diff --git a/.gitignore b/.gitignore index 35d74bb..5a8941f 100644 --- a/.gitignore +++ b/.gitignore @@ -49,3 +49,6 @@ qtcreator-* # Catkin custom files CATKIN_IGNORE + +*.log +.DS_Store diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..9e78bda --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(thais_urdf) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch config + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/InMoov-IsaacSim/urdf/InMoov.urdf b/InMoov-IsaacSim/urdf/InMoov.urdf index 859e3cf..6176341 100644 --- a/InMoov-IsaacSim/urdf/InMoov.urdf +++ b/InMoov-IsaacSim/urdf/InMoov.urdf @@ -1,4 +1,4 @@ - + diff --git a/InMoov/InMoov.pdf b/InMoov/InMoov.pdf deleted file mode 100644 index 366d11e..0000000 Binary files a/InMoov/InMoov.pdf and /dev/null differ diff --git a/InMoov/InMoov.pdf.gv b/InMoov/InMoov.pdf.gv deleted file mode 100644 index 4dcf91e..0000000 --- a/InMoov/InMoov.pdf.gv +++ /dev/null @@ -1,124 +0,0 @@ -digraph G { -esep=10; -sep=10; -nodesep=0.5; -node [shape=box]; -"base_node" [label="base_node"]; -"stand_link" [label="stand_link"]; -"torso_bottom_link" [label="torso_bottom_link"]; -"torso_z_link" [label="torso_z_link"]; -"torso_y_link" [label="torso_y_link"]; -"i01.head.neck.001_link" [label="i01.head.neck.001_link"]; -"neck_link" [label="neck_link"]; -"i01.head.rothead_link" [label="i01.head.rothead_link"]; -"i01.head.eyeLeft.001_link" [label="i01.head.eyeLeft.001_link"]; -"i01.head.eyeLeft_link" [label="i01.head.eyeLeft_link"]; -"i01.head.eyeRight.001_link" [label="i01.head.eyeRight.001_link"]; -"i01.head.eyeRight_link" [label="i01.head.eyeRight_link"]; -"i01.head.jaw_link" [label="i01.head.jaw_link"]; -"left_shoulder_y_link" [label="left_shoulder_y_link"]; -"left_shoulder_x_link" [label="left_shoulder_x_link"]; -"left_shoulder_z_link" [label="left_shoulder_z_link"]; -"left_elbow_x_link" [label="left_elbow_x_link"]; -"left_wrist_z_link" [label="left_wrist_z_link"]; -"i01.leftHand.wrist.001_link" [label="i01.leftHand.wrist.001_link"]; -"i01.leftHand.index_link" [label="i01.leftHand.index_link"]; -"i01.leftHand.index2_link" [label="i01.leftHand.index2_link"]; -"i01.leftHand.index3_link" [label="i01.leftHand.index3_link"]; -"i01.leftHand.majeure_link" [label="i01.leftHand.majeure_link"]; -"i01.leftHand.majeure2_link" [label="i01.leftHand.majeure2_link"]; -"i01.leftHand.majeure3_link" [label="i01.leftHand.majeure3_link"]; -"i01.leftHand.pinky0_link" [label="i01.leftHand.pinky0_link"]; -"i01.leftHand.pinky_link" [label="i01.leftHand.pinky_link"]; -"i01.leftHand.pinky2_link" [label="i01.leftHand.pinky2_link"]; -"i01.leftHand.pinky3_link" [label="i01.leftHand.pinky3_link"]; -"i01.leftHand.ringfinger0_link" [label="i01.leftHand.ringfinger0_link"]; -"i01.leftHand.ringFinger_link" [label="i01.leftHand.ringFinger_link"]; -"i01.leftHand.ringfinger2_link" [label="i01.leftHand.ringfinger2_link"]; -"i01.leftHand.ringfinger3_link" [label="i01.leftHand.ringfinger3_link"]; -"i01.leftHand.thumb1_link" [label="i01.leftHand.thumb1_link"]; -"i01.leftHand.thumb_link" [label="i01.leftHand.thumb_link"]; -"i01.leftHand.thumb3_link" [label="i01.leftHand.thumb3_link"]; -"right_shoulder_y_link" [label="right_shoulder_y_link"]; -"right_shoulder_x_link" [label="right_shoulder_x_link"]; -"right_shoulder_z_link" [label="right_shoulder_z_link"]; -"right_elbow_x_link" [label="right_elbow_x_link"]; -"right_wrist_z_link" [label="right_wrist_z_link"]; -"i01.rightHand.wrist.001_link" [label="i01.rightHand.wrist.001_link"]; -"i01.rightHand.index_link" [label="i01.rightHand.index_link"]; -"i01.rightHand.index2_link" [label="i01.rightHand.index2_link"]; -"i01.rightHand.index3_link" [label="i01.rightHand.index3_link"]; -"i01.rightHand.majeure_link" [label="i01.rightHand.majeure_link"]; -"i01.rightHand.majeure2_link" [label="i01.rightHand.majeure2_link"]; -"i01.rightHand.majeure3_link" [label="i01.rightHand.majeure3_link"]; -"i01.rightHand.pinky0_link" [label="i01.rightHand.pinky0_link"]; -"i01.rightHand.pinky_link" [label="i01.rightHand.pinky_link"]; -"i01.rightHand.pinky2_link" [label="i01.rightHand.pinky2_link"]; -"i01.rightHand.pinky3_link" [label="i01.rightHand.pinky3_link"]; -"i01.rightHand.ringfinger0_link" [label="i01.rightHand.ringfinger0_link"]; -"i01.rightHand.ringFinger_link" [label="i01.rightHand.ringFinger_link"]; -"i01.rightHand.ringfinger2_link" [label="i01.rightHand.ringfinger2_link"]; -"i01.rightHand.ringfinger3_link" [label="i01.rightHand.ringfinger3_link"]; -"i01.rightHand.thumb1_link" [label="i01.rightHand.thumb1_link"]; -"i01.rightHand.thumb_link" [label="i01.rightHand.thumb_link"]; -"i01.rightHand.thumb3_link" [label="i01.rightHand.thumb3_link"]; -node [shape=ellipse, color=orange, fontcolor=black]; -"base_node" -> "Empty.001_link_joint" [label="xyz: -0.003935679793357849 0.0002453029155731201 -0.19162940979003906 \nrpy: 0.0 0.0 0.0 \ntype: fixed "] "Empty.001_link_joint" -> "stand_link" -"stand_link" -> "Empty.002_link_joint" [label="xyz: 0.0 0.0 8.97279167175293 \nrpy: 0.0 0.0 0.0 \naxis: 0.0 0.0 1.0 \ntype: continuous "] "Empty.002_link_joint" -> "torso_bottom_link" -"torso_bottom_link" -> "i01.torso.midStom_link_joint" [label="xyz: -0.002130150329321623 0.0556507408618927 1.138066291809082 \nrpy: 2.6384735507534174e-09 0.06588618553864523 1.5707963705062857 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.torso.midStom_link_joint" -> "torso_z_link" -"torso_z_link" -> "i01.torso.topStom_link_joint" [label="xyz: -0.06317448371298928 0.00033053517960338497 1.0191643149742955 \nrpy: 1.4454690777654378e-08 1.1919006026595014e-07 -1.5707963625628798 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.torso.topStom_link_joint" -> "torso_y_link" -"torso_y_link" -> "i01.head.neck.001_link_joint" [label="xyz: 0.0038970505042408574 0.298168905996677 4.290725257917037 \nrpy: 0.06588616842248296 -1.1895064355726959e-07 -7.848565720947054e-09 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.neck.001_link_joint" -> "i01.head.neck.001_link" -"i01.head.neck.001_link" -> "i01.head.rollNeck_link_joint" [label="xyz: 2.3283064365386963e-10 -5.960464477539063e-08 0.004347801208496094 \nrpy: -1.4844247359125386e-09 9.313223525708736e-10 -7.275923610952762e-12 \naxis: 0.0 0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.head.rollNeck_link_joint" -> "neck_link" -"neck_link" -> "i01.head.rothead_link_joint" [label="xyz: 0.002457070982375097 0.015032246223077972 0.24911308289648026 \nrpy: 6.899559812367784e-10 -2.5820514615304546e-09 1.5707964897228575 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.head.rothead_link_joint" -> "i01.head.rothead_link" -"i01.head.rothead_link" -> "i01.head.eyeLeft.001_link_joint" [label="xyz: -1.0860059285856947 -0.2919790100918019 0.3757600800955814 \nrpy: 2.2089468476593765e-08 1.1673977673432034e-07 -1.5707966089248764 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.head.eyeLeft.001_link_joint" -> "i01.head.eyeLeft.001_link" -"i01.head.eyeLeft.001_link" -> "i01.head.eyeLeft_link_joint" [label="xyz: 6.03077497385307e-08 -0.005899965763040638 1.907485444263557e-06 \nrpy: 2.0038409509415907e-07 -5.684008819173414e-10 5.808165461144653e-10 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.eyeLeft_link_joint" -> "i01.head.eyeLeft_link" -"i01.head.rothead_link" -> "i01.head.eyeRight.001_link_joint" [label="xyz: -1.0964447514523168 0.2984970276806756 0.37576007914971754 \nrpy: -9.66976196892233e-08 -1.1949481404371909e-09 -1.5707967281341455 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.head.eyeRight.001_link_joint" -> "i01.head.eyeRight.001_link" -"i01.head.eyeRight.001_link" -> "i01.head.eyeRight_link_joint" [label="xyz: -5.819798409856247e-08 -0.0058999657632883284 1.9067845933307126e-06 \nrpy: 2.00384093385927e-07 -5.683660209143682e-10 5.808118016659417e-10 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.eyeRight_link_joint" -> "i01.head.eyeRight_link" -"i01.head.rothead_link" -> "i01.head.jaw_link_joint" [label="xyz: -0.3617574997766012 0.01121468595110293 0.3244228366826025 \nrpy: -1.0976259900985497e-09 -1.1912302255723262e-09 -1.5707967275616754 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.jaw_link_joint" -> "i01.head.jaw_link" -"torso_y_link" -> "left_shoulder_y_link_joint" [label="xyz: 1.3547172431298327 -0.003374737539894479 2.8074909032883166 \nrpy: 0.0002094234701174276 -1.1895064022660051e-07 -7.848564826724207e-09 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "left_shoulder_y_link_joint" -> "left_shoulder_y_link" -"left_shoulder_y_link" -> "left_shoulder_x_link_joint" [label="xyz: 0.11351430416106911 0.0018903812404265086 -0.37504457828581117 \nrpy: -3.911821261161635e-09 -4.1130013572754365e-07 -1.97721632257402e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "left_shoulder_x_link_joint" -> "left_shoulder_x_link" -"left_shoulder_x_link" -> "left_shoulder_z_link_joint" [label="xyz: 0.624058717653752 -0.00936644122541841 -0.5942126982558573 \nrpy: 3.6288229089213546e-06 4.1130015016044297e-07 1.9772166653718052e-08 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "left_shoulder_z_link_joint" -> "left_shoulder_z_link" -"left_shoulder_z_link" -> "left_elbow_x_link_joint" [label="xyz: -0.012811422348022017 0.29228271396894445 -2.115772722079438 \nrpy: 0.06567311994856906 -1.4210854715202004e-14 -1.0061396160665481e-15 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "left_elbow_x_link_joint" -> "left_elbow_x_link" -"left_elbow_x_link" -> "left_wrist_z_link_joint" [label="xyz: -0.08766674995425339 -0.9876550212502478 -2.5393619537353533 \nrpy: -0.4160537382093539 -1.3766765505351941e-14 5.273559366969494e-16 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "left_wrist_z_link_joint" -> "left_wrist_z_link" -"left_wrist_z_link" -> "i01.leftHand.wrist.001_link_joint" [label="xyz: -3.552713678800501e-15 -3.3189245485232277e-07 -0.16924851207972136 \nrpy: -5.5738756443712845e-08 8.354576142011183e-09 -0.6161079846046866 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.wrist.001_link_joint" -> "i01.leftHand.wrist.001_link" -"i01.leftHand.wrist.001_link" -> "i01.leftHand.index_link_joint" [label="xyz: 0.3264475136173992 -0.011445771802676585 -0.9498151648962816 \nrpy: -1.5685353940304019 -0.09095650658709653 -0.0033029544705190927 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.index_link_joint" -> "i01.leftHand.index_link" -"i01.leftHand.index_link" -> "i01.leftHand.index2_link_joint" [label="xyz: 0.002581962396542181 0.34104744713823987 0.006846612806327368 \nrpy: -1.3420180716631252e-07 1.2252089676145772e-07 -9.105591468542405e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.index2_link_joint" -> "i01.leftHand.index2_link" -"i01.leftHand.index2_link" -> "i01.leftHand.index3_link_joint" [label="xyz: 0.0010330519738968036 0.22696948441996856 0.0043257044421869395 \nrpy: 5.904899317638107e-07 -2.1864725674447527e-07 -3.9358646680900425e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.index3_link_joint" -> "i01.leftHand.index3_link" -"i01.leftHand.wrist.001_link" -> "i01.leftHand.majeure_link_joint" [label="xyz: 0.07160527468026778 -0.011695500882396015 -0.9888106362147093 \nrpy: -1.5685449277641665 0.0016045793833174837 -0.003094390753287324 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.majeure_link_joint" -> "i01.leftHand.majeure_link" -"i01.leftHand.majeure_link" -> "i01.leftHand.majeure2_link_joint" [label="xyz: 0.0027196811415377553 0.3593535476857532 0.007216273608839252 \nrpy: -3.2254763722076007e-07 -1.374722837788056e-07 2.885816569307605e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.majeure2_link_joint" -> "i01.leftHand.majeure2_link" -"i01.leftHand.majeure2_link" -> "i01.leftHand.majeure3_link_joint" [label="xyz: 0.0010853491182212238 0.23915400359078554 0.00455861511186173 \nrpy: 2.2174248417668293e-07 -3.5885159577198067e-07 -4.987058378190487e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.majeure3_link_joint" -> "i01.leftHand.majeure3_link" -"i01.leftHand.wrist.001_link" -> "i01.leftHand.pinky0_link_joint" [label="xyz: -0.24002397330156056 0.0010773362418499133 -0.3521793528280375 \nrpy: -1.5678852612724525 -0.6864308610623315 -0.0049424712593536535 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky0_link_joint" -> "i01.leftHand.pinky0_link" -"i01.leftHand.pinky0_link" -> "i01.leftHand.pinky_link_joint" [label="xyz: -0.43178187184539585 0.20488884240597782 0.007257773166184478 \nrpy: -2.615871356748123e-07 9.679850871968654e-07 0.9452552127417415 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky_link_joint" -> "i01.leftHand.pinky_link" -"i01.leftHand.pinky_link" -> "i01.leftHand.pinky2_link_joint" [label="xyz: 0.002254998791683338 0.2979585654929462 0.0059858932968257506 \nrpy: -1.0716465109376695e-06 1.5035777056748856e-06 -1.428133719248218e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky2_link_joint" -> "i01.leftHand.pinky2_link" -"i01.leftHand.pinky2_link" -> "i01.leftHand.pinky3_link_joint" [label="xyz: 0.0008984239922451565 0.19829724647149316 0.0037798151252070866 \nrpy: -2.2963623878909183e-06 -3.6621205823372804e-07 -1.0349569415912233e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky3_link_joint" -> "i01.leftHand.pinky3_link" -"i01.leftHand.wrist.001_link" -> "i01.leftHand.ringfinger0_link_joint" [label="xyz: -0.05673449430632438 0.0010135838220857174 -0.5758768189328496 \nrpy: -1.5678852612724525 -0.6864308610623315 -0.0049424712593536535 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringfinger0_link_joint" -> "i01.leftHand.ringfinger0_link" -"i01.leftHand.ringfinger0_link" -> "i01.leftHand.ringFinger_link_joint" [label="xyz: -0.3332888857694467 0.15280208607130197 -0.006639964527615838 \nrpy: -1.3880159571710848e-07 1.7237676841475036e-08 0.7748514622284366 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringFinger_link_joint" -> "i01.leftHand.ringFinger_link" -"i01.leftHand.ringFinger_link" -> "i01.leftHand.ringfinger2_link_joint" [label="xyz: 0.002583173796069982 0.34104772767740865 0.006849721586160484 \nrpy: -1.719762427389748e-06 -4.833011981730806e-07 6.445494215444238e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringfinger2_link_joint" -> "i01.leftHand.ringfinger2_link" -"i01.leftHand.ringfinger2_link" -> "i01.leftHand.ringfinger3_link_joint" [label="xyz: 0.0010299847920376415 0.2269708994095403 0.004325162537802463 \nrpy: -9.245155627500511e-07 7.140252411552694e-08 -3.834245304086048e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringfinger3_link_joint" -> "i01.leftHand.ringfinger3_link" -"i01.leftHand.wrist.001_link" -> "i01.leftHand.thumb1_link_joint" [label="xyz: 0.28233511010361045 -1.974601590193359e-05 -0.3734046512203184 \nrpy: 1.5163474061417497 -0.09893201363784776 -0.003320892223149352 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.leftHand.thumb1_link_joint" -> "i01.leftHand.thumb1_link" -"i01.leftHand.thumb1_link" -> "i01.leftHand.thumb_link_joint" [label="xyz: 0.2597675465695586 -0.13331602659853292 -0.007997924445811488 \nrpy: -0.03182282964977967 -0.3256618074498103 0.8306391883035712 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.thumb_link_joint" -> "i01.leftHand.thumb_link" -"i01.leftHand.thumb_link" -> "i01.leftHand.thumb3_link_joint" [label="xyz: 0.012287758060272935 -0.33047076003527515 -0.0070394782361863015 \nrpy: 6.596245539792758e-06 -4.29519328304373e-06 1.9228446216374838e-06 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.thumb3_link_joint" -> "i01.leftHand.thumb3_link" -"torso_y_link" -> "right_shoulder_y_link_joint" [label="xyz: -1.349794756954052 -0.0033747163133581726 2.8074905815848386 \nrpy: 0.0002094234701174276 -1.1895064022660051e-07 -7.848564826724207e-09 \naxis: 0.0 0.9999382773199424 0.011110425303554916 \ntype: revolute "] "right_shoulder_y_link_joint" -> "right_shoulder_y_link" -"right_shoulder_y_link" -> "right_shoulder_x_link_joint" [label="xyz: -0.11351406574249534 0.001890410978495849 -0.37504457632990196 \nrpy: -3.911821292063496e-09 -4.150782049183732e-07 -1.9443299118032364e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "right_shoulder_x_link_joint" -> "right_shoulder_x_link" -"right_shoulder_x_link" -> "right_shoulder_z_link_joint" [label="xyz: -0.6240593275399544 -0.009366614388540029 -0.5942121923264914 \nrpy: 3.086103061699557e-06 4.150782049183732e-07 1.944329945686143e-08 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "right_shoulder_z_link_joint" -> "right_shoulder_z_link" -"right_shoulder_z_link" -> "right_elbow_x_link_joint" [label="xyz: 0.00858259201043765 0.29228372542138503 -2.1157724962442117 \nrpy: 0.06567366149599012 2.842170943040401e-14 1.3739009929736312e-15 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "right_elbow_x_link_joint" -> "right_elbow_x_link" -"right_elbow_x_link" -> "right_wrist_z_link_joint" [label="xyz: 0.08766543865203857 -0.9876553714275357 -2.5393629074096626 \nrpy: -0.4160513017336926 0.0 0.0 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "right_wrist_z_link_joint" -> "right_wrist_z_link" -"right_wrist_z_link" -> "i01.rightHand.wrist.001_link_joint" [label="xyz: -2.384185791015625e-07 -3.458347750395774e-07 -0.1650830826454035 \nrpy: 1.6893810517171204e-07 5.997102903165796e-08 0.6351723834557156 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.wrist.001_link_joint" -> "i01.rightHand.wrist.001_link" -"i01.rightHand.wrist.001_link" -> "i01.rightHand.index_link_joint" [label="xyz: -0.3232046783805309 -0.0077320914398413265 -0.9539793852232146 \nrpy: 1.5730548363406518 0.09095758469935755 -0.015761563590227734 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.index_link_joint" -> "i01.rightHand.index_link" -"i01.rightHand.index_link" -> "i01.rightHand.index2_link_joint" [label="xyz: -0.002583219006594639 -0.3410466862330477 -0.0068484378322866135 \nrpy: 2.191780028341184e-07 -4.939304432127756e-08 1.3190558661942294e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.index2_link_joint" -> "i01.rightHand.index2_link" -"i01.rightHand.index2_link" -> "i01.rightHand.index3_link_joint" [label="xyz: -0.0010316472318763203 -0.22696993495065243 -0.004324450770188282 \nrpy: 1.728891650082356e-08 1.5832832378492867e-08 -2.178681096834038e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.index3_link_joint" -> "i01.rightHand.index3_link" -"i01.rightHand.wrist.001_link" -> "i01.rightHand.majeure_link_joint" [label="xyz: -0.06841368097784617 -0.01284013613293622 -0.9929747609982043 \nrpy: 1.5730455830718126 -0.0016034527185240233 -0.015970034357644436 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.majeure_link_joint" -> "i01.rightHand.majeure_link" -"i01.rightHand.majeure_link" -> "i01.rightHand.majeure2_link_joint" [label="xyz: -0.002721479052513409 -0.3593524888195514 -0.0072175378428447345 \nrpy: -3.2413411353643594e-07 -3.034889650699313e-08 -2.835207055124024e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.majeure2_link_joint" -> "i01.rightHand.majeure2_link" -"i01.rightHand.majeure2_link" -> "i01.rightHand.majeure3_link_joint" [label="xyz: -0.001085194271511547 -0.2391521135712935 -0.004557966541468783 \nrpy: 6.976618861960709e-07 -3.1651512522046232e-09 5.044475537898468e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.majeure3_link_joint" -> "i01.rightHand.majeure3_link" -"i01.rightHand.wrist.001_link" -> "i01.rightHand.pinky0_link_joint" [label="xyz: 0.24340390818107238 -0.006009081361278312 -0.3563438098388483 \nrpy: 1.5737045754432608 0.6864320945729143 -0.014123279476688344 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky0_link_joint" -> "i01.rightHand.pinky0_link" -"i01.rightHand.pinky0_link" -> "i01.rightHand.pinky_link_joint" [label="xyz: 0.43177949923700965 -0.20488781811736434 -0.007259141779253131 \nrpy: -3.8265444196605714e-07 -1.6329863683495205e-08 0.9452551103926463 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky_link_joint" -> "i01.rightHand.pinky_link" -"i01.rightHand.pinky_link" -> "i01.rightHand.pinky2_link_joint" [label="xyz: -0.002254687881845907 -0.29795901642330946 -0.005983192711036978 \nrpy: 1.589504385439951e-07 1.123812185088724e-06 -1.7807658620839143e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky2_link_joint" -> "i01.rightHand.pinky2_link" -"i01.rightHand.pinky2_link" -> "i01.rightHand.pinky3_link_joint" [label="xyz: -0.0009000447777718357 -0.19829836492275543 -0.0037806436816145705 \nrpy: 3.453330456781379e-07 2.5279821569412775e-08 1.891847881865689e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky3_link_joint" -> "i01.rightHand.pinky3_link" -"i01.rightHand.wrist.001_link" -> "i01.rightHand.ringfinger0_link_joint" [label="xyz: 0.06014617024585256 -0.0025790771228706433 -0.5800415209779102 \nrpy: 1.5737045265109453 0.6864321089268102 -0.014123308461828521 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringfinger0_link_joint" -> "i01.rightHand.ringfinger0_link" -"i01.rightHand.ringfinger0_link" -> "i01.rightHand.ringFinger_link_joint" [label="xyz: 0.33328454435627997 -0.1527993343937335 0.0066397894463547935 \nrpy: -4.43823682583222e-07 -1.1833650859216505e-07 0.7748509596666137 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringFinger_link_joint" -> "i01.rightHand.ringFinger_link" -"i01.rightHand.ringFinger_link" -> "i01.rightHand.ringfinger2_link_joint" [label="xyz: -0.002581476955039186 -0.3410499497328585 -0.0068500058216591775 \nrpy: -6.736083896675495e-07 -6.796200862080326e-07 4.7575124506472705e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringfinger2_link_joint" -> "i01.rightHand.ringfinger2_link" -"i01.rightHand.ringfinger2_link" -> "i01.rightHand.ringfinger3_link_joint" [label="xyz: -0.0010301964112762185 -0.2269699339437059 -0.004324983472151711 \nrpy: -1.4337696226642537e-07 4.973058918000817e-07 -4.2279641995679077e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringfinger3_link_joint" -> "i01.rightHand.ringfinger3_link" -"i01.rightHand.wrist.001_link" -> "i01.rightHand.thumb1_link_joint" [label="xyz: -0.27888224030573383 0.002851429107578074 -0.37756622819780894 \nrpy: -1.6252477823722664 0.09893337225509069 -0.015743804084032753 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.rightHand.thumb1_link_joint" -> "i01.rightHand.thumb1_link" -"i01.rightHand.thumb1_link" -> "i01.rightHand.thumb_link_joint" [label="xyz: -0.2597680391988533 0.1333179333695842 0.008001583935089762 \nrpy: -0.0318239173300805 -0.3256614895382419 0.830639372204284 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.thumb_link_joint" -> "i01.rightHand.thumb_link" -"i01.rightHand.thumb_link" -> "i01.rightHand.thumb3_link_joint" [label="xyz: -0.012286549103057709 0.33047087873641107 0.007038236193612782 \nrpy: 6.7013071988592876e-06 -3.8759392866349884e-06 1.8174528176957713e-06 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.thumb3_link_joint" -> "i01.rightHand.thumb3_link" -} diff --git a/InMoov/robot_description/meshes/stl/ATTRIBUTION.md b/InMoov/robot_description/meshes/stl/ATTRIBUTION.md deleted file mode 100644 index 02a0f40..0000000 --- a/InMoov/robot_description/meshes/stl/ATTRIBUTION.md +++ /dev/null @@ -1,8 +0,0 @@ -# Attribution for InMoov-Derived Files - -The 3D models, CAD files, Blender files, and STL files in this directory are derived from InMoov by Gael Langevin. - -**Original Creator:** Gael Langevin -**Original Work:** InMoov (http://inmoov.fr/) -**License:** Creative Commons Attribution-NonCommercial (CC BY-NC) 4.0 -**Modifications:** Original blender files exported to STL files split for URDF meshes \ No newline at end of file diff --git a/InMoov/robot_description/meshes/stl/G-__564753.001.stl b/InMoov/robot_description/meshes/stl/G-__564753.001.stl deleted file mode 100644 index 3879d9f..0000000 Binary files a/InMoov/robot_description/meshes/stl/G-__564753.001.stl and /dev/null differ diff --git a/InMoov/robot_description/meshes/stl/G-__564753.002.stl b/InMoov/robot_description/meshes/stl/G-__564753.002.stl deleted file mode 100644 index 1b23ae7..0000000 Binary files a/InMoov/robot_description/meshes/stl/G-__564753.002.stl and /dev/null differ diff --git a/InMoov/robot_description/meshes/stl/G-__564753.003.stl b/InMoov/robot_description/meshes/stl/G-__564753.003.stl deleted file mode 100644 index a7e1e63..0000000 Binary files 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b/InMoov/robot_description/meshes/stl/Texture.stl deleted file mode 100644 index 82ba9fb..0000000 Binary files a/InMoov/robot_description/meshes/stl/Texture.stl and /dev/null differ diff --git a/InMoov/robot_description/meshes/stl/stand.stl b/InMoov/robot_description/meshes/stl/stand.stl deleted file mode 100644 index 8f86229..0000000 Binary files a/InMoov/robot_description/meshes/stl/stand.stl and /dev/null differ diff --git a/InMoov/ros2_control/inmoov_ros2_control.xacro b/InMoov/ros2_control/inmoov_ros2_control.xacro deleted file mode 100644 index 1224238..0000000 --- a/InMoov/ros2_control/inmoov_ros2_control.xacro +++ /dev/null @@ -1,104 +0,0 @@ - - - - - - lucy_ros2_control/LucySystemHardware - - joints/left_arm - lucy_hardware_interface_left_arm - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - 1 - - - - - - - - - - - - - - - - - - - lucy_ros2_control/LucySystemHardware - - joints/right_arm - lucy_hardware_interface_right_arm - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - 1 - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/InMoov/urdf/InMoov.urdf.xacro b/InMoov/urdf/InMoov.urdf.xacro deleted file mode 100644 index b3c174f..0000000 --- a/InMoov/urdf/InMoov.urdf.xacro +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - \ No newline at end of file diff --git a/README.md b/README.md index 30c5d81..7e61f22 100644 --- a/README.md +++ b/README.md @@ -1,103 +1,28 @@ -# InMoov URDF Project +# thais_urdf -This repository provides a fully functional **Unified Robot Description Format (URDF)** model for the **InMoov** robot platform. +InMoov URDF and **combo launch files** for this workspace: RViz + rosbridge and Gazebo + RViz + rosbridge. -## 📌 Overview +## In this workspace -**InMoov** is an open-source, 3D-printed, life-size humanoid robot created by **Gael Langevin**. This project aims to deliver a comprehensive and precise **URDF description** of the InMoov robot for use in **simulation** and **robotics development** environments. +- **URDF / meshes** — `inmoov/` (xacro, meshes). Used by both packages. +- **RViz config** — `config/inmoov_rviz.rviz`. +- **Launch (thais_urdf only)** — two standalone files: + - **rviz.launch.py** — Real robot + RViz + rosbridge. Control panel at ws://localhost:9090. + - **gazebo.launch.py** — Gazebo sim + RViz + ros2_control (sim spawners) + rosbridge. -The URDF file was created using **[Blender](https://www.blender.org/)** (version **4.3.2**) with the **[Phobos](https://github.com/dfki-ric/phobos)** add-on. -Currently, the export uses **STL** files, but you can export in other formats directly from Blender using **Phobos**. +## Usage ---- +```bash +# Real + RViz + control panel +ros2 launch thais_urdf rviz.launch.py -## 🚀 Features +# Gazebo sim + RViz + control panel +ros2 launch thais_urdf gazebo.launch.py +``` -✔️ **Complete URDF model** of the InMoov robot -✔️ **Accurate joint configurations** and limits -✔️ **ROS-compatible** (Robot Operating System) -✔️ **Ready for simulation** in **Gazebo**, **RViz**, and other robotics environments +Optional: `urdf_path:=` `base_path:=`. ---- +## License -## 📖 Documentation - -For more details on **creation processes**, **troubleshooting**, and other guidance, visit the **[Sentience Robotics documentation](https://docs.sentience-robotics.tech/s/master/p/urdf-NyIKx8PezV)**. - ---- - -## 📂 Files & Folder Structure - -📦 InMoov-URDF-Project
-├── 📄 URDF.blend # Blender file with Phobos configurations
-├── 📄 Stand.blend # Blender file containing a stand for the upper body
-├── 📂 InMoov # Folder containing the URDF export and STL meshes
- ---- - -## 🔍 Help Us Improve the InMoov URDF - -We currently include **handsI1** and **headI1**, but we aim to integrate the latest **headI2** and **handsI2** models. - -📢 **We need your help!** -If you have access to **headI2** and **handsI2** Blender files or related resources, please contribute to this open-source effort. - -Let's **enhance** the accuracy and usability of the **InMoov simulation** together! 🚀 - -Feel free to share any leads or files with us. - ---- - -## 📜 Code of Conduct - -We value the participation of each member of our community and are committed to ensuring that every interaction is respectful and productive. To foster a positive environment, we ask you to read and adhere to our [Code of Conduct](CODE_OF_CONDUCT.md). - -By participating in this project, you agree to uphold this code in all your interactions, both online and offline. Let's work together to maintain a welcoming and inclusive community for everyone. - -If you encounter any issues or have questions regarding the Code of Conduct, please contact us at [contact@sentience-robotics.fr](mailto:contact@sentience-robotics.fr). - -Thank you for being a part of our community! - ---- - -## 🤝 Contributing - -To find out more on how you can contribute to the project, please check our [CONTRIBUTING.md](CONTRIBUTING.md) - ---- - -## 📜 License and Attribution - -### Project License - -- **Original project code/files:** GNU GPL V3 License -- **InMoov-derived files:** CC BY-NC 4.0 (as specified below) - -See the [LICENSE](LICENSE) file for details. - -### InMoov-Derived Components - -Parts of this project that are derived from InMoov files (including Blender models, CAD files, and STL files) are based on the original work by **Gael Langevin**. - -**Original Work:** InMoov by Gael Langevin -**License:** [Creative Commons Attribution-NonCommercial (CC BY-NC)](https://creativecommons.org/licenses/by-nc/4.0/) -**Source:** http://inmoov.fr/ -**Applies to:** Blender files, CAD files, STL files, and other 3D models derived from InMoov - ---- - -## 🙌 Acknowledgments - -- 🎉 [InMoov Project](https://inmoov.fr/) – Original design by Gael Langevin
-- 🎉 **All contributors** to the InMoov community
- ---- - -## 📬 Contact - -- 📧 Email: [contact@sentience-robotics.tech](mailto:contact@sentience-robotics.tech)
-- 🌍 GitHub Organization: [Sentience Robotics](https://github.com/sentience-robotics)
--- - ---- - -[![Contributor Covenant](https://img.shields.io/badge/Contributor%20Covenant-2.0-4baaaa.svg)](code_of_conduct.md) +This repo provides the **URDF model** for the InMoov robot (Blender/Phobos, ROS-compatible). +InMoov-derived assets: CC BY-NC 4.0 (Gael Langevin); project code: GPL-3.0. See [LICENSE](LICENSE). diff --git a/config/inmoov_rviz.rviz b/config/inmoov_rviz.rviz new file mode 100644 index 0000000..b74a07a --- /dev/null +++ b/config/inmoov_rviz.rviz @@ -0,0 +1,49 @@ +# Minimal portable RViz config for InMoov/Lucy robot. +# No window geometry (works on any screen). RobotModel uses /robot_description topic. +# Fixed Frame must be base_node (root link) so the full TF tree connects. + +Panels: + - Class: rviz_common/Displays + Name: Displays + - Class: rviz_common/Views + Name: Views + +Visualization Manager: + Class: rviz_common/VisualizationManager + Displays: + - Class: rviz_default_plugins/Grid + Enabled: true + Name: Grid + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description Source: Topic + Description Topic: /robot_description + Enabled: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Name: TF + Global Options: + Fixed Frame: base_node + Frame Rate: 30 + Name: root + Transformation: + Current: + Class: rviz_default_plugins/TF + Views: + Current: + Class: rviz_default_plugins/XYOrbit + Distance: 30 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Pitch: 0.5 + Yaw: 5 + Saved: ~ diff --git 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newline at end of file + diff --git a/inmoov/InMoov.pdf b/inmoov/InMoov.pdf new file mode 100644 index 0000000..91fe256 Binary files /dev/null and b/inmoov/InMoov.pdf differ diff --git a/Stand.blend b/inmoov/blender/Stand.blend similarity index 100% rename from Stand.blend rename to inmoov/blender/Stand.blend diff --git a/inmoov_i1.blend b/inmoov/blender/inmoov_i1.blend similarity index 100% rename from inmoov_i1.blend rename to inmoov/blender/inmoov_i1.blend diff --git a/inmoov/inmoov.pdf.gv b/inmoov/inmoov.pdf.gv new file mode 100644 index 0000000..5668ce4 --- /dev/null +++ b/inmoov/inmoov.pdf.gv @@ -0,0 +1,124 @@ +digraph G { +esep=10; +sep=10; +nodesep=0.5; +node [shape=box]; +"base_node" [label="base_node"]; +"stand_link" [label="stand_link"]; +"torso_bottom_link" [label="torso_bottom_link"]; +"torso_z_link" [label="torso_z_link"]; +"torso_y_link" [label="torso_y_link"]; +"i01.head.neck.001_link" [label="i01.head.neck.001_link"]; +"neck_link" [label="neck_link"]; +"i01.head.rothead_link" [label="i01.head.rothead_link"]; +"i01.head.eyeLeft.001_link" [label="i01.head.eyeLeft.001_link"]; +"i01.head.eyeLeft_link" [label="i01.head.eyeLeft_link"]; +"i01.head.eyeRight.001_link" [label="i01.head.eyeRight.001_link"]; +"i01.head.eyeRight_link" [label="i01.head.eyeRight_link"]; +"i01.head.jaw_link" [label="i01.head.jaw_link"]; +"left_shoulder_y_link" [label="left_shoulder_y_link"]; +"left_shoulder_x_link" [label="left_shoulder_x_link"]; +"left_shoulder_z_link" [label="left_shoulder_z_link"]; +"left_elbow_x_link" [label="left_elbow_x_link"]; +"left_wrist_z_link" [label="left_wrist_z_link"]; +"i01.leftHand.wrist.001_link" [label="i01.leftHand.wrist.001_link"]; +"i01.leftHand.index_link" [label="i01.leftHand.index_link"]; +"i01.leftHand.index2_link" [label="i01.leftHand.index2_link"]; +"i01.leftHand.index3_link" [label="i01.leftHand.index3_link"]; +"i01.leftHand.majeure_link" [label="i01.leftHand.majeure_link"]; +"i01.leftHand.majeure2_link" [label="i01.leftHand.majeure2_link"]; +"i01.leftHand.majeure3_link" [label="i01.leftHand.majeure3_link"]; +"i01.leftHand.pinky0_link" [label="i01.leftHand.pinky0_link"]; +"i01.leftHand.pinky_link" [label="i01.leftHand.pinky_link"]; +"i01.leftHand.pinky2_link" [label="i01.leftHand.pinky2_link"]; +"i01.leftHand.pinky3_link" [label="i01.leftHand.pinky3_link"]; +"i01.leftHand.ringfinger0_link" [label="i01.leftHand.ringfinger0_link"]; +"i01.leftHand.ringFinger_link" [label="i01.leftHand.ringFinger_link"]; +"i01.leftHand.ringfinger2_link" [label="i01.leftHand.ringfinger2_link"]; +"i01.leftHand.ringfinger3_link" [label="i01.leftHand.ringfinger3_link"]; +"i01.leftHand.thumb1_link" [label="i01.leftHand.thumb1_link"]; +"i01.leftHand.thumb_link" [label="i01.leftHand.thumb_link"]; +"i01.leftHand.thumb3_link" [label="i01.leftHand.thumb3_link"]; +"right_shoulder_y_link" [label="right_shoulder_y_link"]; +"right_shoulder_x_link" [label="right_shoulder_x_link"]; +"right_shoulder_z_link" [label="right_shoulder_z_link"]; +"right_elbow_x_link" [label="right_elbow_x_link"]; +"right_wrist_z_link" [label="right_wrist_z_link"]; +"i01.rightHand.wrist.001_link" [label="i01.rightHand.wrist.001_link"]; +"i01.rightHand.index_link" [label="i01.rightHand.index_link"]; +"i01.rightHand.index2_link" [label="i01.rightHand.index2_link"]; +"i01.rightHand.index3_link" [label="i01.rightHand.index3_link"]; +"i01.rightHand.majeure_link" [label="i01.rightHand.majeure_link"]; +"i01.rightHand.majeure2_link" [label="i01.rightHand.majeure2_link"]; +"i01.rightHand.majeure3_link" [label="i01.rightHand.majeure3_link"]; +"i01.rightHand.pinky0_link" [label="i01.rightHand.pinky0_link"]; +"i01.rightHand.pinky_link" [label="i01.rightHand.pinky_link"]; +"i01.rightHand.pinky2_link" [label="i01.rightHand.pinky2_link"]; +"i01.rightHand.pinky3_link" [label="i01.rightHand.pinky3_link"]; +"i01.rightHand.ringfinger0_link" [label="i01.rightHand.ringfinger0_link"]; +"i01.rightHand.ringFinger_link" [label="i01.rightHand.ringFinger_link"]; +"i01.rightHand.ringfinger2_link" [label="i01.rightHand.ringfinger2_link"]; +"i01.rightHand.ringfinger3_link" [label="i01.rightHand.ringfinger3_link"]; +"i01.rightHand.thumb1_link" [label="i01.rightHand.thumb1_link"]; +"i01.rightHand.thumb_link" [label="i01.rightHand.thumb_link"]; +"i01.rightHand.thumb3_link" [label="i01.rightHand.thumb3_link"]; +node [shape=ellipse, color=orange, fontcolor=black]; +"base_node" -> "Empty.001_link_joint" [label="xyz: -0.003935679793357849 0.0002453029155731201 -0.19162940979003906 \nrpy: 0.0 0.0 0.0 \ntype: fixed "] "Empty.001_link_joint" -> "stand_link" +"stand_link" -> "Empty.002_link_joint" [label="xyz: 0.0 0.0 8.97279167175293 \nrpy: 0.0 0.0 0.0 \naxis: 0.0 0.0 1.0 \ntype: continuous "] "Empty.002_link_joint" -> "torso_bottom_link" +"torso_bottom_link" -> "i01.torso.midStom_link_joint" [label="xyz: -0.002130150329321623 0.0556507408618927 1.138066291809082 \nrpy: 2.6384735507534174e-09 0.06588618553864523 1.5707963705062857 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.torso.midStom_link_joint" -> "torso_z_link" +"torso_z_link" -> "i01.torso.topStom_link_joint" [label="xyz: -0.0631744837129894 0.00033053517960338497 1.0191643149742937 \nrpy: 1.4454690777654378e-08 1.1919006026595014e-07 -1.5707963625628798 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.torso.topStom_link_joint" -> "torso_y_link" +"torso_y_link" -> "i01.head.neck.001_link_joint" [label="xyz: 0.0038970505042408574 0.2981689059966768 4.290725257917037 \nrpy: 0.06588616842248296 -1.1895064355726959e-07 -7.848565720947054e-09 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.neck.001_link_joint" -> "i01.head.neck.001_link" +"i01.head.neck.001_link" -> "i01.head.rollNeck_link_joint" [label="xyz: 2.3283064365386963e-10 -5.960464477539063e-08 0.004347801208496094 \nrpy: -1.4844248574429972e-09 9.313225746154785e-10 -7.275921360021228e-12 \naxis: 0.0 0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.head.rollNeck_link_joint" -> "neck_link" +"neck_link" -> "i01.head.rothead_link_joint" [label="xyz: 0.0024570709823750966 0.015032246223077982 0.24911308289648026 \nrpy: 6.899564253259882e-10 -2.5820514615304546e-09 1.5707964897228575 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.head.rothead_link_joint" -> "i01.head.rothead_link" +"i01.head.rothead_link" -> "i01.head.eyeLeft.001_link_joint" [label="xyz: -1.0860059285856947 -0.2919790100918019 0.3757600800955814 \nrpy: 2.2089468476593765e-08 1.1673977651227574e-07 -1.5707966089248764 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.head.eyeLeft.001_link_joint" -> "i01.head.eyeLeft.001_link" +"i01.head.eyeLeft.001_link" -> "i01.head.eyeLeft_link_joint" [label="xyz: 6.03077497385307e-08 -0.005899965763040652 1.907485444263557e-06 \nrpy: 2.0038409509415907e-07 -5.684006598727365e-10 5.808165461144653e-10 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.eyeLeft_link_joint" -> "i01.head.eyeLeft_link" +"i01.head.rothead_link" -> "i01.head.eyeRight.001_link_joint" [label="xyz: -1.0964447514523168 0.2984970276806756 0.37576007914971576 \nrpy: -9.66976196892233e-08 -1.1949481404371909e-09 -1.5707967281341455 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "i01.head.eyeRight.001_link_joint" -> "i01.head.eyeRight.001_link" +"i01.head.eyeRight.001_link" -> "i01.head.eyeRight_link_joint" [label="xyz: -5.819798409856247e-08 -0.005899965763288303 1.9067845968834263e-06 \nrpy: 2.00384093385927e-07 -5.683657988697632e-10 5.808118016659417e-10 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.eyeRight_link_joint" -> "i01.head.eyeRight_link" +"i01.head.rothead_link" -> "i01.head.jaw_link_joint" [label="xyz: -0.3617574997766012 0.011214685951102928 0.3244228366826025 \nrpy: -1.0976259900985497e-09 -1.1912300035277212e-09 -1.5707967275616754 \naxis: 0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.head.jaw_link_joint" -> "i01.head.jaw_link" +"torso_y_link" -> "left_shoulder_y_link_joint" [label="xyz: 1.3547172431298327 -0.003374737539894923 2.8074909032883166 \nrpy: 0.0002094234701174276 -1.1895064022660051e-07 -7.848564826724207e-09 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "left_shoulder_y_link_joint" -> "left_shoulder_y_link" +"left_shoulder_y_link" -> "left_shoulder_x_link_joint" [label="xyz: 0.11351430416106911 0.0018903812404268416 -0.37504457828581295 \nrpy: -3.911821268100531e-09 -4.1130013572754365e-07 -1.9772163225740195e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "left_shoulder_x_link_joint" -> "left_shoulder_x_link" +"left_shoulder_x_link" -> "left_shoulder_z_link_joint" [label="xyz: 0.6240587176537518 -0.009366441225418076 -0.5942126982558591 \nrpy: 3.6288229089213546e-06 4.1130014971635376e-07 1.9772166653718052e-08 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "left_shoulder_z_link_joint" -> "left_shoulder_z_link" +"left_shoulder_z_link" -> "left_elbow_x_link_joint" [label="xyz: -0.012811422348022017 0.2922827139689447 -2.115772722079438 \nrpy: 0.06567311994856906 -1.4210854715202004e-14 -1.0061396160665481e-15 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "left_elbow_x_link_joint" -> "left_elbow_x_link" +"left_elbow_x_link" -> "left_wrist_z_link_joint" [label="xyz: -0.08766674995425339 -0.9876550212502478 -2.5393619537353533 \nrpy: -0.4160537382093539 -1.3766765505351941e-14 5.273559366969494e-16 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "left_wrist_z_link_joint" -> "left_wrist_z_link" +"left_wrist_z_link" -> "i01.leftHand.wrist.001_link_joint" [label="xyz: -3.552713678800501e-15 -3.318924557405012e-07 -0.16924851207972047 \nrpy: -5.573875611064594e-08 8.354576142011183e-09 -0.6161079846046869 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.wrist.001_link_joint" -> "i01.leftHand.wrist.001_link" +"i01.leftHand.wrist.001_link" -> "i01.leftHand.index_link_joint" [label="xyz: 0.3264475136173992 -0.011445771802677251 -0.9498151648962798 \nrpy: -1.5685353940304023 -0.09095650658709631 -0.0033029544705190927 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.index_link_joint" -> "i01.leftHand.index_link" +"i01.leftHand.index_link" -> "i01.leftHand.index2_link_joint" [label="xyz: 0.002581962396542181 0.34104744713824076 0.006846612806326702 \nrpy: -1.3420180732089654e-07 1.2252089676145772e-07 -9.105591463671854e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.index2_link_joint" -> "i01.leftHand.index2_link" +"i01.leftHand.index2_link" -> "i01.leftHand.index3_link_joint" [label="xyz: 0.0010330519738968036 0.22696948441996767 0.004325704442187606 \nrpy: 5.9048993153054e-07 -2.1864725652243067e-07 -3.9358646686656204e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.index3_link_joint" -> "i01.leftHand.index3_link" +"i01.leftHand.wrist.001_link" -> "i01.leftHand.majeure_link_joint" [label="xyz: 0.07160527468026867 -0.011695500882396903 -0.9888106362147084 \nrpy: -1.5685449277641668 0.0016045793833170396 -0.003094390753287657 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.majeure_link_joint" -> "i01.leftHand.majeure_link" +"i01.leftHand.majeure_link" -> "i01.leftHand.majeure2_link_joint" [label="xyz: 0.0027196811415377553 0.3593535476857532 0.00721627360883903 \nrpy: -3.225476372424113e-07 -1.37472283556761e-07 2.885816565939405e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.majeure2_link_joint" -> "i01.leftHand.majeure2_link" +"i01.leftHand.majeure2_link" -> "i01.leftHand.majeure3_link_joint" [label="xyz: 0.0010853491182212238 0.23915400359078554 0.004558615111861952 \nrpy: 2.2174248393701535e-07 -3.5885159577198067e-07 -4.987058377627497e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.majeure3_link_joint" -> "i01.leftHand.majeure3_link" +"i01.leftHand.wrist.001_link" -> "i01.leftHand.pinky0_link_joint" [label="xyz: -0.2400239733015601 0.0010773362418494692 -0.3521793528280348 \nrpy: -1.5678852612724528 -0.6864308610623312 -0.004942471259353098 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky0_link_joint" -> "i01.leftHand.pinky0_link" +"i01.leftHand.pinky0_link" -> "i01.leftHand.pinky_link_joint" [label="xyz: -0.4317818718453994 0.20488884240597782 0.00725777316618359 \nrpy: -2.615871358968569e-07 9.679850871968654e-07 0.9452552127417415 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky_link_joint" -> "i01.leftHand.pinky_link" +"i01.leftHand.pinky_link" -> "i01.leftHand.pinky2_link_joint" [label="xyz: 0.002254998791683338 0.2979585654929462 0.005985893296825973 \nrpy: -1.0716465107946029e-06 1.5035777052307964e-06 -1.42813371991124e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky2_link_joint" -> "i01.leftHand.pinky2_link" +"i01.leftHand.pinky2_link" -> "i01.leftHand.pinky3_link_joint" [label="xyz: 0.0008984239922451565 0.19829724647149405 0.0037798151252068646 \nrpy: -2.296362387901082e-06 -3.6621205778963883e-07 -1.0349569406282188e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.pinky3_link_joint" -> "i01.leftHand.pinky3_link" +"i01.leftHand.wrist.001_link" -> "i01.leftHand.ringfinger0_link_joint" [label="xyz: -0.05673449430632349 0.0010135838220852733 -0.5758768189328487 \nrpy: -1.5678852612724528 -0.6864308610623312 -0.004942471259353098 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringfinger0_link_joint" -> "i01.leftHand.ringfinger0_link" +"i01.leftHand.ringfinger0_link" -> "i01.leftHand.ringFinger_link_joint" [label="xyz: -0.3332888857694476 0.15280208607130197 -0.006639964527616504 \nrpy: -1.3880159582813079e-07 1.7237676841475036e-08 0.7748514622284366 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringFinger_link_joint" -> "i01.leftHand.ringFinger_link" +"i01.leftHand.ringFinger_link" -> "i01.leftHand.ringfinger2_link_joint" [label="xyz: 0.002583173796071314 0.34104772767740865 0.00684972158616004 \nrpy: -1.719762427692968e-06 -4.833011981730806e-07 6.445494215700021e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringfinger2_link_joint" -> "i01.leftHand.ringfinger2_link" +"i01.leftHand.ringfinger2_link" -> "i01.leftHand.ringfinger3_link_joint" [label="xyz: 0.0010299847920367533 0.22697089940954118 0.004325162537802241 \nrpy: -9.24515562917802e-07 7.140252433757155e-08 -3.8342453034430523e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.ringfinger3_link_joint" -> "i01.leftHand.ringfinger3_link" +"i01.leftHand.wrist.001_link" -> "i01.leftHand.thumb1_link_joint" [label="xyz: 0.28233511010361045 -1.9746015903043812e-05 -0.37340465122031663 \nrpy: 1.5163474061417506 -0.09893201363784798 -0.003320892223149241 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.leftHand.thumb1_link_joint" -> "i01.leftHand.thumb1_link" +"i01.leftHand.thumb1_link" -> "i01.leftHand.thumb_link_joint" [label="xyz: 0.2597675465695586 -0.13331602659853292 -0.007997924445811266 \nrpy: -0.03182282964977945 -0.3256618074498103 0.8306391883035713 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.thumb_link_joint" -> "i01.leftHand.thumb_link" +"i01.leftHand.thumb_link" -> "i01.leftHand.thumb3_link_joint" [label="xyz: 0.012287758060272935 -0.3304707600352754 -0.007039478236186225 \nrpy: 6.59624553999431e-06 -4.2951932828216854e-06 1.922844621568642e-06 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.leftHand.thumb3_link_joint" -> "i01.leftHand.thumb3_link" +"torso_y_link" -> "right_shoulder_y_link_joint" [label="xyz: -1.349794756954052 -0.0033747163133585056 2.8074905815848386 \nrpy: 0.0002094234701174276 -1.1895064022660051e-07 -7.848564826724207e-09 \naxis: 0.0 0.9999382773199424 0.011110425303554916 \ntype: revolute "] "right_shoulder_y_link_joint" -> "right_shoulder_y_link" +"right_shoulder_y_link" -> "right_shoulder_x_link_joint" [label="xyz: -0.11351406574249534 0.001890410978496071 -0.37504457632990196 \nrpy: -3.91182129900239e-09 -4.150782049183732e-07 -1.9443299118032364e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "right_shoulder_x_link_joint" -> "right_shoulder_x_link" +"right_shoulder_x_link" -> "right_shoulder_z_link_joint" [label="xyz: -0.6240593275399544 -0.009366614388539918 -0.5942121923264914 \nrpy: 3.0861030617064957e-06 4.150782049183732e-07 1.944329945686143e-08 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "right_shoulder_z_link_joint" -> "right_shoulder_z_link" +"right_shoulder_z_link" -> "right_elbow_x_link_joint" [label="xyz: 0.00858259201043765 0.2922837254213847 -2.115772496244208 \nrpy: 0.06567366149599012 2.842170943040401e-14 1.3739009929736312e-15 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "right_elbow_x_link_joint" -> "right_elbow_x_link" +"right_elbow_x_link" -> "right_wrist_z_link_joint" [label="xyz: 0.08766543865203857 -0.9876553714275357 -2.5393629074096626 \nrpy: -0.41605130173369265 0.0 0.0 \naxis: 0.0 0.0 1.0 \ntype: revolute "] "right_wrist_z_link_joint" -> "right_wrist_z_link" +"right_wrist_z_link" -> "i01.rightHand.wrist.001_link_joint" [label="xyz: -2.384185791015625e-07 -3.4583477415139896e-07 -0.1650830826454035 \nrpy: 1.6893810517171204e-07 5.997102903165796e-08 0.6351723834557155 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.wrist.001_link_joint" -> "i01.rightHand.wrist.001_link" +"i01.rightHand.wrist.001_link" -> "i01.rightHand.index_link_joint" [label="xyz: -0.32320467838053046 -0.0077320914398415486 -0.9539793852232146 \nrpy: 1.5730548363406518 0.09095758469935755 -0.015761563590227734 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.index_link_joint" -> "i01.rightHand.index_link" +"i01.rightHand.index_link" -> "i01.rightHand.index2_link_joint" [label="xyz: -0.0025832190065964156 -0.34104668623304857 -0.0068484378322867245 \nrpy: 2.191780027893797e-07 -4.939304476536677e-08 1.319055866594368e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.index2_link_joint" -> "i01.rightHand.index2_link" +"i01.rightHand.index2_link" -> "i01.rightHand.index3_link_joint" [label="xyz: -0.0010316472318763203 -0.22696993495065332 -0.004324450770187949 \nrpy: 1.7288916578939925e-08 1.5832832378492867e-08 -2.1786810714198598e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.index3_link_joint" -> "i01.rightHand.index3_link" +"i01.rightHand.wrist.001_link" -> "i01.rightHand.majeure_link_joint" [label="xyz: -0.06841368097784617 -0.012840136132936886 -0.9929747609982025 \nrpy: 1.5730455830718122 -0.0016034527185238012 -0.015970034357644214 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.majeure_link_joint" -> "i01.rightHand.majeure_link" +"i01.rightHand.majeure_link" -> "i01.rightHand.majeure2_link_joint" [label="xyz: -0.0027214790525138532 -0.3593524888195523 -0.0072175378428445125 \nrpy: -3.241341135431774e-07 -3.034889650699313e-08 -2.8352070550733923e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.majeure2_link_joint" -> "i01.rightHand.majeure2_link" +"i01.rightHand.majeure2_link" -> "i01.rightHand.majeure3_link_joint" [label="xyz: -0.001085194271511547 -0.2391521135712935 -0.004557966541468339 \nrpy: 6.976618861390666e-07 -3.1651510301600183e-09 5.044475564235973e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.majeure3_link_joint" -> "i01.rightHand.majeure3_link" +"i01.rightHand.wrist.001_link" -> "i01.rightHand.pinky0_link_joint" [label="xyz: 0.24340390818107238 -0.006009081361278756 -0.3563438098388474 \nrpy: 1.5737045754432608 0.6864320945729143 -0.014123279476688344 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky0_link_joint" -> "i01.rightHand.pinky0_link" +"i01.rightHand.pinky0_link" -> "i01.rightHand.pinky_link_joint" [label="xyz: 0.43177949923700787 -0.20488781811736478 -0.007259141779253131 \nrpy: -3.8265444196605714e-07 -1.6329863683495205e-08 0.9452551103926459 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky_link_joint" -> "i01.rightHand.pinky_link" +"i01.rightHand.pinky_link" -> "i01.rightHand.pinky2_link_joint" [label="xyz: -0.002254687881846129 -0.29795901642331035 -0.0059831927110363115 \nrpy: 1.5895043836479097e-07 1.1238121846446347e-06 -1.780765861814096e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky2_link_joint" -> "i01.rightHand.pinky2_link" +"i01.rightHand.pinky2_link" -> "i01.rightHand.pinky3_link_joint" [label="xyz: -0.0009000447777718357 -0.19829836492275454 -0.0037806436816150146 \nrpy: 3.4533304565539483e-07 2.5279821569412775e-08 1.891847880869213e-08 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.pinky3_link_joint" -> "i01.rightHand.pinky3_link" +"i01.rightHand.wrist.001_link" -> "i01.rightHand.ringfinger0_link_joint" [label="xyz: 0.060146170245853 -0.0025790771228715315 -0.5800415209779084 \nrpy: 1.5737045265109457 0.6864321089268102 -0.014123308461828299 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringfinger0_link_joint" -> "i01.rightHand.ringfinger0_link" +"i01.rightHand.ringfinger0_link" -> "i01.rightHand.ringFinger_link_joint" [label="xyz: 0.33328454435627997 -0.1527993343937335 0.0066397894463550156 \nrpy: -4.4382368252771087e-07 -1.1833650881420965e-07 0.774850959666614 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringFinger_link_joint" -> "i01.rightHand.ringFinger_link" +"i01.rightHand.ringFinger_link" -> "i01.rightHand.ringfinger2_link_joint" [label="xyz: -0.0025814769550382977 -0.34104994973285674 -0.0068500058216591775 \nrpy: -6.736083897082105e-07 -6.796200862080326e-07 4.7575124513624263e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringfinger2_link_joint" -> "i01.rightHand.ringfinger2_link" +"i01.rightHand.ringfinger2_link" -> "i01.rightHand.ringfinger3_link_joint" [label="xyz: -0.0010301964112753303 -0.2269699339437068 -0.004324983472152377 \nrpy: -1.4337696229533931e-07 4.973058915780371e-07 -4.2279641997488006e-07 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.ringfinger3_link_joint" -> "i01.rightHand.ringfinger3_link" +"i01.rightHand.wrist.001_link" -> "i01.rightHand.thumb1_link_joint" [label="xyz: -0.27888224030573383 0.002851429107577408 -0.37756622819780894 \nrpy: -1.6252477823722664 0.09893337225509069 -0.015743804084033197 \naxis: 0.0 -0.9999382773199424 0.011110425303554916 \ntype: revolute "] "i01.rightHand.thumb1_link_joint" -> "i01.rightHand.thumb1_link" +"i01.rightHand.thumb1_link" -> "i01.rightHand.thumb_link_joint" [label="xyz: -0.2597680391988533 0.13331793336958242 0.008001583935089762 \nrpy: -0.03182391733008044 -0.3256614895382417 0.830639372204284 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.thumb_link_joint" -> "i01.rightHand.thumb_link" +"i01.rightHand.thumb_link" -> "i01.rightHand.thumb3_link_joint" [label="xyz: -0.012286549103057709 0.330470878736411 0.00703823619361299 \nrpy: 6.701307198668841e-06 -3.8759392866349884e-06 1.8174528175547013e-06 \naxis: -0.9999382773199424 0.0 0.011110425303554916 \ntype: revolute "] "i01.rightHand.thumb3_link_joint" -> "i01.rightHand.thumb3_link" +} diff --git a/inmoov/meshes/dae/G-__564753.001.dae b/inmoov/meshes/dae/G-__564753.001.dae new file mode 100644 index 0000000..942d4f2 --- /dev/null +++ b/inmoov/meshes/dae/G-__564753.001.dae @@ -0,0 +1,257 @@ + + + + + Blender User + Blender 4.2.16 LTS commit date:2025-11-17, commit time:16:05, hash:39502cae951c + + 2026-01-07T18:29:56 + 2026-01-07T18:29:56 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.75 0.75 0.75 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.2070312 0.2070312 0.2070312 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.9960938 0.9960938 0.9960938 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.1367187 0.1367187 0.1367187 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.8164063 0.4453125 0 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.9882813 0.6914063 0.03515625 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.2773437 0.296875 0.2890625 1 + + + 0.5 + + + + + + + + + + + 0 0 0 1 + + + 0.7617188 0.7617188 0.7617188 1 + + + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.667482 -1.107618 12.83333 1.659323 -1.184508 12.84803 1.667495 -1.107617 12.9116 1.659186 -1.191852 12.83333 1.692052 -1.026621 12.83332 1.692065 -1.02662 12.91159 1.791944 -1.139885 12.83329 1.806543 -1.089915 12.83329 1.806517 -1.089915 12.7138 1.841141 -1.033977 12.75985 1.841163 -1.033977 12.83328 1.84115 -1.033977 12.78796 1.841141 -0.9510462 12.75985 1.84115 -0.9509451 12.78796 1.841164 -0.8329362 12.83328 1.913262 -0.7902538 12.83326 1.841125 -0.8034889 12.7034 1.841125 -0.790254 12.70521 1.841187 -0.8329362 12.91154 1.785661 -0.8865451 12.91156 1.785647 -0.8865456 12.83329 1.731951 -0.9519744 12.83331 1.731965 -0.9519737 12.91158 1.835379 -0.9823191 12.91154 1.816053 -1.008377 12.91155 1.799374 -1.036204 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4 0 1 0 0 0 0 1 1 1 2 1 2 2 3 2 0 2 0 3 3 3 4 3 18 4 4 4 5 4 5 5 4 5 6 5 6 6 4 6 8 6 7 7 4 7 13 7 8 8 4 8 7 8 9 9 1 9 4 9 9 10 4 10 11 10 4 11 10 11 12 11 10 12 4 12 14 12 12 13 11 13 4 13 15 14 13 14 4 14 16 15 4 15 3 15 17 16 14 16 4 16 15 17 4 17 16 17 4 18 19 18 17 18 4 19 18 19 19 19 19 20 18 20 21 20 20 21 17 21 19 21 19 22 21 22 20 22 23 23 21 23 22 23 21 24 29 24 22 24 27 25 21 25 23 25 18 26 28 26 21 26 21 27 27 27 24 27 24 28 20 28 21 28 21 29 28 29 25 29 21 30 25 30 26 30 21 31 26 31 29 31 30 32 29 32 26 32 29 33 30 33 31 33 31 34 22 34 29 34 20 35 32 35 31 35 22 36 31 36 32 36 20 37 31 37 30 37 32 38 35 38 33 38 34 39 32 39 33 39 32 40 34 40 22 40 35 41 32 41 20 41 38 42 35 42 36 42 36 43 35 43 37 43 35 44 41 44 37 44 33 45 35 45 38 45 35 46 20 46 24 46 40 47 23 47 35 47 41 48 35 48 23 48 24 49 39 49 35 49 35 50 39 50 40 50 42 51 41 51 14 51 42 52 43 52 41 52 43 53 44 53 41 53 37 54 41 54 46 54 41 55 44 55 45 55 46 56 41 56 45 56 48 57 14 57 41 57 41 58 47 58 51 58 47 59 41 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112 69 113 78 113 74 113 74 114 68 114 69 114 78 115 69 115 80 115 79 116 77 116 78 116 80 117 79 117 78 117 81 118 80 118 82 118 79 119 80 119 81 119 80 120 69 120 82 120 82 121 65 121 83 121 84 122 82 122 83 122 14 123 82 123 10 123 10 124 82 124 84 124 69 125 65 125 82 125 14 126 81 126 82 126 84 127 87 127 10 127 83 128 85 128 84 128 86 129 84 129 85 129 87 130 84 130 86 130 88 131 10 131 87 131 87 132 89 132 88 132 87 133 90 133 89 133 86 134 90 134 87 134 91 135 97 135 90 135 90 136 92 136 91 136 92 137 90 137 96 137 93 138 90 138 94 138 89 139 90 139 93 139 90 140 101 140 94 140 90 141 86 141 95 141 95 142 96 142 90 142 97 143 98 143 90 143 98 144 99 144 90 144 99 145 100 145 90 145 90 146 100 146 101 146 104 147 102 147 101 147 101 148 102 148 103 148 101 149 103 149 94 149 101 150 105 150 104 150 100 151 106 151 101 151 105 152 101 152 106 152 105 153 106 153 107 153 106 154 108 154 107 154 106 155 85 155 108 155 86 156 85 156 106 156 86 157 106 157 109 157 106 158 100 158 109 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40 59 43 60 42 60 40 60 43 61 40 61 44 61 52 62 26 62 44 62 26 63 45 63 44 63 47 64 44 64 45 64 46 65 44 65 50 65 44 66 46 66 52 66 48 67 44 67 47 67 48 68 43 68 44 68 49 69 44 69 41 69 51 70 44 70 49 70 50 71 44 71 51 71 54 72 52 72 53 72 53 73 52 73 55 73 26 74 52 74 54 74 66 75 55 75 52 75 52 76 46 76 57 76 59 77 52 77 56 77 57 78 56 78 52 78 52 79 58 79 64 79 58 80 52 80 59 80 52 81 63 81 60 81 60 82 61 82 52 82 61 83 62 83 52 83 62 84 65 84 52 84 63 85 52 85 64 85 65 86 66 86 52 86 67 87 66 87 65 87 66 88 70 88 55 88 68 89 66 89 67 89 66 90 68 90 69 90 70 91 66 91 69 91 55 92 70 92 73 92 70 93 72 93 71 93 71 94 73 94 70 94 70 95 69 95 72 95 73 96 75 96 55 96 73 97 68 97 67 97 67 98 74 98 73 98 71 99 68 99 73 99 75 100 73 100 74 100 76 101 75 101 74 101 75 102 76 102 53 102 53 103 55 103 75 103 78 104 77 104 76 104 76 105 77 105 54 105 78 106 76 106 74 106 54 107 53 107 76 107 78 108 74 108 79 108 81 109 78 109 79 109 78 110 80 110 77 110 78 111 81 111 80 111 83 112 80 112 81 112 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255 1013

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lucy_ros2_control/LucySystemHardware + joints/left_arm + lucy_hardware_interface_left_arm + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + 1 + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + lucy_ros2_control/LucySystemHardware + joints/right_arm + lucy_hardware_interface_right_arm + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + 1 + + + + + + + + + + + + + + + + + + diff --git a/inmoov/urdf/inmoov.urdf.xacro b/inmoov/urdf/inmoov.urdf.xacro new file mode 100644 index 0000000..bca32f0 --- /dev/null +++ b/inmoov/urdf/inmoov.urdf.xacro @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/launch/gazebo.launch.py b/launch/gazebo.launch.py new file mode 100644 index 0000000..d69955d --- /dev/null +++ b/launch/gazebo.launch.py @@ -0,0 +1,169 @@ +#!/usr/bin/env python3 +# Gazebo sim + RViz + ros2_control (sim spawners) + rosbridge. Control panel at ws://localhost:9090. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable, TimerAction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution, TextSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def _get_default_urdf_base(launch_file_path): + launch_dir = os.path.dirname(os.path.abspath(launch_file_path)) + if os.path.sep + "install" + os.path.sep in launch_dir or launch_dir.endswith(os.path.sep + "install"): + workspace = os.path.normpath(os.path.join(launch_dir, "..", "..", "..", "..", "..")) + else: + workspace = os.path.normpath(os.path.join(launch_dir, "..", "..", "..")) + urdf_path = os.path.join(workspace, "src", "thais_urdf", "inmoov", "urdf", "inmoov.urdf.xacro") + base_path = os.path.join(workspace, "src", "thais_urdf", "inmoov") + return urdf_path, base_path + + +def _gz_ros2_control_plugin_path(): + try: + share = get_package_share_directory("gz_ros2_control") + return os.path.join(os.path.dirname(share), "lib") + except Exception: + return "/opt/ros/humble/lib" + + +def generate_launch_description(): + default_urdf, default_base = _get_default_urdf_base(__file__) + lucy_share = get_package_share_directory("lucy_ros2_control") + controller_config_path = os.path.join(lucy_share, "config", "lucy_controllers.yaml") + + urdf_path_arg = DeclareLaunchArgument("urdf_path", default_value=default_urdf, description="Path to inmoov.urdf.xacro") + base_path_arg = DeclareLaunchArgument("base_path", default_value=default_base, description="Base path for xacro (mesh_dir)") + + rosbridge = ExecuteProcess( + cmd=["ros2", "launch", "rosbridge_server", "rosbridge_websocket_launch.xml"], + output="screen", + shell=True, + ) + + urdf_path = LaunchConfiguration("urdf_path") + base_path = LaunchConfiguration("base_path") + mesh_dae = PathJoinSubstitution([base_path, "meshes", "dae"]) + gz_resource_path = [mesh_dae, TextSubstitution(text=os.pathsep), base_path] + + robot_description = Command([ + "xacro ", urdf_path, + " base_path:=", base_path, + " use_gazebo_sim:=true", + " controller_config:=", controller_config_path, + ]) + robot_description_dict = {"robot_description": robot_description} + + try: + _gz_sim_share = get_package_share_directory("ros_gz_sim") + _gz_sim_launch_path = os.path.join(_gz_sim_share, "launch", "gz_sim.launch.py") + except Exception: + _gz_sim_launch_path = "/opt/ros/humble/share/ros_gz_sim/launch/gz_sim.launch.py" + + gz_sim_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource(_gz_sim_launch_path), + launch_arguments={"gz_args": "-r empty.sdf"}.items(), + ) + + clock_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"], + output="screen", + ) + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="screen", + parameters=[robot_description_dict, {"use_sim_time": True}], + ) + + spawn_lucy_gazebo = TimerAction( + period=4.0, + actions=[ + Node( + package="ros_gz_sim", + executable="create", + name="spawn_lucy", + arguments=["-name", "lucy", "-param", "robot_description", "-z", "0.5"], + parameters=[robot_description_dict], + output="screen", + ) + ], + ) + + ros_lib = _gz_ros2_control_plugin_path() + gz_plugin_path = os.pathsep.join( + [s for s in [os.environ.get("GZ_SIM_SYSTEM_PLUGIN_PATH", ""), ros_lib] if s] + ).strip(os.pathsep) + ign_plugin_path = os.pathsep.join( + [s for s in [os.environ.get("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", ""), ros_lib] if s] + ).strip(os.pathsep) + + spawn_joint_state_sim = TimerAction( + period=0.0, + actions=[ + Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", "--switch-timeout", "10"], + output="screen", + ) + ], + ) + spawn_left_sim = TimerAction( + period=0.5, + actions=[ + Node( + package="controller_manager", + executable="spawner", + arguments=["left_arm_controller", "--switch-timeout", "10"], + output="screen", + ) + ], + ) + spawn_right_sim = TimerAction( + period=1.0, + actions=[ + Node( + package="controller_manager", + executable="spawner", + arguments=["right_arm_controller", "--switch-timeout", "10"], + output="screen", + ) + ], + ) + + rviz_config = PathJoinSubstitution([ + FindPackageShare("thais_urdf"), "config", "inmoov_rviz.rviz", + ]) + rviz = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="screen", + arguments=["--display-config", rviz_config], + parameters=[{"use_sim_time": True}], + ) + + return LaunchDescription([ + urdf_path_arg, + base_path_arg, + rosbridge, + SetEnvironmentVariable(name="GZ_SIM_RESOURCE_PATH", value=gz_resource_path), + SetEnvironmentVariable(name="GZ_SIM_SYSTEM_PLUGIN_PATH", value=gz_plugin_path), + SetEnvironmentVariable(name="IGN_GAZEBO_SYSTEM_PLUGIN_PATH", value=ign_plugin_path), + gz_sim_launch, + clock_bridge, + robot_state_publisher, + spawn_lucy_gazebo, + spawn_joint_state_sim, + spawn_left_sim, + spawn_right_sim, + rviz, + ]) diff --git a/launch/rviz.launch.py b/launch/rviz.launch.py new file mode 100644 index 0000000..44b69de --- /dev/null +++ b/launch/rviz.launch.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +# Real robot + RViz + rosbridge. Control panel at ws://localhost:9090. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess, TimerAction +from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def _get_default_urdf_base(launch_file_path): + launch_dir = os.path.dirname(os.path.abspath(launch_file_path)) + # From install: .../install/thais_urdf/share/thais_urdf/launch -> 5 levels up to workspace + if os.path.sep + "install" + os.path.sep in launch_dir or launch_dir.endswith(os.path.sep + "install"): + workspace = os.path.normpath(os.path.join(launch_dir, "..", "..", "..", "..", "..")) + else: + workspace = os.path.normpath(os.path.join(launch_dir, "..", "..", "..")) + urdf_path = os.path.join(workspace, "src", "thais_urdf", "inmoov", "urdf", "inmoov.urdf.xacro") + base_path = os.path.join(workspace, "src", "thais_urdf", "inmoov") + return urdf_path, base_path + + +def generate_launch_description(): + default_urdf, default_base = _get_default_urdf_base(__file__) + urdf_path_arg = DeclareLaunchArgument("urdf_path", default_value=default_urdf, description="Path to inmoov.urdf.xacro") + base_path_arg = DeclareLaunchArgument("base_path", default_value=default_base, description="Base path for xacro (mesh_dir)") + urdf_path = LaunchConfiguration("urdf_path") + base_path = LaunchConfiguration("base_path") + + lucy_share = get_package_share_directory("lucy_ros2_control") + controllers_yaml = os.path.join(lucy_share, "config", "lucy_controllers.yaml") + robot_description = Command(["xacro ", urdf_path, " base_path:=", base_path]) + robot_description_dict = {"robot_description": robot_description} + + rosbridge = ExecuteProcess( + cmd=["ros2", "launch", "rosbridge_server", "rosbridge_websocket_launch.xml"], + output="screen", + shell=True, + ) + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="screen", + parameters=[robot_description_dict], + ) + ros2_control_node = TimerAction( + period=2.0, + actions=[ + Node( + package="controller_manager", + executable="ros2_control_node", + output="screen", + parameters=[controllers_yaml, robot_description_dict], + ) + ], + ) + spawn_joint_state = Node( + package="controller_manager", executable="spawner", arguments=["joint_state_broadcaster"], output="screen", + ) + spawn_left = Node( + package="controller_manager", executable="spawner", arguments=["left_arm_controller"], output="screen", + ) + spawn_right = Node( + package="controller_manager", executable="spawner", arguments=["right_arm_controller"], output="screen", + ) + + rviz_config = PathJoinSubstitution([ + FindPackageShare("thais_urdf"), "config", "inmoov_rviz.rviz", + ]) + rviz = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="screen", + arguments=["--display-config", rviz_config], + parameters=[{"use_sim_time": False}], + ) + + return LaunchDescription([ + urdf_path_arg, base_path_arg, + rosbridge, + robot_state_publisher, ros2_control_node, + spawn_joint_state, spawn_left, spawn_right, + rviz, + ]) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..f1eb24f --- /dev/null +++ b/package.xml @@ -0,0 +1,25 @@ + + + + thais_urdf + 1.0.0 + InMoov robot description, Gazebo/RViz combo launches (rviz_control_bridge, gazebo_rviz_control_bridge). + Sentience Robotics Team + GPL-3.0 + + ament_cmake + + ament_index_python + rviz2 + ros_gz_sim + ros_gz_bridge + robot_state_publisher + gz_ros2_control + lucy_ros2_control + rosbridge_server + controller_manager + + + ament_cmake + +