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add zeroth01 urdf and 3d model and train env and task #39

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ff12b37
--add urdf and train env task
uiqeq May 27, 2025
1eeba2b
--add zeroth01 meshes
uiqeq May 27, 2025
a7e8a9c
Update README.md
uiqeq123 May 27, 2025
ee4f784
--fix import
uiqeq May 27, 2025
f01b058
Merge remote-tracking branch 'origin/master'
uiqeq May 27, 2025
dead89b
--fix import
uiqeq May 27, 2025
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5 changes: 5 additions & 0 deletions 3d_model/README.md
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1.this solidwork 3d-model based on onshape https://cad.onshape.com/documents/b4672a7f8ce3947bd250f2c1/w/ff02744612b3ad395d4541a6/e/6e9a04dde965d2dab1a3d9af

2.I modify only add coordinate system and rotary joint, in order 3d-model transform to urdf by solidworks to urdf so easy.

3.solidworks to urdf utils https://wiki.ros.org/sw_urdf_exporter
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3 changes: 3 additions & 0 deletions 3d_model/urdf-for-zeroth01/README.md
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open url https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/
add zeroth to page
can dispplay in browser
14 changes: 14 additions & 0 deletions 3d_model/urdf-for-zeroth01/zeroth/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)

project(zeroth)

find_package(catkin REQUIRED)

catkin_package()

find_package(roslaunch)

foreach(dir config launch meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
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controller_joint_names: ['', 'right_hip_pitch', 'right_hip_yaw', 'right_hip_roll', 'right_knee_pitch', 'right_ankle_pitch', 'left_hip_pitch', 'left_hip_yaw', 'left_hip_roll', 'left_knee_pitch', 'left_ankle_pitch', ]
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20 changes: 20 additions & 0 deletions 3d_model/urdf-for-zeroth01/zeroth/launch/display.launch
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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find zeroth)/urdf/zeroth.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find zeroth)/urdf.rviz" />
</launch>
20 changes: 20 additions & 0 deletions 3d_model/urdf-for-zeroth01/zeroth/launch/gazebo.launch
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<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find zeroth)/urdf/zeroth.urdf -urdf -model zeroth"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>
21 changes: 21 additions & 0 deletions 3d_model/urdf-for-zeroth01/zeroth/package.xml
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<package format="2">
<name>zeroth</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for zeroth</p>
<p>This package contains configuration data, 3D models and launch files
for zeroth robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>
18 changes: 18 additions & 0 deletions 3d_model/urdf-for-zeroth01/zeroth/urdf/zeroth.csv
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,0.01073,0.00074718,0.074998,0,0,0,0.90871,0.0021088,4.1125E-06,-0.00013101,0.0011389,1.0735E-05,0.0014787,0,0,0,0,0,0,package://zeroth/meshes/base_link.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/base_link.STL,,Torso-1;hip_pitch_dual_carry-1;right_hip_pitch_motor-1;left_hip_pitch_motor-1;Torso to Neck-1;LCD IMU-1;Head-1;Milk Camera-1;Electronics Mount-1;BackPack-1;Board-1;dc-005-5a-20-1;SOLID-1-1;Electronics mount _1_-1/DUO_PCB-1;Electronics mount _1_-1/COMPOUND-1;Electronics mount _1_-1/COMPOUND_5-1;Neck Mount-1;right_shoulder_pitch_motor-1;left_shoulder_pitch_motor-1,c_base_link,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
right_shoulder_pitch,0.00019395,-0.016944,-0.0029649,0,0,0,0.039021,9.8855E-06,6.1999E-08,-1.5022E-07,2.1334E-05,-1.6066E-06,2.184E-05,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_pitch.STL,,right_shoulder_yaw-1,c_right_shouder_pitch,a_right_shouder_pitch,right_shoulder_pitch,fixed,0.016843,-0.07815,0.11864,0,0,0,base_link,0,0,0,4.9,7.87,-1.7453293,1.7453293,,,,,,,,
right_shoulder_yaw,-0.017649,-1.9152E-06,-0.035546,0,0,0,0.073404,2.0194E-05,4.1186E-09,9.5855E-09,2.6723E-05,-7.5942E-09,1.8331E-05,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_yaw.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/right_shoulder_yaw.STL,,right_shoulder_yaw_motor-1;elbow_bracket_left-1;right_elbow_yaw_motor-1,c_right_shouder_yaw,a_right_shouder_yaw,right_shoulder_yaw,fixed,0.019116,-0.03,-0.015957,-0.024744,-0.01805,0,right_shoulder_pitch,0,0,0,4.9,7.87,-1.134464,0.87266463,,,,,,,,
right_elbow_yaw,-0.018343,0.0013193,-0.045753,0,0,0,0.06727,4.1359E-05,3.3353E-08,-1.4171E-06,5.0741E-05,9.3377E-07,1.4193E-05,0,0,0,0,0,0,package://zeroth/meshes/right_elbow_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_elbow_yaw.STL,,right_hand-1,c_right_elbow_yaw,a_right_elbow_yaw,right_elbow_yaw,fixed,-0.00015,0,-0.070993,0,0,0,right_shoulder_yaw,0,0,0,0,0,0,0,,,,,,,,
left_shoulder_pitch,5.1346E-05,0.016944,-0.0029708,0,0,0,0.039021,9.8987E-06,1.5222E-08,4.2379E-07,2.1334E-05,1.6077E-06,2.1827E-05,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_pitch.STL,,left_shoulder_yaw-1,c_left_shouder_pitch,a_left_shouder_pitch,left_shoulder_pitch,fixed,0.016843,0.07815,0.11864,0,0,0,base_link,0,0,0,0,0,0,0,,,,,,,,
left_shoulder_yaw,-0.017649,1.9147E-06,-0.035546,0,0,0,0.073404,2.0194E-05,-4.1178E-09,9.5852E-09,2.6723E-05,7.5933E-09,1.8331E-05,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_yaw.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/left_shoulder_yaw.STL,,left_shoulder_yaw_motor-1;elbow_bracket_right-1;left_elbow_yaw_motor-1,c_left_shouder_yaw,a_left_shouder_yaw,left_shoulder_yaw,fixed,0.018328,0.03,-0.016856,0.02416,0.029982,0,left_shoulder_pitch,0,0,0,0,0,0,0,,,,,,,,
left_elbow_yaw,-0.018343,0.00018355,-0.045771,0,0,0,0.067271,4.1359E-05,1.3248E-08,-1.4177E-06,5.0763E-05,2.6768E-07,1.4171E-05,0,0,0,0,0,0,package://zeroth/meshes/left_elbow_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_elbow_yaw.STL,,left_hand-1,c_left_elbow_yaw,a_left_elbow_yaw,left_elbow_yaw,fixed,-0.00015,0,-0.070993,0,0,0,left_shoulder_yaw,0,0,0,0,0,0,0,,,,,,,,
right_hip_pitch,0.0083414,-0.011997,0.0015388,0,0,0,0.052623,2.2354E-05,-5.0396E-07,3.2805E-07,1.7332E-05,3.0622E-06,2.0854E-05,0,0,0,0,0,0,package://zeroth/meshes/right_hip_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_hip_pitch.STL,,hip_yaw_right-1;right_hip_yaw_motor-1,c_rigth_hip_pitch,a_right_hip_pitch,right_hip_pitch,revolute,0.016843,-0.04565,-0.03136,0,0,0,base_link,0,1,0,4.9,7.8,-1.3,1.4,,,,,,,,
right_hip_yaw,-0.028063,-0.00034696,-0.038573,0,0,0,0.059657,2.1533E-05,-2.1217E-07,-6.243E-06,3.3938E-05,-2.483E-07,2.1428E-05,0,0,0,0,0,0,package://zeroth/meshes/right_hip_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_hip_yaw.STL,,hip_roll_right-1;right_hip_roll_motor-1,c_right_hip_yaw,a_right_hip_yaw,right_hip_yaw,revolute,0.024191,-0.01936,-0.014876,0,0.095559,0,right_hip_pitch,-1,0,0,4.9,7.8,-0.26,1.4,,,,,,,,
right_hip_roll,0.0058812,0.0010724,0.0018006,0,0,0,0.024737,1.6053E-05,1.7806E-07,-2.193E-06,1.2456E-05,7.5172E-07,7.5105E-06,0,0,0,0,0,0,package://zeroth/meshes/right_hip_roll.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_hip_roll.STL,,knee_pitch_right-1,c_right_hip_roll,a_right_hip_roll,right_hip_roll,revolute,-0.015,-0.00074143,-0.067756,-0.010942,0,0,right_hip_yaw,0,0,-1,0,0,0,0,,,,,,,,
right_knee_pitch,1.8369E-06,-0.017519,-0.038862,0,0,0,0.076635,2.8713E-05,-2.1194E-10,4.3711E-09,2.1877E-05,2.7135E-10,1.9524E-05,0,0,0,0,0,0,package://zeroth/meshes/right_knee_pitch.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/right_knee_pitch.STL,,right_knee_pitch_motor-1;ankle_pitch_right-1;right_ankle_pitch_motor-1,c_right_knee_pitch,a_right_knee_pitch,right_knee_pitch,revolute,-0.0001387,0.018824,-0.02471,0,-0.019786,0.0073677,right_hip_roll,0,1,0,4.9,7.8,-1.5,1.5,,,,,,,,
right_ankle_pitch,0.0090992,-0.018602,-0.023295,0,0,0,0.096561,2.7686E-05,3.6747E-07,1.5607E-06,7.8895E-05,-9.9419E-07,9.4595E-05,0,0,0,0,0,0,package://zeroth/meshes/right_ankle_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/right_ankle_pitch.STL,,foot_right-1,c_right_ankle_pitch,a_right_ankle_pitch,right_ankle_pitch,revolute,0,0,-0.07772,0,0,0,right_knee_pitch,0,-1,0,4.9,7.8,-1.5,1.5,,,,,,,,
left_hip_pitch,0.01073,0.00074718,0.074998,0,0,0,0.90871,0.0021088,4.1125E-06,-0.00013101,0.0011389,1.0735E-05,0.0014787,0,0,0,0,0,0,package://zeroth/meshes/left_hip_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_hip_pitch.STL,,hip_yaw_left-1;left_hip_yaw_motor-1,c_left_hip_pitch,a_left_hip_pitch,left_hip_pitch,revolute,0.016843,0.04565,-0.03136,0,0,0,base_link,0,-1,0,4.9,7.8,-1.4,1.3,,,,,,,,
left_hip_yaw,-0.028063,0.0010741,-0.03856,0,0,0,0.059657,2.1533E-05,3.2981E-07,-6.2378E-06,3.3925E-05,4.8393E-07,2.1441E-05,0,0,0,0,0,0,package://zeroth/meshes/left_hip_yaw.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_hip_yaw.STL,,hip_roll_left-1;left_hip_roll_motor-1,c_left_hip_yaw,a_left_hip_yaw,left_hip_yaw,revolute,0.024131,0.01936,-0.014973,0,0.099557,0,left_hip_pitch,-1,0,0,4.9,7.8,-1.4,0.26,,,,,,,,
left_hip_roll,0.0058598,-0.0021101,0.0017943,0,0,0,0.024737,1.6045E-05,-2.4604E-07,-2.2068E-06,1.2464E-05,-7.1007E-07,7.5105E-06,0,0,0,0,0,0,package://zeroth/meshes/left_hip_roll.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_hip_roll.STL,,knee_pitch_left-1,c_left_hip_roll,a_left_hip_roll,left_hip_roll,revolute,-0.015,0.0029445,-0.067696,0.029795,0,0,left_hip_yaw,0,0,1,4.9,7.8,-0.7,0.7,,,,,,,,
left_knee_pitch,1.8353E-06,0.017326,-0.038862,0,0,0,0.076635,2.8713E-05,2.0956E-10,4.3695E-09,2.1877E-05,-2.7129E-10,1.9524E-05,0,0,0,0,0,0,package://zeroth/meshes/left_knee_pitch.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://zeroth/meshes/left_knee_pitch.STL,,left_knee_pitch_motor-1;ankle_pitch_left-1;left_ankle_pitch_motor-1,c_left_knee_pitch,a_left_knee_pitch,left_knee_pitch,revolute,-0.00049516,-0.019745,-0.024716,0,-0.03867,-0.026306,left_hip_roll,0,-1,0,4.9,7.8,-1.5,1.5,,,,,,,,
left_ankle_pitch,0.0075029,0.018688,-0.024207,0,0,0,0.096566,2.7919E-05,-5.5369E-07,4.203E-06,7.8888E-05,9.1412E-07,9.439E-05,0,0,0,0,0,0,package://zeroth/meshes/left_ankle_pitch.STL,1,1,1,0.35,0,0,0,0,0,0,package://zeroth/meshes/left_ankle_pitch.STL,,foot_left-1,c_left_ankle_pitch,a_left_ankle_pitch,left_ankle_pitch,revolute,0,-0.00049999,-0.07772,0,0,0,left_knee_pitch,0,1,0,4.9,7.8,-1.5,1.5,,,,,,,,
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