandBuilder.stop_command())
return response[0], response[1]
def self_right(self):
"""Have the robot self-right itself."""
response = self._robot_command(RobotCommandBuilder.selfright_command())
return response[0], response[1]
def sit(self):
"""Stop the robot's motion and sit down if able."""
response = self._robot_command(RobotCommandBuilder.sit_command())
self._last_sit_command = response[2]
return response[0], response[1]
def stand(self, monitor_command=True):
"""If the e-stop is enabled, and the motor power is enabled, stand the robot up."""
response = self._robot_command(RobotCommandBuilder.stand_command(params=self._mobility_params))
if monitor_command:
self._last_stand_command = response[2]
return response[0], response[1]
def safe_power_off(self):
"""Stop the robot's motion and sit if possible. Once sitting, disable motor power."""
response = self._robot_command(RobotCommandBuilder.safe_power_off_command())
return response[0], response[1]
def power_on(self):
"""Enble the motor power if e-stop is enabled."""
try:
power.power_on(self._power_client)
return True, "Success"
except:
return False, "Error"
def set_mobility_params(self, body_height=0, footprint_R_body=EulerZXY(), locomotion_hint=1, stair_hint=False, external_force_params=None):
"""Define body, locomotion, and stair parameters.
Args:
body_height: Body height in meters
footprint_R_body: (EulerZXY) – The orientation of the body frame with respect to the footprint frame (gravity aligned framed with yaw computed from the stance feet)
locomotion_hint: Locomotion hint
stair_hint: Boolean to define stair motion
"""
self._mobility_params = RobotCommandBuilder.mobility_params(body_height, footprint_R_body, locomotion_hint, stair_hint, external_force_params)
def velocity_cmd(self, v_x, v_y, v_rot, cmd_duration=0.1):
"""Send a velocity motion command to the robot.
Args:
v_x: Velocity in the X direction in meters
v_y: Velocity in the Y direction in meters
v_rot: Angular velocity around the Z axis in radians
cmd_duration: (optional) Time-to-live for the command in seconds. Default is 125ms (assuming 10Hz command rate).
"""
end_time=time.time() + cmd_duration
self._robot_command(RobotCommandBuilder.velocity_command(
v_x=v_x, v_y=v_y, v_rot=v_rot, params=self._mobility_params),
end_time_secs=end_time)
self._last_motion_command_time = end_time
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/doc/spot_ros.rst | spot_ros
========
.. automodule:: spot_ros
:members:
:inherited-members:
:private-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/doc/ros_helpers.rst | ros_helpers
===========
.. automodule:: ros_helpers
:members:
:inherited-members:
:private-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/doc/spot_wrapper.rst | spot_wrapper
============
.. automodule:: spot_wrapper
:members:
:inherited-members:
:private-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/doc/index.rst | .. spot_driver documentation master file, created by
sphinx-quickstart on Mon May 11 19:33:41 2020.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
Welcome to spot_driver's documentation!
=======================================
.. toctree::
:maxdepth: 2
:caption: ROS Driver
spot_ros
ros_helpers
.. toctree::
:maxdepth: 2
:caption: Spot SDK Wrapper
spot_wrapper
Indices and tables
==================
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/doc/conf.py | import os
import sys
sys.path.insert(0, os.path.abspath('../scripts'))
project = 'spot_driver'
copyright = '2020, Dave Niewinski'
author = 'Dave Niewinski'
extensions = [
'sphinx.ext.autodoc',
'sphinx.ext.coverage',
'sphinx.ext.napoleon'
]
html_theme = 'clearpath-sphinx-theme'
html_theme_path = ["."]
html_static_path = ['./clearpath-sphinx-theme/static']
html_sidebars = {
'**': ['sidebartoc.html', 'sourcelink.html', 'searchbox.html']
}
html_show_sphinx = False
html_logo = 'clearpath-sphinx-theme/static/clearpathlogo.png'
html_favicon = 'clearpath-sphinx-theme/static/favicon.ico'
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/config/planar.yaml | linear_scale:
x: 1
y: 1
max_positive_linear_velocity:
x: 1
y: 1
max_negative_linear_velocity:
x: -1
y: -1
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/config/twist_mux.yaml | topics:
- name : bt_joy
topic : bluetooth_teleop/cmd_vel
timeout : 0.5
priority: 9
- name : interactive_marker
topic : twist_marker_server/cmd_vel
timeout : 0.5
priority: 8
locks: []
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/spot_ros-CHAMP/spot_driver/config/spot_ros.yaml | rates:
robot_state: 20.0
metrics: 0.04
lease: 1.0
front_image: 10.0
side_image: 10.0
rear_image: 10.0
auto_claim: False
auto_power_on: False
auto_stand: False
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/LittleDog/LittleDog.urdf | <robot name="LittleDog" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://drake.mit.edu drake-distro/drake/doc/drakeURDF.xsd"
xmlns="http://drake.mit.edu">
<!-- converted from https://svn.csail.mit.edu/littledog/trunk/simulation/little_dog.sd -->
<link name="body">
<inertial>
<mass value="1.800000" />
<inertia ixx="0.001625" ixy="0" ixz="0" iyy="0.009178" iyz="0" izz="0.008794" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/body.obj" scale=".0254 .0254 .0254" />
</geometry>
<material name="black">
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
</link>
<link name="front_left_hip">
<inertial>
<origin xyz="0.000000 0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!--
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_left_hip.obj" scale=".0254 .0254 .0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="front_left_hip_roll" type="revolute">
<parent link="body" />
<child link="front_left_hip" />
<origin xyz="0.101000 0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_left_hip_roll"/>
<actuator name="front_left_hip_roll"/>
</transmission>
<link name="front_left_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_left_upper.obj" scale=".0254 .0254 .0254"/>
</geometry>
<material name="black" />
</visual>
</link>
<joint name="front_left_hip_pitch" type="revolute">
<parent link="front_left_hip" />
<child link="front_left_upper_leg" />
<origin xyz="0 0.0236 0" />
<axis xyz="0 1 0" />
<limit lower="-3.5" upper="2.4"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_left_hip_pitch"/>
<actuator name="front_left_hip_pitch"/>
</transmission>
<link name="front_left_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_left_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
<collision group="left_lower_legs">
<origin xyz="-0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="-0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="front_left_knee" type="revolute">
<parent link="front_left_upper_leg" />
<child link="front_left_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-3.1" upper="1.0"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_left_knee"/>
<actuator name="front_left_knee"/>
</transmission>
<frame link="front_left_lower_leg" name="front_left_foot_center" xyz="-0.0265 0 -0.0985"/>
<link name="front_right_hip">
<inertial>
<origin xyz="0.000000 -0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!--
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_right_hip.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="front_right_hip_roll" type="revolute">
<parent link="body" />
<child link="front_right_hip" />
<origin xyz="0.101000 -0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_right_hip_roll"/>
<actuator name="front_right_hip_roll"/>
</transmission>
<link name="front_right_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_right_upper.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="front_right_hip_pitch" type="revolute">
<parent link="front_right_hip" />
<child link="front_right_upper_leg" />
<origin xyz="0 -0.0236 0" />
<axis xyz="0 1 0" />
<limit lower="-3.5" upper="2.4"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_right_hip_pitch"/>
<actuator name="front_right_hip_pitch"/>
</transmission>
<link name="front_right_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_right_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black"/>
</visual>
<collision group="right_lower_legs">
<origin xyz="-0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="-0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="front_right_knee" type="revolute">
<parent link="front_right_upper_leg" />
<child link="front_right_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-3.1" upper="1.0"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_right_knee"/>
<actuator name="front_right_knee"/>
</transmission>
<frame link="front_right_lower_leg" name="front_right_foot_center" xyz="-0.0265 0 -0.0985"/>
<link name="back_left_hip">
<inertial>
<origin xyz="0.000000 0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!-- <visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_left_hip.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="back_left_hip_roll" type="revolute">
<parent link="body" />
<child link="back_left_hip" />
<origin xyz="-0.101000 0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_left_hip_roll"/>
<actuator name="back_left_hip_roll"/>
</transmission>
<link name="back_left_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_left_upper.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
</link>
<joint name="back_left_hip_pitch" type="revolute">
<parent link="back_left_hip" />
<child link="back_left_upper_leg" />
<origin xyz="0 0.0236 0" />
<axis xyz="0 1 0" />
<limit lower="-2.4" upper="3.5"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_left_hip_pitch"/>
<actuator name="back_left_hip_pitch"/>
</transmission>
<link name="back_left_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_left_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
<collision group="left_lower_legs">
<origin xyz="0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="back_left_knee" type="revolute">
<parent link="back_left_upper_leg" />
<child link="back_left_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-1.0" upper="3.1"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_left_knee"/>
<actuator name="back_left_knee"/>
</transmission>
<frame link="back_left_lower_leg" name="back_left_foot_center" xyz="0.0265 0 -0.0985"/>
<link name="back_right_hip">
<inertial>
<origin xyz="0.000000 -0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!-- <visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_right_hip.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="back_right_hip_roll" type="revolute">
<parent link="body" />
<child link="back_right_hip" />
<origin xyz="-0.101000 -0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_right_hip_roll"/>
<actuator name="back_right_hip_roll"/>
</transmission>
<link name="back_right_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_right_upper.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
</link>
<joint name="back_right_hip_pitch" type="revolute">
<parent link="back_right_hip" />
<child link="back_right_upper_leg" />
<origin xyz="0 -0.0207 0" />
<axis xyz="0 1 0" />
<limit lower="-2.4" upper="3.5"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_right_hip_pitch"/>
<actuator name="back_right_hip_pitch"/>
</transmission>
<link name="back_right_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_right_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
<collision group="right_lower_legs">
<origin xyz="0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="back_right_knee" type="revolute">
<parent link="back_right_upper_leg" />
<child link="back_right_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-1.0" upper="3.1"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_right_knee"/>
<actuator name="back_right_knee"/>
</transmission>
<frame link="back_right_lower_leg" name="back_right_foot_center" xyz="0.0265 0 -0.0985"/>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/LittleDog/ground.urdf | <?xml version="1.0"?>
<robot name="ground">
<link name="ground">
<inertial>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin xyz="0 0 -5"/>
<geometry>
<box size="100 100 10"/>
</geometry>
<material name="desert_sand">
<color rgba="0.9297 0.7930 0.6758 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 -5"/>
<geometry>
<box size="100 100 10"/>
</geometry>
</collision>
</link>
<joint name="weld" type="fixed">
<parent link="world" />
<child link="ground" />
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/LittleDog/LICENSE.txt | All source files of this project are licensed under the BSD 3-Clause
License. Where noted in the source code, some portions may be subject
to other permissive, non-viral licenses.
Copyright (c) 2015-2019, Robot Locomotion Group @ CSAIL
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer. Redistributions in binary
form must reproduce the above copyright notice, this list of conditions and
the following disclaimer in the documentation and/or other materials provided
with the distribution. Neither the name of the copyright holder nor the names
of its contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/LittleDog/CMakeLists.txt | drake_add_matlab_test(NAME examples/LittleDog/LittleDog.runPDhome
COMMAND LittleDog.runPDhome)
drake_add_matlab_test(NAME examples/LittleDog/LittleDog.runPassive
COMMAND LittleDog.runPassive)
drake_add_matlab_test(NAME examples/LittleDog/gaitOptimization
COMMAND gaitOptimization REQUIRES lcm libbot)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/littledog_description-CHAMP/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(littledog_description)
find_package(catkin REQUIRED
COMPONENTS
)
catkin_package(
CATKIN_DEPENDS
)
install(DIRECTORY launch urdf config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/littledog_description-CHAMP/package.xml | <package format="2">
<name>littledog_description</name>
<version>0.0.1</version>
<description>LittleDog Description Package</description>
<license>BSD-3</license>
<author email="[email protected]">Juan Jimeno</author>
<maintainer email="[email protected]">Juan Jimeno</maintainer>
<buildtool_depend>catkin</buildtool_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/littledog_description-CHAMP/README.md | A ROS compatible URDF version of [LittleDog](https://github.com/RobotLocomotion/LittleDog)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/littledog_description-CHAMP/launch/standalone.launch | <launch>
<arg name="description_name" default="littledog_description"/>
<arg name="description_file" default="$(find littledog_description)/urdf/littledog.urdf"/>
<arg name="joint_states_topic" default="/joint_states"/>
<include file="$(find littledog_description)/launch/load.launch">
<arg name="description_name" value="$(arg description_name)"/>
<arg name="description_file" value="$(arg description_file)"/>
</include>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen">
<param name="use_gui" value="true"/>
<param name="rate" value="100"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
<param name="publish_frequency" value="100"/>
<param name="use_tf_static" value="true"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<node name="rviz" pkg="rviz" type="rviz"
args="-d $(find littledog_description)/rviz/littledog.rviz"
output="screen"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/littledog_description-CHAMP/launch/load.launch | <launch>
<arg name="description_name" default="littledog_description"/>
<arg name="description_file" default="$(find littledog_description)/urdf/littledog.urdf"/>
<param name="$(arg description_name)" textfile="$(arg description_file)"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/littledog_description-CHAMP/rviz/littledog.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 357
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 250; 250; 255
Enabled: true
Line Style:
Line Width: 0.0299999993
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
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
back_left_foot:
Value: true
back_left_hip:
Value: true
back_left_lower_leg:
Value: true
back_left_upper_leg:
Value: true
back_right_foot:
Value: true
back_right_hip:
Value: true
back_right_lower_leg:
Value: true
back_right_upper_leg:
Value: true
base_footprint:
Value: true
base_link:
Value: true
body:
Value: true
front_left_foot:
Value: true
front_left_hip:
Value: true
front_left_lower_leg:
Value: true
front_left_upper_leg:
Value: true
front_right_foot:
Value: true
front_right_hip:
Value: true
front_right_lower_leg:
Value: true
front_right_upper_leg:
Value: true
Marker Scale: 0.150000006
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
body:
back_left_hip:
back_left_upper_leg:
back_left_lower_leg:
back_left_foot:
{}
back_right_hip:
back_right_upper_leg:
back_right_lower_leg:
back_right_foot:
{}
front_left_hip:
front_left_upper_leg:
front_left_lower_leg:
front_left_foot:
{}
front_right_hip:
front_right_upper_leg:
front_right_lower_leg:
front_right_foot:
{}
Update Interval: 0
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_left_foot:
Alpha: 1
Show Axes: false
Show Trail: false
back_left_hip:
Alpha: 1
Show Axes: false
Show Trail: false
back_left_lower_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back_left_upper_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back_right_foot:
Alpha: 1
Show Axes: false
Show Trail: false
back_right_hip:
Alpha: 1
Show Axes: false
Show Trail: false
back_right_lower_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back_right_upper_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_foot:
Alpha: 1
Show Axes: false
Show Trail: false
front_left_hip:
Alpha: 1
Show Axes: false
Show Trail: false
front_left_lower_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_upper_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_foot:
Alpha: 1
Show Axes: false
Show Trail: false
front_right_hip:
Alpha: 1
Show Axes: false
Show Trail: false
front_right_lower_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_upper_leg:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: littledog_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 161; 161; 161
Default Light: true
Fixed Frame: body
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
Topic: /initialpose
- 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: 1.94751418
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0526038781
Y: 0.0748435184
Z: -0.240488917
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.415398717
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.942216516
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1147
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016b000003eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003ee000000db00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003ee000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b10000003ffc0100000002fb0000000800540069006d00650100000000000004b10000031700fffffffb0000000800540069006d00650100000000000004500000000000000000000004b1000003ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1201
X: 701
Y: 24
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/BostonDynamics/littledog_description-CHAMP/urdf/littledog.urdf | <robot name="LittleDog">
<!-- converted from https://svn.csail.mit.edu/littledog/trunk/simulation/little_dog.sd -->
<!-- http://drake.mit.edu -->
<link name="body">
<inertial>
<mass value="1.800000" />
<inertia ixx="0.001625" ixy="0" ixz="0" iyy="0.009178" iyz="0" izz="0.008794" />
</inertial>
<visual>
<geometry>
<mesh filename="package://littledog_description/meshes/body.obj" scale=".0254 .0254 .0254" />
</geometry>
<material name="black">
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
</link>
<link name="front_left_hip">
<inertial>
<origin xyz="0.000000 0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
</link>
<joint name="front_left_hip_roll" type="revolute">
<parent link="body" />
<child link="front_left_hip" />
<origin xyz="0.101000 0.036250 0.000000" rpy="0.0 0.0 0.0" />
<axis xyz="1 0 0" />
<limit effort="25" velocity="1.5" lower="-.6" upper=".6" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="front_left_hip_roll" />
<actuator name="front_left_hip_roll" />
</transmission> -->
<link name="front_left_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/front_left_upper.obj" scale=".0254 .0254 .0254" />
</geometry>
<material name="black" />
</visual>
</link>
<joint name="front_left_hip_pitch" type="revolute">
<parent link="front_left_hip" />
<child link="front_left_upper_leg" />
<origin xyz="0 0.0236 0" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-3.5" upper="2.4" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="front_left_hip_pitch" />
<actuator name="front_left_hip_pitch" />
</transmission> -->
<link name="front_left_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/front_left_lower.obj" scale="0.0254 0.0254 0.0254" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="-0.0265 0 -0.048" />
<!-- note this is approximate -->
<geometry>
<cylinder radius="0.012" length="0.09" />
</geometry>
</collision>
<!-- <collision group="feet">
<origin xyz="-0.0265 0 -0.0985" />
<geometry>
<sphere radius="0.0103" />
</geometry>
</collision> -->
</link>
<joint name="front_left_knee" type="revolute">
<parent link="front_left_upper_leg" />
<child link="front_left_lower_leg" />
<origin xyz="0 0 -0.0751" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-3.1" upper="1.0" />
</joint>
<link name="front_left_foot"/>
<joint name="front_left_ankle" type="fixed">
<parent link="front_left_lower_leg"/>
<child link="front_left_foot"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.0208 0.0 -0.098"/>
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="front_left_knee" />
<actuator name="front_left_knee" />
</transmission> -->
<!-- <frame link="front_left_lower_leg" name="front_left_foot_center" xyz="-0.0265 0 -0.0985" /> -->
<link name="front_right_hip">
<inertial>
<origin xyz="0.000000 -0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
</link>
<joint name="front_right_hip_roll" type="revolute">
<parent link="body" />
<child link="front_right_hip" />
<origin xyz="0.101000 -0.036250 0.000000" rpy="0.0 0.0 0.0" />
<axis xyz="1 0 0" />
<limit effort="25" velocity="1.5" lower="-.6" upper=".6" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="front_right_hip_roll" />
<actuator name="front_right_hip_roll" />
</transmission> -->
<link name="front_right_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/front_right_upper.obj" scale="0.0254 0.0254 0.0254" />
</geometry>
<material name="black" />
</visual>
</link>
<joint name="front_right_hip_pitch" type="revolute">
<parent link="front_right_hip" />
<child link="front_right_upper_leg" />
<origin xyz="0 -0.0236 0" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-3.5" upper="2.4" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="front_right_hip_pitch" />
<actuator name="front_right_hip_pitch" />
</transmission> -->
<link name="front_right_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/front_right_lower.obj" scale="0.0254 0.0254 0.0254" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="-0.0265 0 -0.048" />
<!-- note this is approximate -->
<geometry>
<cylinder radius="0.012" length="0.09" />
</geometry>
</collision>
<!-- <collision group="feet">
<origin xyz="-0.0265 0 -0.0985" />
<geometry>
<sphere radius="0.0103" />
</geometry>
</collision> -->
</link>
<joint name="front_right_knee" type="revolute">
<parent link="front_right_upper_leg" />
<child link="front_right_lower_leg" />
<origin xyz="0 0 -0.0751" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-3.1" upper="1.0" />
</joint>
<link name="front_right_foot"/>
<joint name="front_right_ankle" type="fixed">
<parent link="front_right_lower_leg"/>
<child link="front_right_foot"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.0208 0.0 -0.098"/>
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="front_right_knee" />
<actuator name="front_right_knee" />
</transmission> -->
<!-- <frame link="front_right_lower_leg" name="front_right_foot_center" xyz="-0.0265 0 -0.0985" /> -->
<link name="back_left_hip">
<inertial>
<origin xyz="0.000000 0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
</link>
<joint name="back_left_hip_roll" type="revolute">
<parent link="body" />
<child link="back_left_hip" />
<origin xyz="-0.101000 0.036250 0.000000" rpy="0.0 0.0 0.0" />
<axis xyz="1 0 0" />
<limit effort="25" velocity="1.5" lower="-.6" upper=".6" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="back_left_hip_roll" />
<actuator name="back_left_hip_roll" />
</transmission> -->
<link name="back_left_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/back_left_upper.obj" scale="0.0254 0.0254 0.0254" />
</geometry>
<material name="black" />
</visual>
</link>
<joint name="back_left_hip_pitch" type="revolute">
<parent link="back_left_hip" />
<child link="back_left_upper_leg" />
<origin xyz="0 0.0236 0" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-2.4" upper="3.5" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="back_left_hip_pitch" />
<actuator name="back_left_hip_pitch" />
</transmission> -->
<link name="back_left_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/back_left_lower.obj" scale="0.0254 0.0254 0.0254" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0265 0 -0.048" />
<!-- note this is approximate -->
<geometry>
<cylinder radius="0.012" length="0.09" />
</geometry>
</collision>
<!-- <collision group="feet">
<origin xyz="0.0265 0 -0.0985" />
<geometry>
<sphere radius="0.0103" />
</geometry>
</collision> -->
</link>
<joint name="back_left_knee" type="revolute">
<parent link="back_left_upper_leg" />
<child link="back_left_lower_leg" />
<origin xyz="0 0 -0.0751" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-1.0" upper="3.1" />
</joint>
<link name="back_left_foot"/>
<joint name="back_left_ankle" type="fixed">
<parent link="back_left_lower_leg"/>
<child link="back_left_foot"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0208 0.0 -0.098"/>
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="back_left_knee" />
<actuator name="back_left_knee" />
</transmission> -->
<!-- <frame link="back_left_lower_leg" name="back_left_foot_center" xyz="0.0265 0 -0.0985" /> -->
<link name="back_right_hip">
<inertial>
<origin xyz="0.000000 -0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
</link>
<joint name="back_right_hip_roll" type="revolute">
<parent link="body" />
<child link="back_right_hip" />
<origin xyz="-0.101000 -0.036250 0.000000" rpy="0.0 0.0 0.0" />
<axis xyz="1 0 0" />
<limit effort="25" velocity="1.5" lower="-.6" upper=".6" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="back_right_hip_roll" />
<actuator name="back_right_hip_roll" />
</transmission> -->
<link name="back_right_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/back_right_upper.obj" scale="0.0254 0.0254 0.0254" />
</geometry>
<material name="black" />
</visual>
</link>
<joint name="back_right_hip_pitch" type="revolute">
<parent link="back_right_hip" />
<child link="back_right_upper_leg" />
<origin xyz="0 -0.0236 0" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-2.4" upper="3.5" />
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="back_right_hip_pitch" />
<actuator name="back_right_hip_pitch" />
</transmission> -->
<link name="back_right_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://littledog_description/meshes/back_right_lower.obj" scale="0.0254 0.0254 0.0254" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0265 0 -0.048" />
<!-- note this is approximate -->
<geometry>
<cylinder radius="0.012" length="0.09" />
</geometry>
</collision>
<!-- <collision group="feet">
<origin xyz="0.0265 0 -0.0985" />
<geometry>
<sphere radius="0.0103" />
</geometry>
</collision> -->
</link>
<joint name="back_right_knee" type="revolute">
<parent link="back_right_upper_leg" />
<child link="back_right_lower_leg" />
<origin xyz="0 0 -0.0751" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit effort="25" velocity="1.5" lower="-1.0" upper="3.1" />
</joint>
<link name="back_right_foot"/>
<joint name="back_right_ankle" type="fixed">
<parent link="back_right_lower_leg"/>
<child link="back_right_foot"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0208 0.0 -0.098"/>
</joint>
<!-- <transmission type="SimpleTransmission">
<joint name="back_right_knee" />
<actuator name="back_right_knee" />
</transmission> -->
<!-- <frame link="back_right_lower_leg" name="back_right_foot_center" xyz="0.0265 0 -0.0985" /> -->
</robot> |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/Manifest.toml | # This file is machine-generated - editing it directly is not advised
[[ASL_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "6252039f98492252f9e47c312c8ffda0e3b9e78d"
uuid = "ae81ac8f-d209-56e5-92de-9978fef736f9"
version = "0.1.3+0"
[[Adapt]]
deps = ["LinearAlgebra"]
git-tree-sha1 = "af92965fb30777147966f58acb05da51c5616b5f"
uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
version = "3.3.3"
[[ArgTools]]
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[[Artifacts]]
uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
[[AssetRegistry]]
deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"]
git-tree-sha1 = "b25e88db7944f98789130d7b503276bc34bc098e"
uuid = "bf4720bc-e11a-5d0c-854e-bdca1663c893"
version = "0.1.0"
[[AxisAlgorithms]]
deps = ["LinearAlgebra", "Random", "SparseArrays", "WoodburyMatrices"]
git-tree-sha1 = "66771c8d21c8ff5e3a93379480a2307ac36863f7"
uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950"
version = "1.0.1"
[[Base64]]
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[[BenchmarkTools]]
deps = ["JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"]
git-tree-sha1 = "4c10eee4af024676200bc7752e536f858c6b8f93"
uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
version = "1.3.1"
[[BinDeps]]
deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"]
git-tree-sha1 = "1289b57e8cf019aede076edab0587eb9644175bd"
uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee"
version = "1.0.2"
[[BinaryProvider]]
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git-tree-sha1 = "ecdec412a9abc8db54c0efc5548c64dfce072058"
uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232"
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[[Blink]]
deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"]
git-tree-sha1 = "08d0b679fd7caa49e2bca9214b131289e19808c0"
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version = "0.12.5"
[[Bzip2_jll]]
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git-tree-sha1 = "19a35467a82e236ff51bc17a3a44b69ef35185a2"
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version = "1.0.8+0"
[[CSSUtil]]
deps = ["Colors", "JSON", "Markdown", "Measures", "WebIO"]
git-tree-sha1 = "b9fb4b464ec10e860abe251b91d4d049934f7399"
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[[Cairo_jll]]
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git-tree-sha1 = "4b859a208b2397a7a623a03449e4636bdb17bcf2"
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[[Calculus]]
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[[Cassette]]
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[[ChainRulesCore]]
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git-tree-sha1 = "c9a6160317d1abe9c44b3beb367fd448117679ca"
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[[ChangesOfVariables]]
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version = "0.1.2"
[[CodeTracking]]
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uuid = "da1fd8a2-8d9e-5ec2-8556-3022fb5608a2"
version = "1.0.7"
[[CodecBzip2]]
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git-tree-sha1 = "2e62a725210ce3c3c2e1a3080190e7ca491f18d7"
uuid = "523fee87-0ab8-5b00-afb7-3ecf72e48cfd"
version = "0.7.2"
[[CodecZlib]]
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git-tree-sha1 = "ded953804d019afa9a3f98981d99b33e3db7b6da"
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[[ColorTypes]]
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version = "0.10.12"
[[Colors]]
deps = ["ColorTypes", "FixedPointNumbers", "Reexport"]
git-tree-sha1 = "417b0ed7b8b838aa6ca0a87aadf1bb9eb111ce40"
uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
version = "0.12.8"
[[CommonSubexpressions]]
deps = ["MacroTools", "Test"]
git-tree-sha1 = "7b8a93dba8af7e3b42fecabf646260105ac373f7"
uuid = "bbf7d656-a473-5ed7-a52c-81e309532950"
version = "0.3.0"
[[Compat]]
deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "SHA", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"]
git-tree-sha1 = "96b0bc6c52df76506efc8a441c6cf1adcb1babc4"
uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
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[[CompilerSupportLibraries_jll]]
deps = ["Artifacts", "Libdl"]
uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
[[CoordinateTransformations]]
deps = ["LinearAlgebra", "StaticArrays"]
git-tree-sha1 = "681ea870b918e7cff7111da58791d7f718067a19"
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[[DataAPI]]
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[[DataStructures]]
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git-tree-sha1 = "3daef5523dd2e769dad2365274f760ff5f282c7d"
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[[DataValueInterfaces]]
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uuid = "e2d170a0-9d28-54be-80f0-106bbe20a464"
version = "1.0.0"
[[Dates]]
deps = ["Printf"]
uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
[[DelimitedFiles]]
deps = ["Mmap"]
uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"
[[DiffResults]]
deps = ["StaticArrays"]
git-tree-sha1 = "c18e98cba888c6c25d1c3b048e4b3380ca956805"
uuid = "163ba53b-c6d8-5494-b064-1a9d43ac40c5"
version = "1.0.3"
[[DiffRules]]
deps = ["IrrationalConstants", "LogExpFunctions", "NaNMath", "Random", "SpecialFunctions"]
git-tree-sha1 = "dd933c4ef7b4c270aacd4eb88fa64c147492acf0"
uuid = "b552c78f-8df3-52c6-915a-8e097449b14b"
version = "1.10.0"
[[Distributed]]
deps = ["Random", "Serialization", "Sockets"]
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[[DocStringExtensions]]
deps = ["LibGit2"]
git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b"
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[[Downloads]]
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[[DualNumbers]]
deps = ["Calculus", "NaNMath", "SpecialFunctions"]
git-tree-sha1 = "90b158083179a6ccbce2c7eb1446d5bf9d7ae571"
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[[EarCut_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "3f3a2501fa7236e9b911e0f7a588c657e822bb6d"
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[[Expat_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "ae13fcbc7ab8f16b0856729b050ef0c446aa3492"
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[[FFMPEG]]
deps = ["FFMPEG_jll"]
git-tree-sha1 = "b57e3acbe22f8484b4b5ff66a7499717fe1a9cc8"
uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
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[[FFMPEG_jll]]
deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "Pkg", "Zlib_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"]
git-tree-sha1 = "d8a578692e3077ac998b50c0217dfd67f21d1e5f"
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[[FileWatching]]
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[[FixedPointNumbers]]
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git-tree-sha1 = "335bfdceacc84c5cdf16aadc768aa5ddfc5383cc"
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[[Fontconfig_jll]]
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[[ForwardDiff]]
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[[FreeType2_jll]]
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[[FriBidi_jll]]
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[[Graphite2_jll]]
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deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
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version = "2021.5.5+0"
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|
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/Project.toml | name = "DigitRobot"
uuid = "223e9ca1-e7df-42fa-ba56-f1a405a9c000"
authors = ["Alphonsus Adu-Bredu <[email protected]>"]
version = "0.1.0"
[deps]
Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
Revise = "295af30f-e4ad-537b-8983-00126c2a3abe"
RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
[compat]
RigidBodyDynamics = "2"
StaticArrays = "0.10, 0.11, 0.12"
julia = "1.2, 1.3, 1.4, 1.5"
|
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/README.md | # DigitRobot.jl
This package provides URDF, meshes and inverse kinematics solvers for the Agility Robotics Digit Robot.
|
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/test/runtests.jl | using Test
using DigitRobot
using RigidBodyDynamics
using RigidBodyDynamics.Contact: location
@testset "digit" begin
mechanism = DigitRobot.mechanism()
@test num_velocities(mechanism) == 28
@test num_positions(mechanism) == 29
end
@testset "setnominal!" begin
mechanism = DigitRobot.mechanism()
state = MechanismState(mechanism)
DigitRobot.setnominal!(state)
@test center_of_mass(state).v[3] > 0.8
end
|
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/examples/load_digit.jl | using Revise
using DigitRobot
using MeshCat
mvis,mech,state = load_digit()
render(mvis) |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/examples/digit_walk.jl | using DigitRobot
using MeshCat
using CoordinateTransformations
include("gaits.jl")
mvis, mech, state = load_digit()
init_position = [0.0, 0.0, 0.0]
goal_position = [5.0, 0.0, 0.0]
sl = 0.25
N = Int(goal_position[1]/sl)
anim = MeshCat.Animation()
lgaits = get_gaits(N, "left_leg")
rgaits = get_gaits(N, "right_leg")
f = get_com_poses(N; sl)
# lgaits = get_nomid_gaits(N, "left_leg")
# rgaits = get_nomid_gaits(N, "right_leg")
# f = get_com_no_mid_pose(N; sl)
xb,yb,zb = f, 0.0 .* ones(length(f)), 0.0 .* ones(length(f))
min_ = min(length(lgaits), length(rgaits),length(xb))
for i=1:min_
atframe(anim, i*20) do
settransform!(mvis.visualizer["world"], Translation(xb[i], yb[i], zb[i]))
lqs = lgaits[i]
set_limb_configuration!(lqs, "left_leg", mvis, mech)
rqs = rgaits[i]
set_limb_configuration!(rqs, "right_leg", mvis, mech)
end
end
setanimation!(mvis.visualizer, anim)
render(mvis)
|
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/examples/vis.jl | using MuJoCo, LyceumMuJoCo, LyceumMuJoCoViz
import Distributions:Uniform
mj_activate("/home/alphonsus/keys/mjkey.txt")
T=100
m = jlModel("models/cartpole.xml")
d = jlData(m)
sim = MJSim(m,d)
states = Array(undef, statespace(sim), T)
for t = 1:T
step!(sim)
states[:, t] .= getstate(sim)
end
visualize(sim, trajectories=[states],
controller = sim->setaction!(sim, [rand(Uniform(-1.,1.))])) |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/examples/gaits.jl | function get_gaits(N, limb)
if limb == "right_leg"
init = [-0.3362191212578004, -0.016159713187854318, -0.04393761735099034, 0.04971889476641611, -0.0091174914580162, 0.0, 0.0]
mid = [-0.30788772129841413, -0.06688919384386698, 0.036749010552588335, 0.08539465114457744, -0.5365093904371601, 0.0, 0.0]
fin = [-0.32917484162577704, -0.02279610525452191, 0.16029682242439672, -0.1535046846377933, 0.14186461951910811, 0.0, 0.0]
gaits = []
else
init = [0.3362191212578004, 0.01615971318785415, 0.043937617350990665, -0.04971889476641601, 0.009117491458016673, 0.0, 0.0]
mid = [0.3078877212984141, 0.06688919384386721, -0.03674901055258782, -0.08539465114457678, 0.5365093904371603, 0.0, 0.0]
fin = [0.329174841625777, 0.02279610525452219, -0.16029682242439605, 0.15350468463779385, -0.14186461951910856, 0.0, 0.0]
gaits = [init,init]
end
gs = [init, mid, fin]
idx=0
for i=1:N
g = gs[1+idx%3]
push!(gaits, g)
if idx%3==0
push!(gaits, g)
# push!(gaits, g)
end
idx+=1
end
return gaits
end
function get_nomid_gaits(N, limb)
if limb == "right_leg"
init = [-0.3362191212578004, -0.016159713187854318, -0.04393761735099034, 0.04971889476641611, -0.0091174914580162, 0.0, 0.0]
fin = [-0.32917484162577704, -0.02279610525452191, 0.16029682242439672, -0.1535046846377933, 0.14186461951910811, 0.0, 0.0]
gaits = []
else
init = [0.3362191212578004, 0.01615971318785415, 0.043937617350990665, -0.04971889476641601, 0.009117491458016673, 0.0, 0.0]
fin = [0.329174841625777, 0.02279610525452219, -0.16029682242439605, 0.15350468463779385, -0.14186461951910856, 0.0, 0.0]
gaits = [init]
end
gs = [init, fin]
idx=0
for i=1:N
g = gs[1+idx%2]
push!(gaits, g)
idx+=1
end
return gaits
end
function get_com_no_mid_pose(N; sl=0.25)
cid = [i for i=0:N]
poses = [sl*i for i in cid]
return poses
end
function get_com_poses(N; sl=0.25)
poses = [0., 0.]
cid = [i for i=0:N]
for i in cid
r = sl*i
push!(poses, r)
push!(poses, r)
end
return poses
end
# lqs = solve_left_leg_ik(0.125, 0.123, -0.851+0.2)
# println("lqs mid: ",lqs)
# set_limb_configuration!(lqs, "left_leg", mvis, mech) |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/examples/move_limbs_ik.jl | using Revise
using DigitRobot
# mvis, mech, state = load_digit()
# open(mvis)
# qs = solve_left_leg_ik(0.25, 0.123, -0.851)
set_limb_configuration!(qs, "left_leg", mvis, mech)
println("\nfoot position: ",solve_left_leg_fk(qs)) |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/examples/legacy_digit_walk.jl | using DigitRobot
using MeshCat
using lipm
using Plots
using CoordinateTransformations
include("gaits.jl")
mvis, mech, state = load_digit()
init_position = [0.0, 0.0, 0.0]
goal_position = [5.0, 0.0, 0.0]
# x = move_to_position(init_position; goal_position=goal_position, stride_length_x=0.25, stride_length_y=0.1, delta_t=0.1)
# f = [i for i=0:0.05:5]
# fl = []; fr = []
# for (i,ef) in enumerate(f)
# if i%5. == 0.
# push!(fl, ef+0.25)
# else
# push!(fl, ef)
# end
# end
# for (i,ef) in enumerate(f)
# if i%5. == 0.
# push!(fr, ef)
# else
# push!(fr, ef+0.25)
# end
# end
# ff = [i+0.25 for i in f]
N = 41
num_steps = N/2 -1
sl = 0.25
lid = [i for i=0:N if i%2 == 0]
rid = [i for i=0:N if i%2 == 1]
cid = [i for i=0:N]
fl = []; fr = [0.]; f = [0.]
for i in lid
r = sl*i
push!(fl, r)
push!(fl, r)
end
for i in rid
r = sl*i
push!(fr, r)
push!(fr, r)
end
for i in cid
r = sl*i
push!(f, r)
push!(f, r)
end
# f = [sl*i for i in cid]
min_ = min(length(fl), length(fr), length(f))
pushfirst!(f, 0.)
f = f[1:min_]
fl = fl[1:min_]
fr = fr[1:min_]
# fl = [0., 0., 0.5, 0.5, 1.0, 1.0]
# f = [0.0, 0.0, 0.0, 0.0, 0.25, 0.25, 0.5, 0.5, 0.75, 0.75, 1.0, 1.0]
# fr = [0., 0.25, 0.25, 0.75, 0.75, 1.25]
xb,yb,zb = f, 0.0 .* ones(length(f)), 0.0 .* ones(length(f))
xl,yl,zl = fl, 0.123 .* ones(length(fl)), -0.851 .* ones(length(fl))
xr,yr,zr =fr, -0.123 .* ones(length(fr)), -0.851 .* ones(length(fr))
plot(xb, yb, seriestype = :scatter, label="com")
plot!(xl,yl, seriestype = :scatter,label="left")
plot!(xr, yr, seriestype = :scatter, label="right")
anim = MeshCat.Animation()
lgaits = get_gaits(N, "left_leg")
rgaits = get_gaits(N, "right_leg")
min_ = min(length(lgaits), length(rgaits),length(xb))
for i=1:min_
atframe(anim, i*20) do
settransform!(mvis.visualizer["world"], Translation(xb[i], yb[i], zb[i]))
# lqs = solve_left_leg_ik(xl[i]-xb[i], yl[i], zl[i])
# push!(lgait, lqs)
lqs = lgaits[i]
set_limb_configuration!(lqs, "left_leg", mvis, mech)
# rqs = solve_right_leg_ik(xr[i]-xb[i], yr[i], zr[i])
# push!(rgait, rqs)
rqs = rgaits[i]
set_limb_configuration!(rqs, "right_leg", mvis, mech)
end
end
setanimation!(mvis.visualizer, anim)
render(mvis)
|
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/src/digit_manual_control.py | import pybullet as p
import time
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath('..')
humanoid = p.loadURDF("urdf/digit_model.urdf",useFixedBase=True)
gravId = p.addUserDebugParameter("gravity", -10, 10, 0)
jointIds = []
paramIds = []
p.setPhysicsEngineParameter(numSolverIterations=10)
p.changeDynamics(humanoid, -1, linearDamping=0, angularDamping=0)
for j in range(p.getNumJoints(humanoid)):
p.changeDynamics(humanoid, j, linearDamping=0, angularDamping=0)
info = p.getJointInfo(humanoid, j)
#print(info)
jointName = info[1]
jointType = info[2]
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
jointIds.append(j)
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0))
p.setRealTimeSimulation(1)
while (1):
p.setGravity(0, 0, p.readUserDebugParameter(gravId))
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
p.setJointMotorControl2(humanoid, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.)
time.sleep(0.01) |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/src/DigitRobot.jl | module DigitRobot
using RigidBodyDynamics
using MeshCat
using StaticArrays
using Colors
using MeshCatMechanisms
using CoordinateTransformations
using Rotations
include("kinematics.jl")
include("utils.jl")
packagepath() = joinpath(@__DIR__,"..")
urdfpath() = joinpath(packagepath(), "urdf", "digit_model.urdf")
export mechanism,
setnominal!,
urdfpath,
default_background!
#kinematics
export solve_left_leg_fk,
solve_left_leg_ik,
solve_right_leg_fk,
solve_right_leg_ik,
left_leg_neutral_conf,
right_leg_neutral_conf
#utils
export load_digit,
set_limb_configuration!
function mechanism(::Type{T} = Float64;
floating = true,
remove_fixed_tree_joints = true,
add_flat_ground=true) where {T}
mechanism = RigidBodyDynamics.parse_urdf(urdfpath(); scalar_type=T, floating=floating, remove_fixed_tree_joints=remove_fixed_tree_joints)
# if contactmodel != nothing
# for side in (:left, :right)
# foot = findbody(mechanism, "$(string(side))_toe_roll")
# frame = default_frame(foot)
# #point of contact of foot
# x = 0.000559
# y = -0.050998
# z = -0.030691
# add_contact_point!(foot, ContactPoint(Point3D(frame, x,y,z), contactmodel))
# end
# end
if add_flat_ground
frame = root_frame(mechanism)
ground = RigidBodyDynamics.HalfSpace3D(Point3D(frame, 0.,0.,0.), FreeVector3D(frame, 0.,0.,1.))
add_environment_primitive!(mechanism, ground)
end
remove_fixed_tree_joints && remove_fixed_tree_joints!(mechanism)
return mechanism
end
function setnominal!(digitstate::MechanismState)
mechanism = digitstate.mechanism
zero!(digitstate)
hip_abduction_left = findjoint(mechanism, "hip_abduction_left")
hip_abduction_right = findjoint(mechanism, "hip_abduction_right")
toe_pitch_joint_left = findjoint(mechanism, "toe_pitch_joint_left")
toe_pitch_joint_right = findjoint(mechanism, "toe_pitch_joint_right")
shoulder_pitch_left = findjoint(mechanism, "shoulder_pitch_joint_left")
shoulder_pitch_right = findjoint(mechanism, "shoulder_pitch_joint_right")
set_configuration!(digitstate, hip_abduction_left, 0.337)
set_configuration!(digitstate, hip_abduction_right, -0.337)
set_configuration!(digitstate, toe_pitch_joint_left, -0.126)
set_configuration!(digitstate, toe_pitch_joint_right, 0.126)
set_configuration!(digitstate, shoulder_pitch_left, 0.463)
set_configuration!(digitstate, shoulder_pitch_right, -0.463)
floatingjoint = first(out_joints(root_body(mechanism), mechanism))
set_configuration!(digitstate, floatingjoint, [1; 0; 0; 0; 0; 0; 0.91])
digitstate
end
function default_background!(mvis)
vis = mvis.visualizer
setvisible!(vis["/Background"], true)
setprop!(vis["/Background"], "top_color", RGBA(1.0, 1.0, 1.0, 1.0))
setprop!(vis["/Background"], "bottom_color", RGBA(1.0, 1.0, 1.0, 1.0))
setvisible!(vis["/Axes"], false)
end
function __init__()
if !isfile(urdfpath())
error("Could not find $(urdfpath())")
end
end
end #module
|
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/src/kinematics.jl | using JuMP
import Ipopt
left_leg_neutral_conf()=[0.337,0.,0.,0.,0.,-0.126,0.]
left_foot_neutral_pose()=[0.06199674988795316, 0.12305731930711772, -0.8508681492414226]
right_leg_neutral_conf()=[-0.337,0.,0.,0.,0.,0.126,0.]
right_foot_neutral_pose()=[0.06199674988795311, -0.12305731930711779, -0.8508681492414227]
function solve_left_leg_fk(qs)
q_0, q_1, q_2, q_3, q_4, q_5, q_6 = qs
x = 0.408(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))) + 0.408(0.97437cos(q_4) - 0.224951sin(q_4))*((cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))) + 1.6511535e-14(3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 0.495436(4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.12(0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + 0.12(0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)) + 0.12(5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + 0.067406(cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 8.085021716565e-26(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) + 2.448294999999996e-15(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1) + 0.067406(4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.495436(4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) - 0.04500000000033297 - 4.037484600000531e-14sin(q_0) - 1.6511535e-14cos(q_1) - 2.1266128500002798e-13cos(q_0) - 0.0004999999999999996sin(q_1) - 0.04(0.224951sin(q_4) - 0.97437cos(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))) - 0.0004999999999999996(3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) - 0.04(-0.224951cos(q_4) - 0.97437sin(q_4))*((cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))
y = 0.09099999999998501 + 0.043430368500005714cos(q_0) + 0.495436(4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + 8.085021716565e-26(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) + 2.448294999999996e-15(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1) + 0.408(0.97437cos(q_4) - 0.224951sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)))) + 0.12(5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + 0.12(0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + 0.067406(4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + 1.6511535e-14(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 0.408(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)))) + 0.12(0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)) + 0.067406(cos(q_3) - 4.89659e-12sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + 0.495436(4.89659e-12cos(q_3) + sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) - 5.625744159059999e-27cos(q_1) - 0.1102545330000145sin(q_0) - 1.7035799999999984e-16sin(q_1) - 0.04(0.224951sin(q_4) - 0.97437cos(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)))) - 0.0004999999999999996(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 0.04((4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))))*(-0.224951cos(q_4) - 0.97437sin(q_4))
z = 7.896260000059755e-14 + 2.963176582635e-26cos(q_1) + 8.97304999999999e-16sin(q_1) + 0.12(0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + 0.408(0.97437cos(q_4) - 0.224951sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)))) + 0.495436(4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + 0.067406(4.89659e-12cos(q_3) + sin(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) + 8.085021716565e-26(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) + 1.6511535e-14(0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 0.12(0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + 0.408(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) - cos(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)))) + 0.067406(cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + 2.448294999999996e-15(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 0.12(5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + 0.495436(4.89659e-12sin(q_3) - cos(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) - 0.043430368500005714sin(q_0) - 0.1102545330000145cos(q_0) - 0.04(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)))) - 0.04(0.224951sin(q_4) - 0.97437cos(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) - cos(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)))) - 0.0004999999999999996(0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1)
return (x,y,z)
end
function solve_left_leg_ik(x,y,z)
iksolver = Model(Ipopt.Optimizer)
ql = [-1.0472, -0.698132, -1.0472, -1.2392, -0.8779, -0.785398163397, -0.6109]
qu = [1.0472, 0.698132, 1.57079632679, 0.8727, 1.2497, 0.785398163397, 0.6109]
@variable(iksolver, ql[1] <= q_0 <= qu[1], start = 0.0)
@variable(iksolver, ql[2] <= q_1 <= qu[2], start = 0.0)
@variable(iksolver, ql[3] <= q_2 <= qu[3], start = 0.0)
@variable(iksolver, ql[4] <= q_3 <= qu[4], start = 0.0)
@variable(iksolver, ql[5] <= q_4 <= qu[5], start = 0.0)
@variable(iksolver, ql[6] <= q_5 <= qu[6], start = 0.0)
@variable(iksolver, ql[7] <= q_6 <= qu[7], start = 0.0)
@NLconstraint(iksolver, 0.408(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))) + 0.408(0.97437cos(q_4) - 0.224951sin(q_4))*((cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))) + 1.6511535e-14(3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 0.495436(4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.12(0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + 0.12(0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)) + 0.12(5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + 0.067406(cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 8.085021716565e-26(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) + 2.448294999999996e-15(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1) + 0.067406(4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.495436(4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) - 0.04500000000033297 - 4.037484600000531e-14sin(q_0) - 1.6511535e-14cos(q_1) - 2.1266128500002798e-13cos(q_0) - 0.0004999999999999996sin(q_1) - 0.04(0.224951sin(q_4) - 0.97437cos(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))) - 0.0004999999999999996(3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) - 0.04(-0.224951cos(q_4) - 0.97437sin(q_4))*((cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(-4.89659e-12 - 1.79461e-12cos(q_0) - 3.40716e-13sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) + 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))) == x)
@NLconstraint(iksolver, 0.09099999999998501 + 0.043430368500005714cos(q_0) + 0.495436(4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + 8.085021716565e-26(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) + 2.448294999999996e-15(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1) + 0.408(0.97437cos(q_4) - 0.224951sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)))) + 0.12(5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + 0.12(0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + 0.067406(4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + 1.6511535e-14(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 0.408(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)))) + 0.12(0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)) + 0.067406(cos(q_3) - 4.89659e-12sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + 0.495436(4.89659e-12cos(q_3) + sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) - 5.625744159059999e-27cos(q_1) - 0.1102545330000145sin(q_0) - 1.7035799999999984e-16sin(q_1) - 0.04(0.224951sin(q_4) - 0.97437cos(q_4))*((4.89659e-12sin(q_3) - cos(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (4.89659e-12cos(q_3) + sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1)))) - 0.0004999999999999996(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 0.04((4.89659e-12cos(q_3) + sin(q_3))*((-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*(3.40716e-13sin(q_1) + (0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) - 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(0.366501cos(q_0) - 1.66835e-24 - 0.930418sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*((0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.930418sin(q_0) - 0.366501cos(q_0))*cos(q_1) - 3.40716e-13cos(q_1))))*(-0.224951cos(q_4) - 0.97437sin(q_4)) == y)
@NLconstraint(iksolver, 7.896260000059755e-14 + 2.963176582635e-26cos(q_1) + 8.97304999999999e-16sin(q_1) + 0.12(0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + 0.408(0.97437cos(q_4) - 0.224951sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)))) + 0.495436(4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + 0.067406(4.89659e-12cos(q_3) + sin(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) + 8.085021716565e-26(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1) + 1.6511535e-14(0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 0.12(0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + 0.408(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) - cos(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)))) + 0.067406(cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + 2.448294999999996e-15(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1) + 0.12(5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + 0.495436(4.89659e-12sin(q_3) - cos(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) - 0.043430368500005714sin(q_0) - 0.1102545330000145cos(q_0) - 0.04(-0.224951cos(q_4) - 0.97437sin(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1))) + (cos(q_3) - 4.89659e-12sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)))) - 0.04(0.224951sin(q_4) - 0.97437cos(q_4))*((4.89659e-12cos(q_3) + sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (0.707107sin(q_2) - 0.707107cos(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)) + (5.04283e-12sin(q_2) - 1.46246e-13cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) - cos(q_3))*((0.707107sin(q_2) - 0.707107cos(q_2))*(8.78745e-24 - 0.930418cos(q_0) - 0.366501sin(q_0)) + (-1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*sin(q_1)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) + 0.366501sin(q_0))*cos(q_1)))) - 0.0004999999999999996(0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) == z)
@objective(iksolver, Max, 1.0)
optimize!(iksolver)
return [value.(q_0), value.(q_1), value.(q_2), value.(q_3), value.(q_4), value.(q_5), value.(q_6)]
end
# @time solve_left_leg_ik(0.5175, 0.19145, -0.705491)
function solve_right_leg_fk(qs)
q_0, q_1, q_2, q_3, q_4, q_5, q_6 = qs
x = 4.037484600000531e-14sin(q_0) + 0.0004999999999999996sin(q_1) + 0.067406(4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.495436(4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 8.085021716565e-26(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) + 0.12(0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + 0.12(1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + 0.04((4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(0.97437cos(q_4) + 0.224951sin(q_4)) + 0.0004999999999999996(-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(-0.97437cos(q_4) - 0.224951sin(q_4)) + 0.12(-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)) + 0.495436(4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.408((4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 1.6511535e-14(-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) - 0.04500000000033297 - 1.6511535e-14cos(q_1) - 2.1266128500002798e-13cos(q_0) - 2.448294999999996e-15(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1) - 0.067406(4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)))
y = 5.625744159059999e-27cos(q_1) + 0.067406(4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.12(1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + 0.0004999999999999996(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))))*(0.97437cos(q_4) + 0.224951sin(q_4)) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))))*(-0.97437cos(q_4) - 0.224951sin(q_4)) + 0.495436(4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + 1.6511535e-14(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 8.085021716565e-26(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.12(0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + 0.12(-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + 0.495436(4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))) - 0.09099999999998501 - 0.043430368500005714cos(q_0) - 0.1102545330000145sin(q_0) - 1.7035799999999984e-16sin(q_1) - 2.448294999999996e-15(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1) - 0.067406(4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)))
z = 7.896260000059755e-14 + 0.043430368500005714sin(q_0) + 2.963176582635e-26cos(q_1) + 0.12(1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + 0.495436(4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + 0.12(0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + 0.0004999999999999996(-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) + 0.067406(4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + 8.085021716565e-26(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))))*(-0.97437cos(q_4) - 0.224951sin(q_4)) + 1.6511535e-14(-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 0.12(-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.04(0.97437cos(q_4) + 0.224951sin(q_4))*((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)))) + 0.495436(4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))) - 0.1102545330000145cos(q_0) - 8.97304999999999e-16sin(q_1) - 2.448294999999996e-15(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) - 0.067406(4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)))
return (x,y,z)
end
function solve_right_leg_ik(x,y,z)
iksolver = Model(Ipopt.Optimizer)
ql = [-1.0472, -0.698132, -1.57079632679, -0.8727, -1.2497, -0.785398163397, -0.6109]
qu = [1.0472, 0.698132, 1.0472, 1.2392, 0.8779, 0.785398163397, 0.6109]
@variable(iksolver, ql[1] <= q_0 <= qu[1], start = 0.0)
@variable(iksolver, ql[2] <= q_1 <= qu[2], start = 0.0)
@variable(iksolver, ql[3] <= q_2 <= qu[3], start = 0.0)
@variable(iksolver, ql[4] <= q_3 <= qu[4], start = 0.0)
@variable(iksolver, ql[5] <= q_4 <= qu[5], start = 0.0)
@variable(iksolver, ql[6] <= q_5 <= qu[6], start = 0.0)
@variable(iksolver, ql[7] <= q_6 <= qu[7], start = 0.0)
@NLconstraint(iksolver, 4.037484600000531e-14sin(q_0) + 0.0004999999999999996sin(q_1) + 0.067406(4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.495436(4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 8.085021716565e-26(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) + 0.12(0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + 0.12(1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + 0.04((4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(0.97437cos(q_4) + 0.224951sin(q_4)) + 0.0004999999999999996(-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(-0.97437cos(q_4) - 0.224951sin(q_4)) + 0.12(-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1)) + 0.495436(4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.408((4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) + (4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 1.6511535e-14(-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) - 0.04500000000033297 - 1.6511535e-14cos(q_1) - 2.1266128500002798e-13cos(q_0) - 2.448294999999996e-15(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1) - 0.067406(4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(3.40716e-13sin(q_0) - 4.89659e-12 - 1.79461e-12cos(q_0)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*cos(q_1) + sin(q_1) - 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*((-3.40716e-13cos(q_0) - 1.79461e-12sin(q_0))*sin(q_1) + 4.89659e-12(1.79461e-12cos(q_0) - 3.40716e-13sin(q_0))*cos(q_1) - cos(q_1))) == x)
@NLconstraint(iksolver, 5.625744159059999e-27cos(q_1) + 0.067406(4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.12(1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + 0.0004999999999999996(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))))*(0.97437cos(q_4) + 0.224951sin(q_4)) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))))*(-0.97437cos(q_4) - 0.224951sin(q_4)) + 0.495436(4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))) + 1.6511535e-14(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 8.085021716565e-26(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + (1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.12(0.707107cos(q_2) - 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + 0.12(-0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1)) + 0.495436(4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))) - 0.09099999999998501 - 0.043430368500005714cos(q_0) - 0.1102545330000145sin(q_0) - 1.7035799999999984e-16sin(q_1) - 2.448294999999996e-15(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1) - 0.067406(4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) - 3.40716e-13sin(q_1) - 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*sin(q_1)) + (0.707107cos(q_2) + 0.707107sin(q_2))*(1.66835e-24 - 0.366501cos(q_0) - 0.930418sin(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(3.40716e-13cos(q_1) + (0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) + 4.89659e-12(0.366501cos(q_0) + 0.930418sin(q_0))*cos(q_1))) == y)
@NLconstraint(iksolver, 7.896260000059755e-14 + 0.043430368500005714sin(q_0) + 2.963176582635e-26cos(q_1) + 0.12(1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + 0.495436(4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + 0.12(0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + 0.0004999999999999996(-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) + 0.067406(4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + 8.085021716565e-26(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.408((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))))*(-0.97437cos(q_4) - 0.224951sin(q_4)) + 1.6511535e-14(-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 0.12(-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + 0.04((4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))) - (4.89659e-12sin(q_3) + cos(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))))*(0.97437sin(q_4) - 0.224951cos(q_4)) + 0.04(0.97437cos(q_4) + 0.224951sin(q_4))*((4.89659e-12cos(q_3) - sin(q_3))*((1.46246e-13cos(q_2) + 5.04283e-12sin(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (-0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1))) + (4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1)))) + 0.495436(4.89659e-12sin(q_3) + cos(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))) - 0.1102545330000145cos(q_0) - 8.97304999999999e-16sin(q_1) - 2.448294999999996e-15(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1) - 0.067406(4.89659e-12cos(q_3) - sin(q_3))*((0.707107cos(q_2) + 0.707107sin(q_2))*(8.78745e-24 + 0.366501sin(q_0) - 0.930418cos(q_0)) + (0.707107cos(q_2) - 0.707107sin(q_2))*(1.79461e-12cos(q_1) + (-0.366501cos(q_0) - 0.930418sin(q_0))*sin(q_1) + 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*cos(q_1)) + (1.46246e-13sin(q_2) - 5.04283e-12cos(q_2))*((-0.366501cos(q_0) - 0.930418sin(q_0))*cos(q_1) - 1.79461e-12sin(q_1) - 4.89659e-12(0.930418cos(q_0) - 0.366501sin(q_0))*sin(q_1))) == z)
@objective(iksolver, Max, 1.0)
optimize!(iksolver)
return [value.(q_0), value.(q_1), value.(q_2), value.(q_3), value.(q_4), value.(q_5), value.(q_6)]
end
# @time solve_right_ik(0.5175, -0.19145, -0.705491) |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/src/utils.jl | function get_limb_joint_names(limb::String)
if limb == "right_leg"
return ["hip_abduction_right", "hip_rotation_right", "hip_flexion_right", "knee_joint_right", "shin_to_tarsus_right", "toe_pitch_joint_right", "toe_roll_joint_right"]
elseif limb == "left_leg"
return ["hip_abduction_left", "hip_rotation_left", "hip_flexion_left", "knee_joint_left", "shin_to_tarsus_left", "toe_pitch_joint_left", "toe_roll_joint_left"]
else
return nothing
end
end
function load_digit()
mech = mechanism(add_flat_ground=true)
mvis = MechanismVisualizer(mech, URDFVisuals(DigitRobot.urdfpath(),
package_path=[DigitRobot.packagepath()]))
state = MechanismState(mech)
setnominal!(state)
set_configuration!(mvis, configuration(state))
default_background!(mvis)
settransform!(mvis.visualizer["/Cameras/default"],
compose(Translation(0.0, 0.0, -1.0), LinearMap(RotZ(-pi / 2.0))))
return mvis, mech, state
end
function set_limb_configuration!(qs::Vector, limb::String, mvis, mech)
jns = get_limb_joint_names(limb)
for (i, jn) in enumerate(jns)
set_configuration!(mvis, findjoint(mech, jn), qs[i])
end
if limb == "left_leg"
set_configuration!(mvis, findjoint(mech, jns[6]), -0.115)
elseif limb == "right_leg"
set_configuration!(mvis, findjoint(mech, jns[6]), 0.115)
end
end |
renanmb/Omniverse_legged_robotics/DigitRobot.jl-main/urdf/digit_model.urdf | <?xml version="1.0" encoding="utf-8"?>
<robot name="digit">
<link name="torso">
<inertial>
<origin rpy="0 0 0" xyz="0.001637 0.0002 0.259547"/>
<mass value="15.028392"/>
<inertia ixx="0.376284" ixy="-8.8e-05" ixz="0.008378" iyy="0.342655" iyz="6.7e-05" izz="0.100648"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/torso.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/torso.obj"/>
</geometry>
</collision>
</link>
<link name="left_hip_roll">
<inertial>
<origin rpy="0 0 0" xyz="-0.001967 0.000244 0.031435"/>
<mass value="0.915088"/>
<inertia ixx="0.001017" ixy="-3e-06" ixz="1.3e-05" iyy="0.001148" iyz="-4e-06" izz="0.000766"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_hip_yaw">
<inertial>
<origin rpy="0 0 0" xyz="1e-05 -0.001945 0.042033"/>
<mass value="0.818753"/>
<inertia ixx="0.001627" ixy="-1e-06" ixz="2e-06" iyy="0.001929" iyz="5.3e-05" izz="0.00077"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_hip_pitch">
<inertial>
<origin rpy="0 0 0" xyz="0.060537 0.000521 -0.038857"/>
<mass value="6.244279"/>
<inertia ixx="0.011533" ixy="-0.000171" ixz="0.000148" iyy="0.033345" iyz="0.000178" izz="0.033958"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj"/>
</geometry>
</collision>
</link>
<link name="left_knee">
<inertial>
<origin rpy="0 0 0" xyz="0.045641 0.042154 0.001657"/>
<mass value="1.227077"/>
<inertia ixx="0.002643" ixy="-0.001832" ixz="6.6e-05" iyy="0.005098" iyz="4.5e-05" izz="0.007019"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj"/>
</geometry>
</collision>
</link>
<link name="left_shin">
<inertial>
<origin rpy="0 0 0" xyz="0.174265 0.010265 0.00107"/>
<mass value="0.895793"/>
<inertia ixx="0.001128" ixy="0.001098" ixz="0.000196" iyy="0.022492" iyz="-3e-06" izz="0.022793"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj"/>
</geometry>
</collision>
</link>
<link name="left_tarsus">
<inertial>
<origin rpy="0 0 0" xyz="0.000932 -0.029183 0.000678"/>
<mass value="1.322865"/>
<inertia ixx="0.000932" ixy="0.00061" ixz="0.000102" iyy="0.016409" iyz="9e-06" izz="0.016501"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj"/>
</geometry>
</collision>
</link>
<link name="left_toe_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-0.000141 2e-06 3e-06"/>
<mass value="0.043881"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="8e-06" iyz="0" izz="5e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj"/>
</geometry>
</collision>
</link>
<link name="left_toe_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.028084 -0.023204"/>
<mass value="0.531283"/>
<inertia ixx="0.00187" ixy="0" ixz="0" iyy="0.001616" iyz="0.000566" izz="0.000843"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_waist_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-4.2e-05 -0.061882 -0.073788"/>
<mass value="1.440357"/>
<inertia ixx="0.006761" ixy="-6e-06" ixz="-3e-06" iyy="0.002087" iyz="-0.002046" izz="0.005778"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_yaw">
<inertial>
<origin rpy="0 0 0" xyz="-3e-05 -0.001937 0.11407"/>
<mass value="1.065387"/>
<inertia ixx="0.006967" ixy="1e-06" ixz="-1e-06" iyy="0.007003" iyz="1.5e-05" izz="0.000673"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj"/>
</geometry>
</collision>
</link>
<link name="left_elbow">
<inertial>
<origin rpy="0 0 0" xyz="0.107996 -0.000521 -0.017765"/>
<mass value="0.550582"/>
<inertia ixx="0.000476" ixy="2.9e-05" ixz="0.001403" iyy="0.009564" iyz="1.5e-05" izz="-9e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj"/>
</geometry>
</collision>
</link>
<link name="right_hip_roll">
<inertial>
<origin rpy="0 0 0" xyz="-0.001967 -0.000244 0.031435"/>
<mass value="0.915088"/>
<inertia ixx="0.001017" ixy="3e-06" ixz="1.3e-05" iyy="0.001148" iyz="4e-06" izz="0.000766"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_hip_yaw">
<inertial>
<origin rpy="0 0 0" xyz="1e-05 0.001945 0.042033"/>
<mass value="0.818753"/>
<inertia ixx="0.001627" ixy="1e-06" ixz="2e-06" iyy="0.001929" iyz="-5.3e-05" izz="0.00077"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_hip_pitch">
<inertial>
<origin rpy="0 0 0" xyz="0.060537 -0.000521 -0.038857"/>
<mass value="6.244279"/>
<inertia ixx="0.011533" ixy="0.000171" ixz="0.000148" iyy="0.033345" iyz="-0.000178" izz="0.033958"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_knee">
<inertial>
<origin rpy="0 0 0" xyz="0.045641 -0.042154 0.001657"/>
<mass value="1.227077"/>
<inertia ixx="0.002643" ixy="0.001832" ixz="6.6e-05" iyy="0.005098" iyz="-4.5e-05" izz="0.007019"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shin">
<inertial>
<origin rpy="0 0 0" xyz="0.174265 -0.010265 0.00107"/>
<mass value="0.895793"/>
<inertia ixx="0.001128" ixy="-0.001098" ixz="0.000196" iyy="0.022492" iyz="3e-06" izz="0.022793"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_tarsus">
<inertial>
<origin rpy="0 0 0" xyz="0.000932 0.029183 0.000678"/>
<mass value="1.322865"/>
<inertia ixx="0.000932" ixy="-0.00061" ixz="0.000102" iyy="0.016409" iyz="-9e-06" izz="0.016501"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_toe_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-0.000141 -2e-06 3e-06"/>
<mass value="0.043881"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="8e-06" iyz="0" izz="5e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_toe_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.028084 -0.023204"/>
<mass value="0.531283"/>
<inertia ixx="0.00187" ixy="0" ixz="0" iyy="0.001616" iyz="-0.000566" izz="0.000843"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="-1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="-3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="-1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="-3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_waist_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="-1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="-3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-4.2e-05 0.061882 -0.073788"/>
<mass value="1.440357"/>
<inertia ixx="0.006761" ixy="6e-06" ixz="-3e-06" iyy="0.002087" iyz="0.002046" izz="0.005778"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_yaw">
<inertial>
<origin rpy="0 0 0" xyz="-3e-05 0.001937 0.11407"/>
<mass value="1.065387"/>
<inertia ixx="0.006967" ixy="-1e-06" ixz="-1e-06" iyy="0.007003" iyz="-1.5e-05" izz="0.000673"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_elbow">
<inertial>
<origin rpy="0 0 0" xyz="0.107996 0.000521 -0.017765"/>
<mass value="0.550582"/>
<inertia ixx="0.000476" ixy="-2.9e-05" ixz="0.001403" iyy="0.009564" iyz="-1.5e-05" izz="-9e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<joint name="hip_abduction_left" type="continuous">
<origin rpy="1.57079632679 -1.1955506 -1.57079632679" xyz="-0.001 0.091 0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_hip_roll"/>
<limit effort="1.4" lower="-1.0472" upper="1.0472" velocity="12.15"/>
</joint>
<joint name="hip_rotation_left" type="continuous">
<origin rpy="0 -1.57079632679 0" xyz="-0.0505 0 0.044"/>
<axis xyz="0 0 1"/>
<parent link="left_hip_roll"/>
<child link="left_hip_yaw"/>
<limit effort="1.4" lower="-0.698132" upper="0.698132" velocity="12.15"/>
</joint>
<joint name="hip_flexion_left" type="continuous">
<origin rpy="-1.57079632679 -0.785398163397 3.14159265359" xyz="0 0.004 0.068"/>
<axis xyz="0 0 -1"/>
<parent link="left_hip_yaw"/>
<child link="left_hip_pitch"/>
<limit effort="12.5" lower="-1.0472" upper="1.57079632679" velocity="8.5"/>
</joint>
<joint name="knee_joint_left" type="continuous">
<origin rpy="0 0 -1.57079632679" xyz="0.12 0 0.0045"/>
<axis xyz="0 0 1"/>
<parent link="left_hip_pitch"/>
<child link="left_knee"/>
<limit effort="12.5" lower="-1.2392" upper="0.8727" velocity="8.5085"/>
</joint>
<joint name="knee_to_shin_left" type="fixed">
<origin rpy="0 0 0" xyz="0.060677 0.047406 0"/>
<axis xyz="0 0 1"/>
<parent link="left_knee"/>
<child link="left_shin"/>
<limit effort="0" lower="-0.35" upper="0.35" velocity="10"/>
</joint>
<joint name="shin_to_tarsus_left" type="continuous">
<origin rpy="0 0 1.7976891" xyz="0.434759 0.02 0"/>
<axis xyz="0 0 1"/>
<parent link="left_shin"/>
<child link="left_tarsus"/>
<limit effort="0" lower="-0.8779" upper="1.2497" velocity="20"/>
</joint>
<joint name="toe_pitch_joint_left" type="continuous">
<origin rpy="0 0 1.1956" xyz="0.408 -0.04 0"/>
<axis xyz="0 0 1"/>
<parent link="left_tarsus"/>
<child link="left_toe_pitch"/>
<limit effort="0.9" lower="-0.785398163397" upper="0.785398163397" velocity="11.5"/>
</joint>
<joint name="toe_roll_joint_left" type="continuous">
<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_toe_pitch"/>
<child link="left_toe_roll"/>
<limit effort="0.9" lower="-0.6109" upper="0.6109" velocity="11.5"/>
</joint>
<joint name="shoulder_roll_joint_left" type="continuous">
<origin rpy="-1.57079632679 -1.3962633 1.57079632679" xyz="-0.001 0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_shoulder_roll"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_roll_cap_left" type="fixed">
<origin rpy="-1.57079632679 -1.3962633 1.57079632679" xyz="0.001 0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_shoulder_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_pitch_joint_left" type="continuous">
<origin rpy="1.57079632679 0.785398163397 -0.2792527" xyz="-0.00317 -0.011055 0.0555"/>
<axis xyz="0 0 -1"/>
<parent link="left_shoulder_roll"/>
<child link="left_shoulder_pitch"/>
<limit effort="1.4" lower="-2.5307" upper="2.5307" velocity="12.5"/>
</joint>
<joint name="shoulder_yaw_joint_left" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 -0.165 -0.1"/>
<axis xyz="0 0 1"/>
<parent link="left_shoulder_pitch"/>
<child link="left_shoulder_yaw"/>
<limit effort="1.4" lower="-1.7453" upper="1.7453" velocity="10"/>
</joint>
<joint name="elbow_joint_left" type="continuous">
<origin rpy="1.57079632679 -0.3926991 0" xyz="0 -0.0385 0.185"/>
<axis xyz="0 0 1"/>
<parent link="left_shoulder_yaw"/>
<child link="left_elbow"/>
<limit effort="1.4" lower="-1.3526" upper="1.3526" velocity="12.5"/>
</joint>
<joint name="hip_abduction_right" type="continuous">
<origin rpy="-1.57079632679 -1.1955506 1.57079632679" xyz="-0.001 -0.091 0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_hip_roll"/>
<limit effort="1.4" lower="-1.0472" upper="1.0472" velocity="12.15"/>
</joint>
<joint name="hip_rotation_right" type="continuous">
<origin rpy="0 -1.57079632679 0" xyz="-0.0505 0 0.044"/>
<axis xyz="0 0 1"/>
<parent link="right_hip_roll"/>
<child link="right_hip_yaw"/>
<limit effort="1.4" lower="-0.698132" upper="0.698132" velocity="12.15"/>
</joint>
<joint name="hip_flexion_right" type="continuous">
<origin rpy="1.57079632679 -0.785398163397 -3.14159265359" xyz="0 -0.004 0.068"/>
<axis xyz="0 0 -1"/>
<parent link="right_hip_yaw"/>
<child link="right_hip_pitch"/>
<limit effort="12.5" lower="-1.57079632679" upper="1.0472" velocity="8.5"/>
</joint>
<joint name="knee_joint_right" type="continuous">
<origin rpy="0 0 1.57079632679" xyz="0.12 0 0.0045"/>
<axis xyz="0 0 1"/>
<parent link="right_hip_pitch"/>
<child link="right_knee"/>
<limit effort="12.5" lower="-0.8727" upper="1.2392" velocity="8.5085"/>
</joint>
<joint name="knee_to_shin_right" type="fixed">
<origin rpy="0 0 0" xyz="0.060677 -0.047406 0"/>
<axis xyz="0 0 1"/>
<parent link="right_knee"/>
<child link="right_shin"/>
<limit effort="0" lower="-0.35" upper="0.35" velocity="10"/>
</joint>
<joint name="shin_to_tarsus_right" type="continuous">
<origin rpy="0 0 -1.7976891" xyz="0.434759 -0.02 0"/>
<axis xyz="0 0 1"/>
<parent link="right_shin"/>
<child link="right_tarsus"/>
<limit effort="0" lower="-1.2497" upper="0.8779" velocity="20"/>
</joint>
<joint name="toe_pitch_joint_right" type="continuous">
<origin rpy="0 0 -1.1956" xyz="0.408 0.04 0"/>
<axis xyz="0 0 1"/>
<parent link="right_tarsus"/>
<child link="right_toe_pitch"/>
<limit effort="0.9" lower="-0.785398163397" upper="0.785398163397" velocity="11.5"/>
</joint>
<joint name="toe_roll_joint_right" type="continuous">
<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_toe_pitch"/>
<child link="right_toe_roll"/>
<limit effort="0.9" lower="-0.6109" upper="0.6109" velocity="11.5"/>
</joint>
<joint name="shoulder_roll_joint_right" type="continuous">
<origin rpy="1.57079632679 -1.3962633 -1.57079632679" xyz="-0.001 -0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_shoulder_roll"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_cap_joint_right" type="fixed">
<origin rpy="1.57079632679 -1.3962633 -1.57079632679" xyz="0.001 -0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_shoulder_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="waist_cap_joint_right" type="fixed">
<origin rpy="1.57079632679 1.57 -1.57079632679" xyz="-0.001 -0.09 0.0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_waist_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="waist_cap_joint_left" type="fixed">
<origin rpy="-1.57079632679 1.57 1.57079632679" xyz="-0.001 0.09 0.0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_waist_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_pitch_joint_right" type="continuous">
<origin rpy="-1.57079632679 0.785398163397 0.2792527" xyz="-0.00317 0.011055 0.0555"/>
<axis xyz="0 0 -1"/>
<parent link="right_shoulder_roll"/>
<child link="right_shoulder_pitch"/>
<limit effort="1.4" lower="-2.5307" upper="2.5307" velocity="12.5"/>
</joint>
<joint name="shoulder_yaw_joint_right" type="continuous">
<origin rpy="-1.57079632679 0 0" xyz="0 0.165 -0.1"/>
<axis xyz="0 0 1"/>
<parent link="right_shoulder_pitch"/>
<child link="right_shoulder_yaw"/>
<limit effort="1.4" lower="-1.7453" upper="1.7453" velocity="10"/>
</joint>
<joint name="elbow_joint_right" type="continuous">
<origin rpy="-1.57079632679 -0.3926991 0" xyz="0 0.0385 0.185"/>
<axis xyz="0 0 1"/>
<parent link="right_shoulder_yaw"/>
<child link="right_elbow"/>
<limit effort="1.4" lower="-1.3526" upper="1.3526" velocity="12.5"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config.json | {
"urdf_path": "$(find opendog_description)/urdf/opendog.urdf",
"links": {
"right_hind": [
"rh_hip_link",
"rh_upper_leg_link",
"rh_lower_leg_link",
"rh_foot_link"
],
"right_front": [
"rf_hip_link",
"rf_upper_leg_link",
"rf_lower_leg_link",
"rf_foot_link"
],
"base": "base_link",
"left_hind": [
"lh_hip_link",
"lh_upper_leg_link",
"lh_lower_leg_link",
"lh_foot_link"
],
"left_front": [
"lf_hip_link",
"lf_upper_leg_link",
"lf_lower_leg_link",
"lf_foot_link"
]
},
"joints": {
"right_hind": [
"rh_hip_joint",
"rh_upper_leg_joint",
"rh_lower_leg_joint",
"rh_foot_joint"
],
"right_front": [
"rf_hip_joint",
"rf_upper_leg_joint",
"rf_lower_leg_joint",
"rf_foot_joint"
],
"left_hind": [
"lh_hip_joint",
"lh_upper_leg_joint",
"lh_lower_leg_joint",
"lh_foot_joint"
],
"left_front": [
"lf_hip_joint",
"lf_upper_leg_joint",
"lf_lower_leg_joint",
"lf_foot_joint"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.16,
-0.125,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.07,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.07,
-0.23,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.265,
-0.125,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.07,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.07,
-0.23,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.16,
0.125,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.07,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
-0.07,
-0.23,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
},
"left_front": {
"hip": [
0.265,
0.125,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.07,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
-0.07,
-0.23,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.2,
0.0,
0.0,
0.0
]
}
},
"gait": {
"swing_height": 0.035,
"max_linear_vel_y": 0.25,
"max_linear_vel_x": 0.5,
"nominal_height": 0.35,
"knee_orientation": ">>",
"max_angular_vel_z": 1.0,
"stance_duration": 0.25,
"com_x_translation": -0.05,
"stance_depth": 0.0,
"pantograph_leg": "false",
"odom_scaler": 1.0
}
},
"default_urdf": "False",
"robot_name": "opendog"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(opendog_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/setup.bash | #!/usr/bin/env bash
ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include
bash -i |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>opendog_config</name>
<version>0.1.0</version>
<description>opendog Champ Config Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>champ_base</exec_depend>
</package> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch opendog_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch opendog_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch opendog_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd opendog_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch opendog_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch opendog_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch opendog_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="base_frame" default="base_link"/> <!-- Link name of floating base. Do not touch this. -->
<arg name="joints_map_file" default="$(find opendog_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find opendog_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find opendog_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find opendog_description)/urdf/opendog.urdf"/> <!-- Path to URDF file Do not touch this. -->
<arg name="gazebo" default="false" /> <!-- Set to true during simulation. This is auto-set to true from gazebo.launch. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="rviz_ref_frame" default="odom"/> <!-- Default RVIZ reference frame. -->
<arg name="has_imu" default="true" /> <!-- Set to true if you want to visualize robot but there's no IMU. Only useful for microcontrollers. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="close_loop_odom" default="false" /> <!-- Set to true if you want to calculate odometry using close loop. This is auto-set to true from gazebo.launch. -->
<arg name="publish_foot_contacts" default="true" /> <!-- Set to true if you want the controller to publish the foot contact states. This is auto-set to false from gazebo.launch. -->
<arg name="publish_joint_control" default="true" /> <!-- Set to true if you want the controller to publish the joint_states topic. This is auto-set to false from gazebo.launch. -->
<arg name="laser" default="sim"/> <!-- Set to the 2D LIDAR you're using. See https://github.com/chvmp/champ/tree/master/champ_bringup/launch/include/laser .-->
<arg name="joint_controller_topic" default="joint_group_position_controller/command" /> <!-- Change to remap command topic for actuator controller (ROS control). -->
<arg name="hardware_connected" default="false" /> <!-- Flag useful to launch hardware connected launch files. This auto disables publishing joint_states. -->
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<include file="$(find champ_bringup)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="joints_map_file" value="$(arg joints_map_file)"/>
<arg name="links_map_file" value="$(arg links_map_file)"/>
<arg name="gait_config_file" value="$(arg gait_config_file)"/>
<arg name="description_file" value="$(arg description_file)"/>
<arg name="has_imu" value="$(arg has_imu)"/>
<arg name="gazebo" value="$(arg gazebo)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="laser" value="$(arg laser)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_ref_frame" value="$(arg frame_prefix)$(arg rviz_ref_frame)"/>
<arg name="joint_controller_topic" value="$(arg joint_controller_topic)" />
<arg name="hardware_connected" value="$(arg hardware_connected)" />
<arg name="publish_foot_contacts" value="$(arg publish_foot_contacts)" />
<arg name="publish_joint_control" value="$(arg publish_joint_control)" />
<arg name="close_loop_odom" value="$(arg close_loop_odom)" />
</include>
<group if="$(arg hardware_connected)">
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 $(arg frame_prefix)base_link $(arg frame_prefix)laser" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0 0 0 0 $(arg frame_prefix)base_link $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<!-- Map server -->
<arg name="map_file" default="$(find opendog_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" >
<param name="frame_id" value="$(arg frame_prefix)map" />
</node>
<!-- AMCL used for localization -->
<include file="$(find opendog_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find opendog_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find opendog_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find opendog_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find opendog_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/gazebo.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="gazebo_world" value="$(arg gazebo_world)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/slam.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<include file="$(find opendog_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find opendog_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find opendog_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find opendog_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find opendog_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/spawn_robot.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/include/gmapping.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="$(arg frame_prefix)base_footprint" />
<param name="odom_frame" value="$(arg frame_prefix)odom" />
<param name="map_frame" value="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(arg frame_prefix)base_footprint"/>
<param name="odom_frame_id" value="$(arg frame_prefix)odom"/>
<param name="global_frame_id" value="$(arg frame_prefix)map"/>
<param name="transform_broadcast" value="true"/>
<param name="gui_publish_rate" value="10.0"/> <!-- Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable. -->
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_model_type" value="likelihood_field_prob"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="max_particles" value="2000"/>
<param name="min_particles" value="500"/>
<param name="odom_alpha1" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha2" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
<param name="odom_alpha3" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
<param name="odom_alpha4" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha5" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_model_type" value="omni"/>
<param name="recovery_alpha_slow" value="0.001"/> <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
<param name="recovery_alpha_fast" value="0.1"/> <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
<param name="resample_interval" value="1"/> <!-- Number of filter updates required before resampling. -->
<param name="transform_tolerance" value="1.25"/> <!-- Default 0.1; time with which to post-date the transform that is published, to indicate that this transform is valid into the future. -->
<param name="update_min_a" value="0.2"/> <!-- Rotational movement required before performing a filter update. 0.1 represents 5.7 degrees -->
<param name="update_min_d" value="0.2"/> <!-- Translational movement required before performing a filter update. -->
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/launch/include/move_base.launch | <launch>
<arg name="frame_prefix" default=""/>
<arg name="robot_name" default=""/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find opendog_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find opendog_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find opendog_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find opendog_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find opendog_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find opendog_config)/config/move_base/move_base_params.yaml" command="load" />
<!-- explicitly define frame ids for movebase -->
<param name="global_costmap/global_frame" value="$(arg frame_prefix)map"/>
<param name="global_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="global_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="global_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
<param name="local_costmap/global_frame" value="$(arg frame_prefix)odom"/>
<param name="local_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="local_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="local_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.265, 0.125, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.07, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, -0.07, -0.23, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.265, -0.125, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.07, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.07, -0.23, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.16, 0.125, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.07, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, -0.07, -0.23, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.16, -0.125, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.07, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.0, 0.0, -0.2, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.07, -0.23, 0.0, 0.0, 0.0);
}
}
}
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.15
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION -0.05
#define SWING_HEIGHT 0.035
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.35
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/links/links.yaml | base: base_link
left_front:
- lf_hip_link
- lf_upper_leg_link
- lf_lower_leg_link
- lf_foot_link
right_front:
- rf_hip_link
- rf_upper_leg_link
- rf_lower_leg_link
- rf_foot_link
left_hind:
- lh_hip_link
- lh_upper_leg_link
- lh_lower_leg_link
- lh_foot_link
right_hind:
- rh_hip_link
- rh_upper_leg_link
- rh_lower_leg_link
- rh_foot_link |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- lf_hip_joint
- lf_upper_leg_joint
- lf_lower_leg_joint
- rf_hip_joint
- rf_upper_leg_joint
- rf_lower_leg_joint
- lh_hip_joint
- lh_upper_leg_joint
- lh_lower_leg_joint
- rh_hip_joint
- rh_upper_leg_joint
- rh_lower_leg_joint
gains:
lf_hip_joint : {p: 180, d: 0.9, i: 20}
lf_upper_leg_joint : {p: 180, d: 0.9, i: 20}
lf_lower_leg_joint : {p: 180, d: 0.9, i: 20}
rf_hip_joint : {p: 180, d: 0.9, i: 20}
rf_upper_leg_joint : {p: 180, d: 0.9, i: 20}
rf_lower_leg_joint : {p: 180, d: 0.9, i: 20}
lh_hip_joint : {p: 180, d: 0.9, i: 20}
lh_upper_leg_joint : {p: 180, d: 0.9, i: 20}
lh_lower_leg_joint : {p: 180, d: 0.9, i: 20}
rh_hip_joint : {p: 180, d: 0.9, i: 20}
rh_upper_leg_joint : {p: 180, d: 0.9, i: 20}
rh_lower_leg_joint : {p: 180, d: 0.9, i: 20}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : -0.05
swing_height : 0.035
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.28 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/joints/joints.yaml | left_front:
- lf_hip_joint
- lf_upper_leg_joint
- lf_lower_leg_joint
- lf_foot_joint
right_front:
- rf_hip_joint
- rf_upper_leg_joint
- rf_lower_leg_joint
- rf_foot_joint
left_hind:
- lh_hip_joint
- lh_upper_leg_joint
- lh_lower_leg_joint
- lh_foot_joint
right_hind:
- rh_hip_joint
- rh_upper_leg_joint
- rh_lower_leg_joint
- rh_foot_joint |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 0.5
min_vel_x: -0.025
max_vel_x: 0.5
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 1.7
acc_lim_x: 1.7
acc_lim_y: 0.0
acc_lim_theta: 3
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config.json | {
"urdf_path": "$(find spot_description)/urdf/spot.urdf",
"links": {
"right_hind": [
"rear_right_hip",
"rear_right_upper_leg",
"rear_right_lower_leg",
"rear_right_ee"
],
"right_front": [
"front_right_hip",
"front_right_upper_leg",
"front_right_lower_leg",
"front_right_ee"
],
"base": "body",
"left_hind": [
"rear_left_hip",
"rear_left_upper_leg",
"rear_left_lower_leg",
"rear_left_ee"
],
"left_front": [
"front_left_hip",
"front_left_upper_leg",
"front_left_lower_leg",
"front_left_ee"
]
},
"joints": {
"right_hind": [
"rear_right_hip_x",
"rear_right_hip_y",
"rear_right_knee",
"rear_right_foot"
],
"right_front": [
"front_right_hip_x",
"front_right_hip_y",
"front_right_knee",
"front_right_foot"
],
"left_hind": [
"rear_left_hip_x",
"rear_left_hip_y",
"rear_left_knee",
"rear_left_foot"
],
"left_front": [
"front_left_hip_x",
"front_left_hip_y",
"front_left_knee",
"front_left_foot"
]
},
"firmware": {
"transforms": {
"right_hind": {
"hip": [
-0.29785,
-0.055,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.110945,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.37,
0.0,
0.0,
0.0
],
"lower_leg": [
0.025,
0.0,
-0.3205,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.29785,
-0.055,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.110945,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.37,
0.0,
0.0,
0.0
],
"lower_leg": [
0.025,
0.0,
-0.3205,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.29785,
0.055,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.110945,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.37,
0.0,
0.0,
0.0
],
"lower_leg": [
0.025,
0.0,
-0.3205,
0.0,
0.0,
0.0
]
},
"left_front": {
"hip": [
0.29785,
0.055,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.110945,
-0.0,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.37,
0.0,
0.0,
0.0
],
"lower_leg": [
0.025,
0.0,
-0.3205,
0.0,
0.0,
0.0
]
}
},
"gait": {
"max_linear_vel_y": 0.25,
"max_linear_vel_x": 0.5,
"nominal_height": 0.4,
"stance_depth": 0.0,
"swing_height": 0.04,
"knee_orientation": ">>",
"odom_scaler": 1.0,
"stance_duration": 0.25,
"pantograph_leg": "false",
"com_x_translation": 0.0,
"max_angular_vel_z": 1.0
}
},
"default_urdf": "False",
"robot_name": "spot"
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(spot_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package()
install(DIRECTORY config launch maps worlds
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/setup.bash | #!/usr/bin/env bash
ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include
bash -i |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>spot_config</name>
<version>0.1.0</version>
<description>spot Champ Config Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>champ_base</exec_depend>
</package> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch spot_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch spot_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch spot_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd spot_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch spot_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch spot_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch spot_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="base_frame" default="body"/> <!-- Link name of floating base. Do not touch this. -->
<arg name="joints_map_file" default="$(find spot_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find spot_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find spot_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find spot_description)/urdf/spot.urdf"/> <!-- Path to URDF file Do not touch this. -->
<arg name="gazebo" default="false" /> <!-- Set to true during simulation. This is auto-set to true from gazebo.launch. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="rviz_ref_frame" default="odom"/> <!-- Default RVIZ reference frame. -->
<arg name="has_imu" default="true" /> <!-- Set to true if you want to visualize robot but there's no IMU. Only useful for microcontrollers. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="close_loop_odom" default="false" /> <!-- Set to true if you want to calculate odometry using close loop. This is auto-set to true from gazebo.launch. -->
<arg name="publish_foot_contacts" default="true" /> <!-- Set to true if you want the controller to publish the foot contact states. This is auto-set to false from gazebo.launch. -->
<arg name="publish_joint_control" default="true" /> <!-- Set to true if you want the controller to publish the joint_states topic. This is auto-set to false from gazebo.launch. -->
<arg name="laser" default="sim"/> <!-- Set to the 2D LIDAR you're using. See https://github.com/chvmp/champ/tree/master/champ_bringup/launch/include/laser .-->
<arg name="joint_controller_topic" default="joint_group_position_controller/command" /> <!-- Change to remap command topic for actuator controller (ROS control). -->
<arg name="hardware_connected" default="false" /> <!-- Flag useful to launch hardware connected launch files. This auto disables publishing joint_states. -->
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<include file="$(find champ_bringup)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="joints_map_file" value="$(arg joints_map_file)"/>
<arg name="links_map_file" value="$(arg links_map_file)"/>
<arg name="gait_config_file" value="$(arg gait_config_file)"/>
<arg name="description_file" value="$(arg description_file)"/>
<arg name="has_imu" value="$(arg has_imu)"/>
<arg name="gazebo" value="$(arg gazebo)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="laser" value="$(arg laser)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_ref_frame" value="$(arg frame_prefix)$(arg rviz_ref_frame)"/>
<arg name="joint_controller_topic" value="$(arg joint_controller_topic)" />
<arg name="hardware_connected" value="$(arg hardware_connected)" />
<arg name="publish_foot_contacts" value="$(arg publish_foot_contacts)" />
<arg name="publish_joint_control" value="$(arg publish_joint_control)" />
<arg name="close_loop_odom" value="$(arg close_loop_odom)" />
</include>
<group if="$(arg hardware_connected)">
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 $(arg frame_prefix)body $(arg frame_prefix)laser" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0 0 0 0 $(arg frame_prefix)body $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<!-- Map server -->
<arg name="map_file" default="$(find spot_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" >
<param name="frame_id" value="$(arg frame_prefix)map" />
</node>
<!-- AMCL used for localization -->
<include file="$(find spot_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find spot_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find spot_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find spot_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find spot_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/gazebo.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="gazebo_world" value="$(arg gazebo_world)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/slam.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<include file="$(find spot_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find spot_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/spawn_robot.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find spot_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find spot_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find spot_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/spawn_robot.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/include/gmapping.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="$(arg frame_prefix)base_footprint" />
<param name="odom_frame" value="$(arg frame_prefix)odom" />
<param name="map_frame" value="/$(arg frame_prefix)map" />
<param name="map_update_interval" value="15.0"/>
<param name="maxUrange" value="5.0"/>
<param name="minRange" value="-0.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.7"/>
<param name="angularUpdate" value="0.7"/>
<param name="temporalUpdate" value="-0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.05"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="transform_publish_period" value="0.1"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/include/amcl.launch | <launch>
<arg name="frame_prefix" default=""/>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="initial_pose_a" value="0.0"/>
<param name="use_map_topic" value="true"/>
<param name="base_frame_id" value="$(arg frame_prefix)base_footprint"/>
<param name="odom_frame_id" value="$(arg frame_prefix)odom"/>
<param name="global_frame_id" value="$(arg frame_prefix)map"/>
<param name="transform_broadcast" value="true"/>
<param name="gui_publish_rate" value="10.0"/> <!-- Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable. -->
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_model_type" value="likelihood_field_prob"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="max_particles" value="2000"/>
<param name="min_particles" value="500"/>
<param name="odom_alpha1" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha2" value="0.5"/> <!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
<param name="odom_alpha3" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
<param name="odom_alpha4" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_alpha5" value="0.5"/> <!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
<param name="odom_model_type" value="omni"/>
<param name="recovery_alpha_slow" value="0.001"/> <!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
<param name="recovery_alpha_fast" value="0.1"/> <!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
<param name="resample_interval" value="1"/> <!-- Number of filter updates required before resampling. -->
<param name="transform_tolerance" value="1.25"/> <!-- Default 0.1; time with which to post-date the transform that is published, to indicate that this transform is valid into the future. -->
<param name="update_min_a" value="0.2"/> <!-- Rotational movement required before performing a filter update. 0.1 represents 5.7 degrees -->
<param name="update_min_d" value="0.2"/> <!-- Translational movement required before performing a filter update. -->
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/launch/include/move_base.launch | <launch>
<arg name="frame_prefix" default=""/>
<arg name="robot_name" default=""/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find spot_config)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find spot_config)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find spot_config)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find spot_config)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find spot_config)/config/move_base/base_local_planner_holonomic_params.yaml" command="load" />
<rosparam file="$(find spot_config)/config/move_base/move_base_params.yaml" command="load" />
<!-- explicitly define frame ids for movebase -->
<param name="global_costmap/global_frame" value="$(arg frame_prefix)map"/>
<param name="global_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="global_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="global_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
<param name="local_costmap/global_frame" value="$(arg frame_prefix)odom"/>
<param name="local_costmap/robot_base_frame" value="$(arg frame_prefix)base_footprint"/>
<param name="local_costmap/2d_obstacles_layer/scan/topic" value="$(arg robot_name)scan"/>
<param name="local_costmap/3d_obstacles_layer/depth/topic" value="$(arg robot_name)camera/depth/points"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/maps/map.yaml | image: map.pgm
resolution: 0.050000
origin: [-50.000000, -50.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/include/quadruped_description.h | #ifndef QUADRUPED_DESCRIPTION_H
#define QUADRUPED_DESCRIPTION_H
#include <quadruped_base/quadruped_base.h>
namespace champ
{
namespace URDF
{
void loadFromHeader(champ::QuadrupedBase &base)
{
base.lf.hip.setOrigin(0.29785, 0.055, 0.0, 0.0, 0.0, 0.0);
base.lf.upper_leg.setOrigin(0.0, 0.110945, -0.0, 0.0, 0.0, 0.0);
base.lf.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.lf.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
base.rf.hip.setOrigin(0.29785, -0.055, 0.0, 0.0, 0.0, 0.0);
base.rf.upper_leg.setOrigin(0.0, -0.110945, -0.0, 0.0, 0.0, 0.0);
base.rf.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.rf.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
base.lh.hip.setOrigin(-0.29785, 0.055, 0.0, 0.0, 0.0, 0.0);
base.lh.upper_leg.setOrigin(0.0, 0.110945, -0.0, 0.0, 0.0, 0.0);
base.lh.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.lh.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
base.rh.hip.setOrigin(-0.29785, -0.055, 0.0, 0.0, 0.0, 0.0);
base.rh.upper_leg.setOrigin(0.0, -0.110945, -0.0, 0.0, 0.0, 0.0);
base.rh.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0);
base.rh.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0);
}
}
}
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/include/hardware_config.h | #ifndef HARDWARE_CONFIG_H
#define HARDWARE_CONFIG_H
#define USE_SIMULATION_ACTUATOR
// #define USE_DYNAMIXEL_ACTUATOR
// #define USE_SERVO_ACTUATOR
// #define USE_BRUSHLESS_ACTUATOR
#define USE_SIMULATION_IMU
// #define USE_BNO0809DOF_IMU
#define USE_ROS
// #define USE_ROS_RF
#ifdef USE_ROS_RF
#define ELE_PIN 16
#define AIL_PIN 21
#define RUD_PIN 17
#define THR_PIN 20
#define AUX1_PIN 22
#define AUX2_PIN 23
#define RF_INV_LX false
#define RF_INV_LY false
#define RF_INV_AZ false
#define RF_INV_ROLL true
#define RF_INV_PITCH false
#define RF_INV_YAW false
#endif
#ifdef USE_DYNAMIXEL_ACTUATOR
#define LFH_SERVO_ID 16
#define LFU_SERVO_ID 17
#define LFL_SERVO_ID 18
#define RFH_SERVO_ID 14
#define RFU_SERVO_ID 7
#define RFL_SERVO_ID 4
#define LHH_SERVO_ID 2
#define LHU_SERVO_ID 11
#define LHL_SERVO_ID 12
#define RHH_SERVO_ID 6
#define RHU_SERVO_ID 5
#define RHL_SERVO_ID 8
#define LFH_INV false
#define LFU_INV false
#define LFL_INV true
#define RFH_INV false
#define RFU_INV true
#define RFL_INV false
#define LHH_INV false
#define LHU_INV false
#define LHL_INV true
#define RHH_INV false
#define RHU_INV true
#define RHL_INV false
#endif
#ifdef USE_SERVO_ACTUATOR
#define LFH_PIN 8
#define LFU_PIN 7
#define LFL_PIN 6
#define RFH_PIN 14
#define RFU_PIN 16
#define RFL_PIN 17
#define LHH_PIN 4
#define LHU_PIN 3
#define LHL_PIN 2
#define RHH_PIN 21
#define RHU_PIN 22
#define RHL_PIN 23
#define LFH_OFFSET 0
#define LFU_OFFSET 0
#define LFL_OFFSET 0
#define RFH_OFFSET 0
#define RFU_OFFSET 0
#define RFL_OFFSET 0
#define LHH_OFFSET 0
#define LHU_OFFSET 0
#define LHL_OFFSET 3
#define RHH_OFFSET 0
#define RHU_OFFSET 0
#define RHL_OFFSET 0
#define LFH_INV false
#define LFU_INV false
#define LFL_INV false
#define RFH_INV false
#define RFU_INV true
#define RFL_INV true
#define LHH_INV true
#define LHU_INV false
#define LHL_INV false
#define RHH_INV true
#define RHU_INV true
#define RHL_INV true
#endif
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/include/gait_config.h | #ifndef GAIT_CONFIG_H
#define GAIT_CONFIG_H
#define KNEE_ORIENTATION ">>"
#define PANTOGRAPH_LEG false
#define ODOM_SCALER 1.0
#define MAX_LINEAR_VELOCITY_X 0.5
#define MAX_LINEAR_VELOCITY_Y 0.25
#define MAX_ANGULAR_VELOCITY_Z 1.0
#define COM_X_TRANSLATION 0.0
#define SWING_HEIGHT 0.04
#define STANCE_DEPTH 0.0
#define STANCE_DURATION 0.25
#define NOMINAL_HEIGHT 0.4
#endif |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/links/links.yaml | base: body
left_front:
- front_left_hip
- front_left_upper_leg
- front_left_lower_leg
- front_left_ee
right_front:
- front_right_hip
- front_right_upper_leg
- front_right_lower_leg
- front_right_ee
left_hind:
- rear_left_hip
- rear_left_upper_leg
- rear_left_lower_leg
- rear_left_ee
right_hind:
- rear_right_hip
- rear_right_upper_leg
- rear_right_lower_leg
- rear_right_ee |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/ros_control/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- front_left_hip_x
- front_left_hip_y
- front_left_knee
- front_right_hip_x
- front_right_hip_y
- front_right_knee
- rear_left_hip_x
- rear_left_hip_y
- rear_left_knee
- rear_right_hip_x
- rear_right_hip_y
- rear_right_knee
gains:
front_left_hip_x : {p: 600, i: 0.9, d: 20}
front_left_hip_y : {p: 600, i: 0.9, d: 20}
front_left_knee : {p: 600, i: 0.9, d: 20}
front_right_hip_x : {p: 600, i: 0.9, d: 20}
front_right_hip_y : {p: 600, i: 0.9, d: 20}
front_right_knee : {p: 600, i: 0.9, d: 20}
rear_left_hip_x : {p: 600, i: 0.9, d: 20}
rear_left_hip_y : {p: 600, i: 0.9, d: 20}
rear_left_knee : {p: 600, i: 0.9, d: 20}
rear_right_hip_x : {p: 600, i: 0.9, d: 20}
rear_right_hip_y : {p: 600, i: 0.9, d: 20}
rear_right_knee : {p: 600, i: 0.9, d: 20}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/gait/gait.yaml | knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 1.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : -0.05
swing_height : 0.06
stance_depth : -0.01
stance_duration : 0.4
nominal_height : 0.48 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/joints/joints.yaml | left_front:
- front_left_hip_x
- front_left_hip_y
- front_left_knee
- front_left_foot
right_front:
- front_right_hip_x
- front_right_hip_y
- front_right_knee
- front_right_foot
left_hind:
- rear_left_hip_x
- rear_left_hip_y
- rear_left_knee
- rear_left_foot
right_hind:
- rear_right_hip_x
- rear_right_hip_y
- rear_right_knee
- rear_right_foot |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/costmap_common_params.yaml | obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]]
transform_tolerance: 0.5
resolution: 0.05
static_map_layer:
map_topic: map
subscribe_to_updates: true
2d_obstacles_layer:
observation_sources: scan
scan: {data_type: LaserScan,
topic: scan,
marking: true,
clearing: true}
3d_obstacles_layer:
observation_sources: depth
depth: {data_type: PointCloud2,
topic: camera/depth/points,
min_obstacle_height: 0.1,
marking: true,
clearing: true}
inflation_layer:
inflation_radius: 2.0 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/base_local_planner_holonomic_params.yaml | DWAPlannerROS:
#http://wiki.ros.org/dwa_local_planner
min_vel_trans: 0.01
max_vel_trans: 1.0
min_vel_x: -0.025
max_vel_x: 1.0
min_vel_y: 0.0
max_vel_y: 0.0
max_vel_rot: 1.0
min_vel_rot: -1.0
acc_lim_trans: 3.0
acc_lim_x: 3.0
acc_lim_y: 0.0
acc_lim_theta: 5
trans_stopped_vel: 0.1
theta_stopped_vel: 0.1
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.34
sim_time: 3.5
sim_granularity: 0.1
vx_samples: 20
vy_samples: 0
vth_samples: 40
path_distance_bias: 34.0
goal_distance_bias: 24.0
occdist_scale: 0.05
forward_point_distance: 0.2
stop_time_buffer: 0.5
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.05
use_dwa: true
prune_plan: false
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/move_base_params.yaml | base_global_planner: global_planner/GlobalPlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 0.5
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.1 |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/global_costmap_params.yaml | global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
cost_scaling_factor: 10.0
plugins:
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/move_base/local_costmap_params.yaml | local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.5
height: 2.5
cost_scaling_factor: 5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}
|
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config.json | {
"robot_name": "stochlite",
"default_urdf": "False",
"urdf_path": "$(find stochlite_description)/urdf/stochlite.urdf",
"links": {
"base": "base_link",
"left_front": [
"fl_abd_link",
"fl_thigh_link",
"fl_shank_link",
"fl_toe_link"
],
"right_front": [
"fr_abd_link",
"fr_thigh_link",
"fr_shank_link",
"fr_toe_link"
],
"left_hind": [
"bl_abd_link",
"bl_thigh_link",
"bl_shank_link",
"bl_toe_link"
],
"right_hind": [
"br_abd_link",
"br_thigh_link",
"br_shank_link",
"br_toe_link"
]
},
"joints": {
"left_front": [
"fl_abd_joint",
"fl_hip_joint",
"fl_knee_joint",
"fl_toe_joint"
],
"right_front": [
"fr_abd_joint",
"fr_hip_joint",
"fr_knee_joint",
"fr_toe_joint"
],
"left_hind": [
"bl_abd_joint",
"bl_hip_joint",
"bl_knee_joint",
"bl_toe_joint"
],
"right_hind": [
"br_abd_joint",
"br_hip_joint",
"br_knee_joint",
"br_toe_joint"
]
},
"firmware": {
"transforms": {
"left_front": {
"hip": [
0.16695,
0.0956,
-0.0050001,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.052019,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.023481,
-0.146,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.023481,
-0.169,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.16695,
-0.0964,
-0.0049999,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.052019,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
-0.023481,
-0.146,
0.0,
0.0,
0.0
],
"foot": [
0.0,
-0.023481,
-0.169,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.16695,
0.0956,
-0.0049999,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.052019,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.023481,
-0.146,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.023481,
-0.169,
0.0,
0.0,
0.0
]
},
"right_hind": {
"hip": [
-0.16695,
-0.0964,
-0.0050001,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.052019,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
-0.023481,
-0.146,
0.0,
0.0,
0.0
],
"foot": [
0.0,
-0.023481,
-0.169,
0.0,
0.0,
0.0
]
}
},
"gait": {
"knee_orientation": "><",
"odom_scaler": 1.0,
"max_linear_vel_x": 0.4,
"max_linear_vel_y": 0.25,
"max_angular_vel_z": 1.0,
"stance_duration": 0.25,
"com_x_translation": 0.0,
"swing_height": 0.04,
"stance_depth": 0.0,
"nominal_height": 0.23,
"pantograph_leg": "false"
}
}
} |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(stochlite_config)
find_package(catkin REQUIRED COMPONENTS)
catkin_package() |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/setup.bash | #!/usr/bin/env bash
ROBOT_CONFIG_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
export CHAMP_ROBOT_CONFIG_DIR=$ROBOT_CONFIG_DIR/include
bash -i |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/package.xml | <?xml version="1.0"?>
<package format="2">
<name>stochlite_config</name>
<version>0.1.0</version>
<description>stochlite Champ Config Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>champ_base</exec_depend>
</package> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/README.md |
## 1. Quick Start
You don't need a physical robot to run the following demos.
### 1.1. Walking demo in RVIZ:
#### 1.1.1. Run the base driver:
roslaunch stochlite_config bringup.launch rviz:=true
#### 1.1.2. Run the teleop node:
roslaunch champ_teleop teleop.launch
If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
### 1.2. SLAM demo:
#### 1.2.1. Run the Gazebo environment:
roslaunch stochlite_config gazebo.launch
#### 1.2.2. Run gmapping package and move_base:
roslaunch stochlite_config slam.launch rviz:=true
To start mapping:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
- Save the map by running:
roscd stochlite_config/maps
rosrun map_server map_saver
### 1.3. Autonomous Navigation:
#### 1.3.1. Run the Gazebo environment:
roslaunch stochlite_config gazebo.launch
#### 1.3.2. Run amcl and move_base:
roslaunch stochlite_config navigate.launch rviz:=true
To navigate:
- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.
#### 1.4.1 Spawning multiple robots in Gazebo
Run Gazebo and default simulation world:
roslaunch champ_gazebo spawn_world.launch
You can also load your own world file by passing your world's path to 'gazebo_world' argument:
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>
Spawning a robot:
roslaunch stochlite_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.
---
:exclamation: *This is not an official product from the robot's company/author.* |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/launch/bringup.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="base_frame" default="base_link"/> <!-- Link name of floating base. Do not touch this. -->
<arg name="joints_map_file" default="$(find stochlite_config)/config/joints/joints.yaml"/> <!--Path to list of joint names. Do not touch this. -->
<arg name="links_map_file" default="$(find stochlite_config)/config/links/links.yaml"/> <!-- Path to list of link names. Do not touch this. -->
<arg name="gait_config_file" default="$(find stochlite_config)/config/gait/gait.yaml"/> <!-- Path to gait parameters. Do not touch this. -->
<arg name="description_file" default="$(find stochlite_description)/urdf/stochlite.urdf"/> <!-- Path to URDF file Do not touch this. -->
<arg name="gazebo" default="false" /> <!-- Set to true during simulation. This is auto-set to true from gazebo.launch. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="rviz_ref_frame" default="odom"/> <!-- Default RVIZ reference frame. -->
<arg name="has_imu" default="true" /> <!-- Set to true if you want to visualize robot but there's no IMU. Only useful for microcontrollers. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="close_loop_odom" default="false" /> <!-- Set to true if you want to calculate odometry using close loop. This is auto-set to true from gazebo.launch. -->
<arg name="publish_foot_contacts" default="true" /> <!-- Set to true if you want the controller to publish the foot contact states. This is auto-set to false from gazebo.launch. -->
<arg name="publish_joint_control" default="true" /> <!-- Set to true if you want the controller to publish the joint_states topic. This is auto-set to false from gazebo.launch. -->
<arg name="laser" default="sim"/> <!-- Set to the 2D LIDAR you're using. See https://github.com/chvmp/champ/tree/master/champ_bringup/launch/include/laser .-->
<arg name="joint_controller_topic" default="joint_group_position_controller/command" /> <!-- Change to remap command topic for actuator controller (ROS control). -->
<arg name="hardware_connected" default="false" /> <!-- Flag useful to launch hardware connected launch files. This auto disables publishing joint_states. -->
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<include file="$(find champ_bringup)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="joints_map_file" value="$(arg joints_map_file)"/>
<arg name="links_map_file" value="$(arg links_map_file)"/>
<arg name="gait_config_file" value="$(arg gait_config_file)"/>
<arg name="description_file" value="$(arg description_file)"/>
<arg name="has_imu" value="$(arg has_imu)"/>
<arg name="gazebo" value="$(arg gazebo)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="laser" value="$(arg laser)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="rviz_ref_frame" value="$(arg frame_prefix)$(arg rviz_ref_frame)"/>
<arg name="joint_controller_topic" value="$(arg joint_controller_topic)" />
<arg name="hardware_connected" value="$(arg hardware_connected)" />
<arg name="publish_foot_contacts" value="$(arg publish_foot_contacts)" />
<arg name="publish_joint_control" value="$(arg publish_joint_control)" />
<arg name="close_loop_odom" value="$(arg close_loop_odom)" />
</include>
<group if="$(arg hardware_connected)">
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 $(arg frame_prefix)base_link $(arg frame_prefix)laser" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0 0 0 0 $(arg frame_prefix)base_link $(arg frame_prefix)imu_link" />
<!-- include your hardware launch file here -->
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/launch/navigate.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<!-- Map server -->
<arg name="map_file" default="$(find stochlite_config)/maps/map.yaml"/>
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)" >
<param name="frame_id" value="$(arg frame_prefix)map" />
</node>
<!-- AMCL used for localization -->
<include file="$(find stochlite_config)/launch/include/amcl.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack -->
<include file="$(find stochlite_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/launch/gazebo.launch | <launch>
<arg name="robot_name" default="/"/> <!-- Change this for namespacing. -->
<arg name="rviz" default="false"/> <!-- Set to true to run rviz in parallel. -->
<arg name="lite" default="false" /> <!-- Set to true if you're using CHAMP lite version. Only useful for microcontrollers. -->
<arg name="ros_control_file" default="$(find stochlite_config)/config/ros_control/ros_control.yaml" /> <!-- Path to ROS Control configurations. Do not touch. -->
<arg name="gazebo_world" default="$(find stochlite_config)/worlds/outdoor.world" /> <!-- Path to Gazebo world you want to load. -->
<arg name="gui" default="true"/>
<arg name="world_init_x" default="0.0" /> <!-- X Initial position of the robot in Gazebo World -->
<arg name="world_init_y" default="0.0" /> <!-- Y Initial position of the robot in Gazebo World -->
<arg name="world_init_heading" default="0.0" /> <!-- Initial heading of the robot in Gazebo World -->
<param name="use_sim_time" value="true" />
<include file="$(find stochlite_config)/launch/bringup.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="gazebo" value="true"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="rviz" value="$(arg rviz)"/>
<arg name="joint_controller_topic" value="joint_group_position_controller/command"/>
<arg name="hardware_connected" value="false"/>
<arg name="publish_foot_contacts" value="false"/>
<arg name="close_loop_odom" value="true"/>
</include>
<include file="$(find champ_gazebo)/launch/gazebo.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="lite" value="$(arg lite)"/>
<arg name="ros_control_file" value="$(arg ros_control_file)"/>
<arg name="gazebo_world" value="$(arg gazebo_world)"/>
<arg name="world_init_x" value="$(arg world_init_x)" />
<arg name="world_init_y" value="$(arg world_init_y)" />
<arg name="world_init_heading" value="$(arg world_init_heading)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch> |
renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/launch/slam.launch | <launch>
<arg name="robot_name" default="/"/>
<arg name="rviz" default="false"/>
<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
<group ns="$(arg robot_name)">
<include file="$(find stochlite_config)/launch/include/gmapping.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
</include>
<!-- Calls navigation stack packages -->
<include file="$(find stochlite_config)/launch/include/move_base.launch">
<arg name="frame_prefix" value="$(arg frame_prefix)"/>
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
output="screen"/>
</group>
</launch> |
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