├── .github ├── ISSUE_TEMPLATE │ ├── 1_bug_report.md │ ├── 2_feature_request.md │ └── 3_need_help.md └── pull_request_template.md ├── .gitignore ├── LICENSE ├── README.md ├── wolfgang_animations ├── CMakeLists.txt ├── animations │ ├── falling │ │ ├── falling_back.json │ │ ├── falling_front.json │ │ ├── falling_left.json │ │ └── falling_right.json │ ├── kick │ │ ├── kick_left.json │ │ └── kick_right.json │ └── motion │ │ ├── cheering.json │ │ ├── goalie_falling_center.json │ │ ├── goalie_falling_left.json │ │ ├── goalie_falling_right.json │ │ ├── goalie_prepare_arms.json │ │ ├── init.json │ │ ├── init_sim.json │ │ ├── record.json │ │ ├── sit.json │ │ ├── sit_slow.json │ │ ├── stand_up_back.json │ │ ├── stand_up_front.json │ │ ├── turning_back_left.json │ │ ├── turning_back_right.json │ │ ├── verbeugen.json │ │ ├── walkready.json │ │ └── walkready_sim.json ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst ├── package.xml ├── record.json └── rosdoc.yaml ├── wolfgang_description ├── CMakeLists.txt ├── README.md ├── config │ ├── fake_controllers.yaml │ ├── wolfgang.rviz │ ├── wolfgang_control.yaml │ └── wolfgang_control_simple_physics.yaml ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst ├── launch │ ├── rviz.launch │ └── standalone.launch ├── package.xml ├── rosdoc.yaml └── urdf │ ├── additionalURDF.txt │ ├── ankle.scad │ ├── ankle.stl │ ├── baseplate_odroid_xu4_core.scad │ ├── baseplate_odroid_xu4_core.stl │ ├── basler_ace_gige_c-mount_v01.scad │ ├── basler_ace_gige_c-mount_v01.stl │ ├── battery.scad │ ├── battery.stl │ ├── battery_cage.scad │ ├── battery_cage.stl │ ├── battery_clip.scad │ ├── battery_clip.stl │ ├── camera_lower_basler_wolfgang_imu_v2.2.scad │ ├── camera_lower_basler_wolfgang_imu_v2.2.stl │ ├── camera_side_basler_wolfgang_v2.2_left.scad │ ├── camera_side_basler_wolfgang_v2.2_left.stl │ ├── camera_side_basler_wolfgang_v2.2_right.scad │ ├── camera_side_basler_wolfgang_v2.2_right.stl │ ├── config.json │ ├── connector_shoulder.scad │ ├── connector_shoulder.stl │ ├── core.scad │ ├── core.stl │ ├── dummy_speaker.scad │ ├── dummy_speaker.stl │ ├── flex_stollen.scad │ ├── flex_stollen.stl │ ├── foot_cover.scad │ ├── foot_cover.stl │ ├── foot_printed_left.scad │ ├── foot_printed_left.stl │ ├── foot_printed_right.scad │ ├── foot_printed_right.stl │ ├── hand.scad │ ├── hand.stl │ ├── hip_u_connector.scad │ ├── hip_u_connector.stl │ ├── imu_holder.scad │ ├── imu_holder.stl │ ├── knee_connector.scad │ ├── knee_connector.stl │ ├── knee_spacer.scad │ ├── knee_spacer.stl │ ├── lense.scad │ ├── lense.stl │ ├── load_cell.scad │ ├── load_cell.stl │ ├── lower_arm.scad │ ├── lower_arm.stl │ ├── lower_leg.scad │ ├── lower_leg.stl │ ├── lower_leg_spacer.scad │ ├── lower_leg_spacer.stl │ ├── motor_connector.scad │ ├── motor_connector.stl │ ├── mx-106_body.scad │ ├── mx-106_body.stl │ ├── mx-64-body.scad │ ├── mx-64-body.stl │ ├── nuc_holder_left_back.scad │ ├── nuc_holder_left_back.stl │ ├── nuc_holder_left_front.scad │ ├── nuc_holder_left_front.stl │ ├── nuc_holder_right_back.scad │ ├── nuc_holder_right_back.stl │ ├── nuc_holder_right_front.scad │ ├── nuc_holder_right_front.stl │ ├── nuc_main.scad │ ├── nuc_main.stl │ ├── robot.urdf │ ├── sea_connector.scad │ ├── sea_connector.stl │ ├── sea_ninjaflex.scad │ ├── sea_ninjaflex.stl │ ├── shoulder_connector.scad │ ├── shoulder_connector.stl │ ├── speaker_holder.scad │ ├── speaker_holder.stl │ ├── spring_holder_lower.scad │ ├── spring_holder_lower.stl │ ├── spring_holder_upper.scad │ ├── spring_holder_upper.stl │ ├── springholder_bottom.scad │ ├── springholder_bottom.stl │ ├── springholder_new.scad │ ├── springholder_new.stl │ ├── thrustbearingholder.scad │ ├── thrustbearingholder.stl │ ├── torso_bottom.scad │ ├── torso_bottom.stl │ ├── torso_bumper_left.scad │ ├── torso_bumper_left.stl │ ├── torso_bumper_right.scad │ ├── torso_bumper_right.stl │ ├── torso_top.scad │ ├── torso_top.stl │ ├── upper_arm.scad │ ├── upper_arm.stl │ ├── upper_arm_spacer.scad │ ├── upper_arm_spacer.stl │ ├── upper_leg.scad │ ├── upper_leg.stl │ ├── upper_leg_spacer.scad │ ├── upper_leg_spacer.stl │ ├── xh-540.scad │ └── xh-540.stl ├── wolfgang_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── sensors_3d.yaml │ └── wolfgang.srdf ├── package.xml └── rosdoc.yaml ├── wolfgang_pybullet_sim ├── CMakeLists.txt ├── README.md ├── config │ └── config.yaml ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst ├── launch │ └── simulation.launch ├── models │ └── field │ │ ├── config.json │ │ ├── field.stl │ │ ├── field.urdf │ │ ├── goalsally.stl │ │ ├── goalsallyback.stl │ │ ├── goalsopponent.stl │ │ ├── goalsopponentback.stl │ │ ├── lines.stl │ │ ├── penaltyally.stl │ │ ├── penaltyopponent.stl │ │ ├── table.stl │ │ ├── table2.stl │ │ ├── table3.stl │ │ └── table4.stl ├── package.xml ├── scripts │ ├── simulation_headless.py │ └── simulation_with_gui.py ├── setup.py ├── src │ └── wolfgang_pybullet_sim │ │ └── ros_interface.py └── wolfgang_pybullet_sim │ ├── __init__.py │ ├── ros_interface.py │ ├── simulation.py │ └── terrain.py ├── wolfgang_robocup_api ├── .gitignore ├── README.md ├── config │ ├── bitbots_walk.json │ ├── devices.json │ └── team.json ├── launch │ ├── robocup_teamplayer.launch │ ├── robocup_walk.launch │ └── wolfgang_robocup_api_bridge.launch ├── package.xml ├── resource │ └── wolfgang_robocup_api ├── scripts │ └── start.sh ├── setup.cfg ├── setup.py └── wolfgang_robocup_api │ ├── __init__.py │ └── command_proxy.py └── wolfgang_webots_sim ├── .gitignore ├── .rdmanifest ├── CMakeLists.txt ├── README.md ├── docs ├── _static │ └── logo.png ├── conf.py └── index.rst ├── launch ├── fake_localization.launch ├── imu_filter_sim.launch ├── simulation.launch ├── simulation.py └── single_robot_controller.launch ├── package.xml ├── protos ├── FreeCamera.proto ├── RoboCupBackground.proto ├── RobocupGoal.proto ├── RobocupSoccerField.proto ├── RobocupTexturedSoccerBall.proto ├── Wolfgang_meshes │ ├── ankle.stl │ ├── baseplate_odroid_xu4_core.stl │ ├── basler_ace_gige_c-mount_v01.stl │ ├── battery.stl │ ├── battery_cage.stl │ ├── battery_clip.stl │ ├── camera_lower_basler_wolfgang_imu_v2.2.stl │ ├── camera_side_basler_wolfgang_v2.2_left.stl │ ├── camera_side_basler_wolfgang_v2.2_right.stl │ ├── connector_shoulder.stl │ ├── core.stl │ ├── dummy_speaker.stl │ ├── flex_stollen.stl │ ├── foot_cover.stl │ ├── foot_printed_left.stl │ ├── foot_printed_right.stl │ ├── hand.stl │ ├── hip_u_connector.stl │ ├── imu_holder.stl │ ├── knee_connector.stl │ ├── knee_spacer.stl │ ├── lense.stl │ ├── load_cell.stl │ ├── lower_arm.stl │ ├── lower_leg.stl │ ├── lower_leg_spacer.stl │ ├── motor_connector.stl │ ├── mx-106_body.stl │ ├── mx-64-body.stl │ ├── nuc_holder_left_back.stl │ ├── nuc_holder_left_front.stl │ ├── nuc_holder_right_back.stl │ ├── nuc_holder_right_front.stl │ ├── nuc_main.stl │ ├── sea_connector.stl │ ├── sea_ninjaflex.stl │ ├── shoulder_connector.stl │ ├── speaker_holder.stl │ ├── spring_holder_lower.stl │ ├── spring_holder_upper.stl │ ├── springholder_bottom.stl │ ├── springholder_new.stl │ ├── thrustbearingholder.stl │ ├── torso_bottom.stl │ ├── torso_bumper_left.stl │ ├── torso_bumper_right.stl │ ├── torso_top.stl │ ├── upper_arm.stl │ ├── upper_arm_spacer.stl │ ├── upper_leg.stl │ ├── upper_leg_spacer.stl │ └── xh-540.stl ├── backgrounds │ ├── kiara_1_dawn_back.png │ ├── kiara_1_dawn_bottom.png │ ├── kiara_1_dawn_front.png │ ├── kiara_1_dawn_left.png │ ├── kiara_1_dawn_right.png │ ├── kiara_1_dawn_top.png │ ├── paul_lobe_haus_back.png │ ├── paul_lobe_haus_bottom.png │ ├── paul_lobe_haus_front.png │ ├── paul_lobe_haus_left.png │ ├── paul_lobe_haus_right.png │ ├── paul_lobe_haus_top.png │ ├── sepulchral_chapel_rotunda_back.png │ ├── sepulchral_chapel_rotunda_bottom.png │ ├── sepulchral_chapel_rotunda_front.png │ ├── sepulchral_chapel_rotunda_left.png │ ├── sepulchral_chapel_rotunda_right.png │ ├── sepulchral_chapel_rotunda_top.png │ ├── shanghai_riverside_back.hdr │ ├── shanghai_riverside_back.png │ ├── shanghai_riverside_bottom.hdr │ ├── shanghai_riverside_bottom.png │ ├── shanghai_riverside_front.hdr │ ├── shanghai_riverside_front.png │ ├── shanghai_riverside_left.hdr │ ├── shanghai_riverside_left.png │ ├── shanghai_riverside_right.hdr │ ├── shanghai_riverside_right.png │ ├── shanghai_riverside_top.hdr │ ├── shanghai_riverside_top.png │ ├── stadium_back.png │ ├── stadium_dry_back.hdr │ ├── stadium_dry_back.png │ ├── stadium_dry_bottom.hdr │ ├── stadium_dry_bottom.png │ ├── stadium_dry_front.hdr │ ├── stadium_dry_front.png │ ├── stadium_dry_left.hdr │ ├── stadium_dry_left.png │ ├── stadium_dry_right.hdr │ ├── stadium_dry_right.png │ ├── stadium_top.hdr │ ├── stadium_top.png │ ├── sunset_jhbcentral_back.png │ ├── sunset_jhbcentral_bottom.png │ ├── sunset_jhbcentral_front.png │ ├── sunset_jhbcentral_left.png │ ├── sunset_jhbcentral_right.png │ ├── sunset_jhbcentral_top.png │ ├── ulmer_muenster_back.png │ ├── ulmer_muenster_bottom.png │ ├── ulmer_muenster_front.png │ ├── ulmer_muenster_left.png │ ├── ulmer_muenster_right.png │ └── ulmer_muenster_top.png ├── ball_textures │ ├── LICENSE │ ├── europass.jpg │ ├── jabulani.jpg │ ├── tango.jpg │ ├── teamgeist.jpg │ └── telstar.jpg ├── hl_supervisor │ └── hl_supervisor.proto ├── lighting │ ├── RoboCupMainLight.proto │ ├── RoboCupOffLight.proto │ ├── RoboCupTopLight.proto │ └── icons │ │ ├── RoboCupMainLight.png │ │ ├── RoboCupOffLight.png │ │ └── RoboCupTopLight.png ├── robots │ └── Wolfgang │ │ ├── Wolfgang.proto │ │ ├── WolfgangOptimization.proto │ │ ├── WolfgangRobocup.proto │ │ ├── Wolfgang_meshes │ │ ├── Wolfgang_ankleMesh.proto │ │ ├── Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto │ │ ├── Wolfgang_batteryMesh.proto │ │ ├── Wolfgang_battery_cageMesh.proto │ │ ├── Wolfgang_battery_clipMesh.proto │ │ ├── Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto │ │ ├── Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto │ │ ├── Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto │ │ ├── Wolfgang_connector_shoulderMesh.proto │ │ ├── Wolfgang_coreMesh.proto │ │ ├── Wolfgang_dummy_speakerMesh.proto │ │ ├── Wolfgang_flex_stollenMesh.proto │ │ ├── Wolfgang_foot_coverMesh.proto │ │ ├── Wolfgang_foot_printed_leftMesh.proto │ │ ├── Wolfgang_foot_printed_rightMesh.proto │ │ ├── Wolfgang_handMesh.proto │ │ ├── Wolfgang_hip_u_connectorMesh.proto │ │ ├── Wolfgang_imu_holderMesh.proto │ │ ├── Wolfgang_knee_connectorMesh.proto │ │ ├── Wolfgang_knee_spacerMesh.proto │ │ ├── Wolfgang_lenseMesh.proto │ │ ├── Wolfgang_load_cellMesh.proto │ │ ├── Wolfgang_lower_armMesh.proto │ │ ├── Wolfgang_lower_legMesh.proto │ │ ├── Wolfgang_lower_leg_spacerMesh.proto │ │ ├── Wolfgang_motor_connectorMesh.proto │ │ ├── Wolfgang_mx-106_bodyMesh.proto │ │ ├── Wolfgang_mx-64-bodyMesh.proto │ │ ├── Wolfgang_nuc_holder_left_backMesh.proto │ │ ├── Wolfgang_nuc_holder_left_frontMesh.proto │ │ ├── Wolfgang_nuc_holder_right_backMesh.proto │ │ ├── Wolfgang_nuc_holder_right_frontMesh.proto │ │ ├── Wolfgang_nuc_mainMesh.proto │ │ ├── Wolfgang_sea_connectorMesh.proto │ │ ├── Wolfgang_sea_ninjaflexMesh.proto │ │ ├── Wolfgang_shoulder_connectorMesh.proto │ │ ├── Wolfgang_speaker_holderMesh.proto │ │ ├── Wolfgang_spring_holder_lowerMesh.proto │ │ ├── Wolfgang_spring_holder_upperMesh.proto │ │ ├── Wolfgang_springholder_bottomMesh.proto │ │ ├── Wolfgang_springholder_newMesh.proto │ │ ├── Wolfgang_thrustbearingholderMesh.proto │ │ ├── Wolfgang_torso_bottomMesh.proto │ │ ├── Wolfgang_torso_bumper_leftMesh.proto │ │ ├── Wolfgang_torso_bumper_rightMesh.proto │ │ ├── Wolfgang_torso_topMesh.proto │ │ ├── Wolfgang_upper_armMesh.proto │ │ ├── Wolfgang_upper_arm_spacerMesh.proto │ │ ├── Wolfgang_upper_legMesh.proto │ │ ├── Wolfgang_upper_leg_spacerMesh.proto │ │ ├── Wolfgang_xh-540Mesh.proto │ │ ├── ankle.stl │ │ ├── baseplate_odroid_xu4_core.stl │ │ ├── basler_ace_gige_c-mount_v01.stl │ │ ├── battery.stl │ │ ├── battery_cage.stl │ │ ├── battery_clip.stl │ │ ├── camera_lower_basler_wolfgang_imu_v2.2.stl │ │ ├── camera_side_basler_wolfgang_v2.2_left.stl │ │ ├── camera_side_basler_wolfgang_v2.2_right.stl │ │ ├── connector_shoulder.stl │ │ ├── core.stl │ │ ├── dummy_speaker.stl │ │ ├── flex_stollen.stl │ │ ├── foot_cover.stl │ │ ├── foot_printed_left.stl │ │ ├── foot_printed_right.stl │ │ ├── hand.stl │ │ ├── hip_u_connector.stl │ │ ├── imu_holder.stl │ │ ├── knee_connector.stl │ │ ├── knee_spacer.stl │ │ ├── lense.stl │ │ ├── load_cell.stl │ │ ├── lower_arm.stl │ │ ├── lower_leg.stl │ │ ├── lower_leg_spacer.stl │ │ ├── motor_connector.stl │ │ ├── mx-106_body.stl │ │ ├── mx-64-body.stl │ │ ├── nuc_holder_left_back.stl │ │ ├── nuc_holder_left_front.stl │ │ ├── nuc_holder_right_back.stl │ │ ├── nuc_holder_right_front.stl │ │ ├── nuc_main.stl │ │ ├── sea_connector.stl │ │ ├── sea_ninjaflex.stl │ │ ├── shoulder_connector.stl │ │ ├── speaker_holder.stl │ │ ├── spring_holder_lower.stl │ │ ├── spring_holder_upper.stl │ │ ├── springholder_bottom.stl │ │ ├── springholder_new.stl │ │ ├── thrustbearingholder.stl │ │ ├── torso_bottom.stl │ │ ├── torso_bumper_left.stl │ │ ├── torso_bumper_right.stl │ │ ├── torso_top.stl │ │ ├── upper_arm.stl │ │ ├── upper_arm_spacer.stl │ │ ├── upper_leg.stl │ │ ├── upper_leg_spacer.stl │ │ └── xh-540.stl │ │ └── Wolfgang_textures │ │ ├── WolfgangCarbonFiberAppearance.proto │ │ ├── WolfgangMarker.proto │ │ ├── WolfgangMetal.proto │ │ ├── WolfgangMotor.proto │ │ ├── WolfgangNUC.proto │ │ ├── WolfgangPaintedMetal.proto │ │ ├── WolfgangPlastic.proto │ │ ├── carbon_fiber.jpg │ │ ├── number_0.png │ │ ├── number_1.png │ │ ├── number_2.png │ │ ├── number_3.png │ │ ├── number_4.png │ │ └── number_5.png └── textures │ └── net.png ├── scripts ├── fix_urdf_for_webots.py ├── imu_lut_gen.py ├── localization_faker.py ├── start_simulator.py ├── start_single.py └── start_webots_ros_supervisor.py ├── setup.py ├── wolfgang_webots_sim ├── __init__.py ├── webots_robot_controller.py ├── webots_robot_supervisor_controller.py └── webots_supervisor_controller.py └── worlds ├── 1_bot.wbt ├── 4_bots.wbt ├── deep_quintic_wolfgang.wbt ├── deep_quintic_wolfgang_fast.wbt └── optimization_wolfgang.wbt /.github/ISSUE_TEMPLATE/1_bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: "\U0001F41B Bug report" 3 | about: Report a misbehavior or other bug 4 | labels: 'bug' 5 | --- 6 | # Summary 7 | 8 | 9 | ## Expected behavior 10 | 11 | 12 | ## Current behavior 13 | 14 | 15 | ## Steps to Reproduce 16 | 17 | 18 | 1. 19 | 2. 20 | 3. 21 | 22 | ## Possible Solution 23 | 24 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/2_feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: "\U0001F680 Feature request" 3 | about: Suggest an idea for this project 4 | labels: 'enhancement' 5 | --- 6 | # Summary 7 | 8 | 9 | ## Is your feature request related to a problem? 10 | 11 | 12 | ## Describe the solution you'd like 13 | 14 | 15 | ## Describe alternatives you've considered 16 | 17 | 18 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/3_need_help.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: "⁉️ Help me" 3 | about: "Get help with using or improving our software" 4 | labels: 'question' 5 | --- 6 | 7 | 8 | # What I'm trying to do 9 | 10 | 11 | ## What I've tried 12 | 13 | 14 | ## Additional context 15 | 16 | -------------------------------------------------------------------------------- /.github/pull_request_template.md: -------------------------------------------------------------------------------- 1 | # Summary 2 | 3 | 4 | ## Proposed changes 5 | 6 | 7 | ## Related issues 8 | 9 | 10 | 11 | 12 | ## Checklist 13 | 14 | - [ ] Run `colcon build` 15 | - [ ] Write documentation 16 | - [ ] Create issues for future work 17 | - [ ] Test on your machine 18 | - [ ] Test on the robot 19 | - [ ] This PR is on our `Software` project board 20 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # auto-generated documentation 2 | **/docs/_build 3 | **/docs/_out 4 | **/docs/cppapi 5 | **/docs/pyapi 6 | 7 | **/.*.cache 8 | __pycache__ 9 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) Hamburg Bit-Bots 2 | 3 | Permission is hereby granted, free of charge, to any person obtaining a copy of 4 | this software and associated documentation files (the "Software"), to deal in 5 | the Software without restriction, including without limitation the rights to 6 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies 7 | of the Software, and to permit persons to whom the Software is furnished to do 8 | so, subject to the following conditions: 9 | 10 | The above copyright notice and this permission notice shall be included in all 11 | copies or substantial portions of the Software. 12 | 13 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 14 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 15 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 16 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 17 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 18 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 19 | SOFTWARE. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Wolfgang-OP 2 | 3 | ## Archived ⚠️ This repository has been moved [here](https://github.com/bit-bots/bitbots_meta)! 4 | 5 | This repository contains all software directly related to the Wolfgang-OP robot. 6 | If you are interested in this robot, please also look at the following links. 7 | 8 | Video of the platform: https://youtu.be/UsH6QIKzr7Q 9 | 10 | Complete RoboCup software stack: https://github.com/bit-bots/bitbots_meta 11 | 12 | Onshape CAD model: https://cad.onshape.com/documents/8c6aa9a8917f764cb7039c2d/w/af71e5083243affec9ac82a8/e/e42d9814ef6f704f62b6758c 13 | 14 | CORE electronics: https://github.com/bit-bots/wolfgang_core 15 | 16 | IMU hardware and firmware: https://github.com/bit-bots/bitbots_imu_dxl 17 | 18 | BitFoot hardware and firmware: https://github.com/bit-bots/bit_foot 19 | -------------------------------------------------------------------------------- /wolfgang_animations/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(wolfgang_animations) 3 | 4 | # Add support for C++17 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 17) 7 | endif() 8 | 9 | find_package(ament_cmake REQUIRED) 10 | 11 | set(INCLUDE_DIRS ${ament_cmake_INCLUDE_DIRS}) 12 | include_directories(${INCLUDE_DIRS}) 13 | 14 | set(LIBRARY_DIRS ${ament_cmake_LIBRARY_DIRS}) 15 | 16 | link_directories(${LIBRARY_DIRS}) 17 | 18 | set(LIBS ${ament_cmake_LIBRARIES}) 19 | 20 | include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake) 21 | enable_bitbots_docs() 22 | 23 | ament_export_dependencies(ament_cmake) 24 | ament_export_include_directories(${INCLUDE_DIRS}) 25 | 26 | install(DIRECTORY animations DESTINATION share/${PROJECT_NAME}) 27 | 28 | ament_package() 29 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/falling/falling_back.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Tanja", 3 | "description": "", 4 | "keyframes": [ 5 | { 6 | "duration": 0.01, 7 | "goals": { 8 | "HeadPan": 0.0, 9 | "HeadTilt": 0.0, 10 | "LAnklePitch": -29.0, 11 | "LAnkleRoll": 0.0, 12 | "LElbow": 47.0, 13 | "LHipPitch": 51.0, 14 | "LHipRoll": 0.0, 15 | "LHipYaw": 0.0, 16 | "LKnee": 64.0, 17 | "LShoulderPitch": 1.0, 18 | "LShoulderRoll": 0.0, 19 | "RAnklePitch": 28.0, 20 | "RAnkleRoll": -4.0, 21 | "RElbow": -45.0, 22 | "RHipPitch": -50.0, 23 | "RHipRoll": -1.0, 24 | "RHipYaw": 1.0, 25 | "RKnee": -61.0, 26 | "RShoulderPitch": 0.0, 27 | "RShoulderRoll": 0.0 28 | }, 29 | "name": "keyframe_1", 30 | "pause": 0.2 31 | } 32 | ], 33 | "last_edited": "2018-06-08 14:35:29.436275", 34 | "name": "falling_back", 35 | "version": "1.0" 36 | } 37 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/falling/falling_front.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Unknown", 3 | "description": "An animation that mitigates the damage of a fall on the front, by pulling the arms in.", 4 | "keyframes": [ 5 | { 6 | "duration": 0.01, 7 | "goals": { 8 | "HeadPan": 0.0, 9 | "HeadTilt": 45.0, 10 | "LAnklePitch": -36.0, 11 | "LAnkleRoll": 4.0, 12 | "LElbow": 45.0, 13 | "LHipPitch": -11.0, 14 | "LHipRoll": 4.0, 15 | "LHipYaw": 6.0, 16 | "LKnee": 13.0, 17 | "LShoulderPitch": 90.0, 18 | "LShoulderRoll": 0.0, 19 | "RAnklePitch": 36.0, 20 | "RAnkleRoll": -4.0, 21 | "RElbow": -45.0, 22 | "RHipPitch": 11.0, 23 | "RHipRoll": -4.0, 24 | "RHipYaw": 6.0, 25 | "RKnee": -13.0, 26 | "RShoulderPitch": -90.0, 27 | "RShoulderRoll": 0.0 28 | }, 29 | "name": "frame0", 30 | "pause": 0.2 31 | } 32 | ], 33 | "last_edited": "2019-05-02 10:20:24.230135", 34 | "name": "falling_front", 35 | "version": "0" 36 | } 37 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/falling/falling_left.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Unknown", 3 | "description": "An animation that mitigates the damage of a fall on the left side.", 4 | "keyframes": [ 5 | { 6 | "duration": 0.01, 7 | "goals": { 8 | "HeadPan": 90.0, 9 | "HeadTilt": 0.0, 10 | "LAnklePitch": -26.0, 11 | "LAnkleRoll": 4.0, 12 | "LElbow": 44.0, 13 | "LHipPitch": 27.0, 14 | "LHipRoll": 4.0, 15 | "LHipYaw": -1.0, 16 | "LKnee": 58.0, 17 | "LShoulderPitch": -2.0, 18 | "LShoulderRoll": 0.0, 19 | "RAnklePitch": 26.0, 20 | "RAnkleRoll": -4.0, 21 | "RElbow": -42.0, 22 | "RHipPitch": -27.0, 23 | "RHipRoll": -4.0, 24 | "RHipYaw": 1.0, 25 | "RKnee": -58.0, 26 | "RShoulderPitch": 6.0, 27 | "RShoulderRoll": 0.0 28 | }, 29 | "name": "generated frame", 30 | "pause": 0.2 31 | } 32 | ], 33 | "last_edited": "2019-10-04 16:50:40.114590", 34 | "name": "None yet", 35 | "version": 0 36 | } 37 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/falling/falling_right.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Unknown", 3 | "description": "An animation that mitigates the damage of a fall on the right side.", 4 | "keyframes": [ 5 | { 6 | "duration": 0.01, 7 | "goals": { 8 | "HeadPan": -90.0, 9 | "HeadTilt": 0.0, 10 | "LAnklePitch": -26.0, 11 | "LAnkleRoll": 4.0, 12 | "LElbow": 44.0, 13 | "LHipPitch": 27.0, 14 | "LHipRoll": 4.0, 15 | "LHipYaw": -1.0, 16 | "LKnee": 58.0, 17 | "LShoulderPitch": -2.0, 18 | "LShoulderRoll": 0.0, 19 | "RAnklePitch": 26.0, 20 | "RAnkleRoll": -4.0, 21 | "RElbow": -42.0, 22 | "RHipPitch": -27.0, 23 | "RHipRoll": -4.0, 24 | "RHipYaw": 1.0, 25 | "RKnee": -58.0, 26 | "RShoulderPitch": 6.0, 27 | "RShoulderRoll": 0.0 28 | }, 29 | "name": "generated frame", 30 | "pause": 0.2 31 | } 32 | ], 33 | "last_edited": "2019-10-04 16:50:40.114590", 34 | "name": "None yet", 35 | "version": 0 36 | } 37 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/goalie_falling_center.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Unknown", 3 | "description": "Results in the goalie splitting its legs, so it blocks the goal. DO NOT RUN THIS ON THE ACTUAL ROBOT (sim only).", 4 | "keyframes": [ 5 | { 6 | "duration": 0.1, 7 | "goals": { 8 | "HeadPan" : 0.0, 9 | "HeadTilt" : 0.0, 10 | "LHipYaw" : -0.0001433543230624459, 11 | "LHipRoll" : 90, 12 | "LHipPitch" : 16.921277208612718, 13 | "LKnee" : 63.77975049759934, 14 | "LAnklePitch" : -31.858161403848833, 15 | "LAnkleRoll" : 5.844267603866625, 16 | "RHipYaw" : 0.00030892597992210064, 17 | "RHipRoll" : -90, 18 | "RHipPitch" : -16.84536738587815, 19 | "RKnee" : -63.811765865506786, 20 | "RAnklePitch" : 31.966018266021766, 21 | "RAnkleRoll" : -6.850881009954105, 22 | 23 | "LShoulderPitch" : -179, 24 | "LShoulderRoll" : 0, 25 | "LElbow" : -90, 26 | "RShoulderPitch" : 179, 27 | "RShoulderRoll" : 0.0, 28 | "RElbow" : 90 29 | }, 30 | "name": "generated frame", 31 | "pause": 0.0 32 | } 33 | ], 34 | "last_edited": "2021-05-06 10:29:41.094173", 35 | "name": "Goalie falling center", 36 | "version": 0 37 | } 38 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/goalie_falling_left.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Unknown", 3 | "description": "Results in the goalie falling to the left with an extended left arm. DO NOT RUN THIS ON THE ACTUAL ROBOT (sim only).", 4 | "keyframes": [ 5 | { 6 | "duration": 0.1, 7 | "goals": { 8 | "HeadPan" : 0.0, 9 | "HeadTilt" : 0.0, 10 | "LHipYaw" : -0.0006957411352730921, 11 | "LHipRoll" : 2.4179578166451106, 12 | "LHipPitch" : 30.62366580150313, 13 | "LKnee" : 120.27586447607317, 14 | "LAnklePitch" : -32.65200910867831, 15 | "LAnkleRoll" : 2.6736751638781087, 16 | "LShoulderPitch" : -179, 17 | "LShoulderRoll" : 0, 18 | "LElbow" : -90, 19 | "RHipYaw" : 0.00077231963918347, 20 | "RHipRoll" : -5.162227874600987, 21 | "RHipPitch" : 6.875494, 22 | "RKnee" : 0.0, 23 | "RAnklePitch" : -6.875494, 24 | "RAnkleRoll" : -6.850795653242464, 25 | "RShoulderPitch" : 179, 26 | "RShoulderRoll" : 0.0, 27 | "RElbow" : 90 28 | }, 29 | "name": "generated frame", 30 | "pause": 0.0 31 | } 32 | ], 33 | "last_edited": "2021-05-06 10:29:41.094173", 34 | "name": "Goalie Falling Left", 35 | "version": 0 36 | } 37 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/goalie_falling_right.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Unknown", 3 | "description": "Results in the goalie falling to the right with an extended right arm. DO NOT RUN THIS ON THE ACTUAL ROBOT (sim only).", 4 | "keyframes": [ 5 | { 6 | "duration": 0.1, 7 | "goals": { 8 | "HeadPan" : 0.0, 9 | "HeadTilt" : 0.0, 10 | "LHipYaw" : -0.0006957411352730921, 11 | "LHipRoll" : 2.4179578166451106, 12 | "LHipPitch" : 6.875494, 13 | "LKnee" : 0.0, 14 | "LAnklePitch" : 6.875494, 15 | "LAnkleRoll" : 2.6736751638781087, 16 | "LShoulderPitch" : -179, 17 | "LShoulderRoll" : 0.0, 18 | "LElbow" : -90, 19 | "RHipYaw" : 0.00077231963918347, 20 | "RHipRoll" : -5.162227874600987, 21 | "RHipPitch" : -30.848050774485884, 22 | "RKnee" : -120.81746642070242, 23 | "RAnklePitch" : 51.9689807724419, 24 | "RAnkleRoll" : -6.850795653242464, 25 | "RShoulderPitch" : 179, 26 | "RShoulderRoll" : 0.0, 27 | "RElbow" : 90 28 | }, 29 | "name": "generated frame", 30 | "pause": 0.0 31 | } 32 | ], 33 | "last_edited": "2021-05-06 10:29:41.094173", 34 | "name": "Goalie Falling Right", 35 | "version": 0 36 | } 37 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/goalie_prepare_arms.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "Unknown", 3 | "description": "Puts up the arms of the robot so it can throw itself on the ground to block the goal faster. (For simulation penalty shootouts)", 4 | "keyframes": [ 5 | { 6 | "duration": 1.0, 7 | "goals": { 8 | "HeadPan" : 0.0, 9 | "HeadTilt" : 0.0, 10 | "LHipYaw" : -0.0001433543230624459, 11 | "LHipRoll" : 5.844351607961048, 12 | "LHipPitch" : 16.921277208612718, 13 | "LKnee" : 63.77975049759934, 14 | "LAnklePitch" : -31.858161403848833, 15 | "LAnkleRoll" : 5.844267603866625, 16 | "RHipYaw" : 0.00030892597992210064, 17 | "RHipRoll" : -5.56323110835991, 18 | "RHipPitch" : -16.84536738587815, 19 | "RKnee" : -63.811765865506786, 20 | "RAnklePitch" : 31.966018266021766, 21 | "RAnkleRoll" : -6.850881009954105, 22 | 23 | "LShoulderPitch" : -179, 24 | "LShoulderRoll" : 0, 25 | "LElbow" : -90, 26 | "RShoulderPitch" : 179, 27 | "RShoulderRoll" : 0.0, 28 | "RElbow" : 90 29 | }, 30 | "name": "generated frame", 31 | "pause": 0.0 32 | } 33 | ], 34 | "last_edited": "2021-05-06 10:29:41.094173", 35 | "name": "Goalie Prepare Arms", 36 | "version": 0 37 | } 38 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/init.json: -------------------------------------------------------------------------------- 1 | { 2 | "default_interpolator": "CatmullRomInterpolator", 3 | "name": "init", 4 | "keyframes": [ 5 | { 6 | "duration": 1.0, 7 | "pause": 0.0, 8 | "goals": { 9 | "LShoulderPitch": 0.0, 10 | "LShoulderRoll": 0.0, 11 | "RShoulderRoll": 0.0, 12 | "HeadTilt": 0.0, 13 | "LKnee": 0.0, 14 | "RHipYaw": 0.0, 15 | "LAnklePitch": 0.0, 16 | "RKnee": 0.0, 17 | "RAnkleRoll": 0.0, 18 | "RAnklePitch": 0.0, 19 | "LHipPitch": 0.0, 20 | "LHipYaw": 0.0, 21 | "LHipRoll": 0.0, 22 | "RHipRoll": 0.0, 23 | "LAnkleRoll": 0.0, 24 | "LElbow": 0, 25 | "RElbow": 0, 26 | "RHipPitch": 0, 27 | "HeadPan": 0.0, 28 | "RShoulderPitch": 0.0 29 | } 30 | } 31 | ] 32 | } 33 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/init_sim.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "jasper", 3 | "description": "Initializes the robot in a standing position", 4 | "keyframes": [ 5 | { 6 | "duration": 1.0, 7 | "goals": { 8 | "HeadPan": 0.0, 9 | "HeadTilt": 0.0, 10 | "LHipYaw": 0.0, 11 | "LHipRoll": 0.0, 12 | "LHipPitch": -6.875494, 13 | "LKnee": 0.0, 14 | "LAnklePitch": 6.875494, 15 | "LAnkleRoll": 0.0, 16 | "LShoulderPitch": 0.0, 17 | "LShoulderRoll": 0.0, 18 | "LElbow": 0.0, 19 | "RHipYaw": 0.0, 20 | "RHipRoll": 0.0, 21 | "RHipPitch": 6.875494, 22 | "RKnee": 0.0, 23 | "RAnklePitch": -6.875494, 24 | "RAnkleRoll": 0.0, 25 | "RShoulderPitch": 0.0, 26 | "RShoulderRoll": 0.0, 27 | "RElbow": 0.0 28 | }, 29 | "name": "generated frame", 30 | "pause": 0.5 31 | } 32 | ], 33 | "name": "init_sim", 34 | "version": 0 35 | } 36 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/walkready.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "walkready_script", 3 | "description": "Walkready pose", 4 | "keyframes": [ 5 | { 6 | "duration": 1.0, 7 | "goals": { 8 | "HeadPan": 0.0, 9 | "HeadTilt": 0.0, 10 | "LShoulderPitch": 34.341900058232895, 11 | "LShoulderRoll": -0.10187296337477583, 12 | "LElbow": 17.4089039999328, 13 | "RShoulderPitch": -34.52380590822163, 14 | "RShoulderRoll": 0.10154916169401929, 15 | "RElbow": -17.44692966568184, 16 | "LHipYaw": -0.9420455109052479, 17 | "LHipRoll": 4.156114615225981, 18 | "LHipPitch": 42.51810038124632, 19 | "LKnee": 76.46280204571194, 20 | "LAnklePitch": -31.726953021845897, 21 | "LAnkleRoll": 4.261305249797921, 22 | "RHipYaw": 1.3537998702115084, 23 | "RHipRoll": -5.959789935735837, 24 | "RHipPitch": -42.127449488675886, 25 | "RKnee": -75.79323597048764, 26 | "RAnklePitch": 31.484250845285846, 27 | "RAnkleRoll": -7.3988993750834995 28 | }, 29 | "name": "generated frame", 30 | "pause": 0.5 31 | } 32 | ], 33 | "name": "walkready", 34 | "version": 0 35 | } 36 | -------------------------------------------------------------------------------- /wolfgang_animations/animations/motion/walkready_sim.json: -------------------------------------------------------------------------------- 1 | { 2 | "author": "walkready_script", 3 | "description": "Walkready pose in simulation", 4 | "keyframes": [ 5 | { 6 | "duration": 1.0, 7 | "goals": { 8 | "HeadPan": 0.0, 9 | "HeadTilt": 0.0, 10 | "LHipYaw": -0.00014488551936841167, 11 | "LHipRoll": 5.843569741199503, 12 | "LHipPitch": 16.921439726925605, 13 | "LKnee": 63.779899882296974, 14 | "LAnklePitch": -31.85822805341032, 15 | "LAnkleRoll": 5.843636389466469, 16 | "LShoulderPitch": 75.27910266806222, 17 | "LShoulderRoll": -0.020062925889149368, 18 | "LElbow": 35.86471433552932, 19 | "RHipYaw": 0.000308978186241276, 20 | "RHipRoll": -5.563113355828915, 21 | "RHipPitch": -16.845416637922956, 22 | "RKnee": -63.811661089644105, 23 | "RAnklePitch": 31.965934474853857, 24 | "RAnkleRoll": -6.850938895767449, 25 | "RShoulderPitch": -75.58926547530199, 26 | "RShoulderRoll": 0.019571467194590405, 27 | "RElbow": -36.10375237446914 28 | }, 29 | "name": "generated frame", 30 | "pause": 0.5 31 | } 32 | ], 33 | "name": "walkready", 34 | "version": 0 35 | } 36 | -------------------------------------------------------------------------------- /wolfgang_animations/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_animations/docs/_static/logo.png -------------------------------------------------------------------------------- /wolfgang_animations/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /wolfgang_animations/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | wolfgang_animations 5 | 1.0.3 6 | Animation files for the wolfgang robot 7 | 8 | Sebastian Stelter 9 | Hamburg Bit-Bots 10 | 11 | Sebastian Stelter 12 | 13 | MIT 14 | 15 | 16 | ament_cmake 17 | bitbots_docs 18 | 19 | 20 | 21 | starts 22 | 23 | ament_cmake 24 | 25 | 26 | -------------------------------------------------------------------------------- /wolfgang_animations/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | - builder: sphinx 3 | sphinx_root_dir: doc -------------------------------------------------------------------------------- /wolfgang_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(wolfgang_description) 3 | 4 | # Add support for C++17 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 17) 7 | endif() 8 | 9 | find_package(bitbots_docs REQUIRED) 10 | find_package(urdf REQUIRED) 11 | find_package(xacro REQUIRED) 12 | find_package(sensor_msgs REQUIRED) 13 | find_package(ament_cmake REQUIRED) 14 | find_package(tf2 REQUIRED) 15 | find_package(rclcpp REQUIRED) 16 | 17 | set(INCLUDE_DIRS ${bitbots_docs_INCLUDE_DIRS} ${urdf_INCLUDE_DIRS} 18 | ${xacro_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS} ${ament_cmake_INCLUDE_DIRS} 19 | ${tf2_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS}) 20 | include_directories(${INCLUDE_DIRS}) 21 | 22 | set(LIBRARY_DIRS ${bitbots_docs_LIBRARY_DIRS} ${urdf_LIBRARY_DIRS} 23 | ${xacro_LIBRARY_DIRS} ${sensor_msgs_LIBRARY_DIRS} ${ament_cmake_LIBRARY_DIRS} 24 | ${tf2_LIBRARY_DIRS} ${rclcpp_LIBRARY_DIRS}) 25 | 26 | link_directories(${LIBRARY_DIRS}) 27 | 28 | set(LIBS ${bitbots_docs_LIBRARIES} ${urdf_LIBRARIES} ${xacro_LIBRARIES} 29 | ${sensor_msgs_LIBRARIES} ${ament_cmake_LIBRARIES} ${tf2_LIBRARIES} 30 | ${rclcpp_LIBRARIES}) 31 | 32 | include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake) 33 | enable_bitbots_docs() 34 | 35 | ament_export_dependencies(bitbots_docs) 36 | ament_export_dependencies(urdf) 37 | ament_export_dependencies(xacro) 38 | ament_export_dependencies(sensor_msgs) 39 | ament_export_dependencies(ament_cmake) 40 | ament_export_dependencies(tf2) 41 | ament_export_dependencies(rclcpp) 42 | ament_export_include_directories(${INCLUDE_DIRS}) 43 | 44 | install(DIRECTORY launch 45 | DESTINATION share/${PROJECT_NAME}) 46 | install(DIRECTORY urdf 47 | DESTINATION share/${PROJECT_NAME}) 48 | install(DIRECTORY config 49 | DESTINATION share/${PROJECT_NAME}) 50 | 51 | 52 | ament_package() 53 | -------------------------------------------------------------------------------- /wolfgang_description/README.md: -------------------------------------------------------------------------------- 1 | This URDF is generated using https://github.com/bit-bots/onshape-to-robot 2 | 3 | Don't change it manually. -------------------------------------------------------------------------------- /wolfgang_description/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_minibot_controller 3 | joints: 4 | - HeadPan 5 | - HeadTilt 6 | - RShoulderPitch 7 | - RShoulderRoll 8 | - RElbow 9 | - RHipYaw 10 | - RHipRoll 11 | - RHipPitch 12 | - RKnee 13 | - RAnklePitch 14 | - RAnkleRoll 15 | - LShoulderPitch 16 | - LShoulderRoll 17 | - LElbow 18 | - LHipYaw 19 | - LHipRoll 20 | - LHipPitch 21 | - LKnee 22 | - LAnklePitch 23 | - LAnkleRoll 24 | 25 | -------------------------------------------------------------------------------- /wolfgang_description/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/docs/_static/logo.png -------------------------------------------------------------------------------- /wolfgang_description/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | This robot model is exported from onshape by using onshape-to-robot. 7 | See their `documentation `_ on how this works. 8 | 9 | We do not want to use the exact model as a collision model, since this would make the simulation run slowly. 10 | Therefore, we first need to simplify the model by using the following. 11 | 12 | .. code-block:: bash 13 | 14 | roscd wolfgang_description 15 | cd urdf 16 | rosrun simplify_urdf_collision simplify.py robot.urdf robot.urdf -r -s 17 | 18 | The script will ask you which links should be excluded for the simplification. Normally, you don't need to exclude any links, since the important collision models (arms or feet) already have manually created collision models which are not shown in this list. 19 | 20 | |description| 21 | 22 | .. toctree:: 23 | :maxdepth: 2 24 | 25 | cppapi/library_root 26 | pyapi/modules 27 | 28 | 29 | Indices and tables 30 | ================== 31 | 32 | * :ref:`genindex` 33 | * |modindex| 34 | * :ref:`search` 35 | -------------------------------------------------------------------------------- /wolfgang_description/launch/rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /wolfgang_description/launch/standalone.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /wolfgang_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | wolfgang_description 5 | 2.1.2 6 | URDF description of the wolfgang robot. 7 | 8 | Jasper Güldenstein 9 | Hamburg Bit-Bots 10 | 11 | Marc Bestmann 12 | Jasper Güldenstein 13 | Hamburg Bit-Bots 14 | 15 | 16 | MIT 17 | 18 | ament_cmake 19 | 20 | bitbots_docs 21 | bitbots_robot_description 22 | bitbots_utils 23 | joint_state_publisher_gui 24 | sensor_msgs 25 | tf2 26 | urdf 27 | xacro 28 | 29 | 30 | 31 | stable 32 | xacro 33 | 34 | ament_cmake 35 | 36 | 37 | -------------------------------------------------------------------------------- /wolfgang_description/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | - builder: sphinx 3 | sphinx_root_dir: doc -------------------------------------------------------------------------------- /wolfgang_description/urdf/ankle.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("ankle.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([0,0,2]){ 8 | cube([48,100,4], center=true); 9 | } 10 | 11 | translate([0,50-2,50/2]){ 12 | cube([21,4,50], center=true); 13 | } 14 | translate([0,-(50-2),50/2]){ 15 | cube([21,4,50], center=true); 16 | } 17 | translate([0,-(50-2),8/2]){ 18 | cube([48,4,8], center=true); 19 | } 20 | 21 | translate([-10.4,-(50-2),26.7]){ 22 | rotate([0,18.373539,0]){ 23 | cube([14,4,(50-8)/cos(18.373539)], center=true); 24 | } 25 | } 26 | 27 | translate([10.4,-(50-2),26.7]){ 28 | rotate([0,-18.373539,0]){ 29 | cube([14,4,(50-8)/cos(18.373539)], center=true); 30 | } 31 | } 32 | translate([-10.4,(50-2),26.7]){ 33 | rotate([0,18.373539,0]){ 34 | cube([14,4,(50-8)/cos(18.373539)], center=true); 35 | } 36 | } 37 | 38 | translate([10.4,(50-2),26.7]){ 39 | rotate([0,-18.373539,0]){ 40 | cube([14,4,(50-8)/cos(18.373539)], center=true); 41 | } 42 | } 43 | translate([0,(50-2),8/2]){ 44 | cube([48,4,8], center=true); 45 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/ankle.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/ankle.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/baseplate_odroid_xu4_core.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("baseplate_odroid_xu4_core.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/baseplate_odroid_xu4_core.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/baseplate_odroid_xu4_core.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/basler_ace_gige_c-mount_v01.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("basler_ace_gige_c-mount_v01.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-(42/2+12),0]){ 5 | cube([29, 42, 29], center=true); 6 | } 7 | translate([0,-6,0]){ 8 | rotate([90,0,0]){ 9 | cylinder(r=14, h=12, center=true); 10 | } 11 | } 12 | // sphere(10); 13 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/basler_ace_gige_c-mount_v01.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/basler_ace_gige_c-mount_v01.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/battery.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("battery.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-20,0]) 5 | { 6 | cube([140, 40, 44], center=true); 7 | } 8 | // cylinder(r=10, h=10, center=true); 9 | // sphere(10); 10 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/battery.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/battery.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/battery_cage.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("battery_cage.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/battery_cage.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/battery_cage.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/battery_clip.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("battery_clip.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/battery_clip.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/battery_clip.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("camera_lower_basler_wolfgang_imu_v2.2.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | 5 | translate([-15.55499+3,-72/2,18-30/2]){ 6 | cube([6, 72, 30], center=true); 7 | 8 | translate([67,0,0]){ 9 | cube([6, 72, 30], center=true); 10 | } 11 | } 12 | // cylinder(r=10, h=10, center=true); 13 | // sphere(10); 14 | translate([73/2 - 15.55499,-3.5,18-30/2]){ 15 | cube([73, 7, 30], center=true); 16 | } 17 | translate([45/2-8.05499,22/2-7,55/2-12]){ 18 | cube([45, 22, 55], center=true); 19 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("camera_side_basler_wolfgang_v2.2_left.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([-72.71864,-15,-2.10102]){ 5 | cube([127, 55, 7.10102]); 6 | }// cylinder(r=10, h=10, center=true); 7 | // sphere(10); 8 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_right.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("camera_side_basler_wolfgang_v2.2_right.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([-72.71864,-15,-25.0]){ 8 | cube([127, 55, 7.10102]); 9 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_right.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_right.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/connector_shoulder.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("connector_shoulder.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,0,9.3/2]){ 5 | cube([36, 40, 9.3], center=true); 6 | }// cylinder(r=10, h=10, center=true); 7 | // sphere(10); 8 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/connector_shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/connector_shoulder.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/core.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("core.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/core.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/core.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/dummy_speaker.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("dummy_speaker.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/dummy_speaker.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/dummy_speaker.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/flex_stollen.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("flex_stollen.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([0,0,5]){ 6 | cylinder(r=6, h=10, center=true); 7 | } 8 | sphere(6); 9 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/flex_stollen.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/flex_stollen.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/foot_cover.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("foot_cover.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([-38.391-20, -8.457, 38.166-11]){ 8 | cube([40, 106, 19], center=true); 9 | } 10 | translate([-123.166+(45/2) , -8.457, 38.166-15]){ 11 | rotate([0, 151.928,0]){ 12 | cube([51, 74, 2], center=true); 13 | } 14 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/foot_cover.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/foot_cover.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/foot_printed_left.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("foot_printed_left.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | 5 | translate([154/2-84,0,3.5/2]){ 6 | cube([154, 106, 3.5], center=true); 7 | } 8 | translate([89-19/2,0,3.5/2]){ 9 | cube([19, 78, 3.5], center=true); 10 | } 11 | 12 | translate([-(100-16/2),0,3.5/2]){ 13 | cube([16, 78, 3.5], center=true); 14 | } 15 | 16 | translate([0,106/2-16/2,3.5+7/2]){ 17 | cube([140,16,7], center=true); 18 | } 19 | 20 | translate([-(70-79/2),-106/2+16/2,3.5+7/2]){ 21 | cube([79,16,7], center=true); 22 | } 23 | 24 | translate([70-20/2,-106/2+44/2,3.5+7/2]){ 25 | cube([20,44,7], center=true); 26 | } 27 | translate([20/2-11,-106/2+44/2,3.5+7/2]){ 28 | cube([20,44,7], center=true); 29 | } 30 | // cylinder(r=10, h=10, center=true); 31 | // sphere(10); 32 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/foot_printed_left.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/foot_printed_left.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/foot_printed_right.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("foot_printed_right.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([0,160,0]){ 8 | mirror([0,1,0]){ 9 | translate([154/2-84,0,3.5/2]){ 10 | cube([154, 106, 3.5], center=true); 11 | } 12 | translate([89-19/2,0,3.5/2]){ 13 | cube([19, 78, 3.5], center=true); 14 | } 15 | 16 | translate([-(100-16/2),0,3.5/2]){ 17 | cube([16, 78, 3.5], center=true); 18 | } 19 | 20 | translate([0,106/2-16/2,3.5+7/2]){ 21 | cube([140,16,7], center=true); 22 | } 23 | 24 | translate([-(70-79/2),-106/2+16/2,3.5+7/2]){ 25 | cube([79,16,7], center=true); 26 | } 27 | 28 | translate([70-20/2,-106/2+44/2,3.5+7/2]){ 29 | cube([20,44,7], center=true); 30 | } 31 | translate([20/2-11,-106/2+44/2,3.5+7/2]){ 32 | cube([20,44,7], center=true); 33 | } 34 | } 35 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/foot_printed_right.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/foot_printed_right.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/hand.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("hand.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | // Append pure shapes (cube, cylinder and sphere), e.g: 9 | // cube([10, 10, 10], center=true); 10 | rotate([90,0,0]){ 11 | translate([0,0,17]){ 12 | cylinder(r=40, h=34, center=true); 13 | } 14 | } 15 | 16 | // sphere(10); 17 | translate([0,-17,30]){ 18 | rotate([90,0,0]){ 19 | cylinder(r=32, h=34, center=true); 20 | } 21 | } 22 | 23 | translate([35-6.8,-17,24]){ 24 | rotate([0, 165.522,0]){ 25 | cube([12,34,29], center=true); 26 | } 27 | } 28 | translate([-35+6.8,-17,24]){ 29 | rotate([0, -165.522,0]){ 30 | cube([12,34,29], center=true); 31 | } 32 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/hand.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/hand.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/hip_u_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("hip_u_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([0,0,18]){ 9 | rotate([0,90,90]){ 10 | 11 | translate([0,0,2]){ 12 | cube([36,100,4], center=true); 13 | } 14 | 15 | translate([0,50-2,53/2]){ 16 | cube([26.02287,4,53], center=true); 17 | } 18 | translate([0,-(50-2),53/2]){ 19 | cube([26.02287,4,53], center=true); 20 | } 21 | cylinder(r=25, h=4); 22 | } 23 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/hip_u_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/hip_u_connector.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/imu_holder.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("imu_holder.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/imu_holder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/imu_holder.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/knee_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("knee_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,17.98262/2-4,-(24.5/2-30.34724)]){ 5 | cube([42, 17.98262, 24.5], center=true); 6 | } 7 | 8 | translate([0,24.81250/2-4,-(4/2-30.34724)]){ 9 | cube([34, 24.81250, 4], center=true); 10 | } 11 | // cylinder(r=10, h=10, center=true); 12 | // sphere(10); 13 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/knee_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/knee_connector.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/knee_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("knee_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([-27.97000, -19.019, 154.130]){ 6 | rotate([90,0,0]){ 7 | cylinder(r=18, h=1.5, center=true); 8 | } 9 | } 10 | // sphere(10); 11 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/knee_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/knee_spacer.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/lense.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("lense.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // sphere(10); 6 | rotate([90, 0, 0]){ 7 | translate([0,0,16.2/2]){ 8 | cylinder(r=43/2, h=16.2, center=true); 9 | } 10 | translate([0,0,16.2+12/2]){ 11 | cylinder(r=33.5/2, h=12, center=true); 12 | } 13 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/lense.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/lense.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/load_cell.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("load_cell.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,0,2]){ 5 | cube([8, 40, 4], center=true); 6 | } 7 | // cylinder(r=10, h=10, center=true); 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/load_cell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/load_cell.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/lower_arm.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("lower_arm.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | rotate([90,0,0]){ 6 | translate([0,0,1]){ 7 | cylinder(r=40, h=2, center=true); 8 | } 9 | } 10 | forearm_len = 145; 11 | forearm_start = 28; 12 | translate([-1.5,-1,-(28+145/2)]){ 13 | cube([44,2,145], center=true); 14 | } 15 | 16 | // sphere(10); 17 | translate([0,-1,30]){ 18 | rotate([90,0,0]){ 19 | cylinder(r=32, h=2, center=true); 20 | } 21 | } 22 | 23 | translate([35-6.8,-1,24]){ 24 | rotate([0, 165.522,0]){ 25 | cube([12,2,29], center=true); 26 | } 27 | } 28 | translate([-35+6.8,-1,24]){ 29 | rotate([0, -165.522,0]){ 30 | cube([12,2,29], center=true); 31 | } 32 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/lower_arm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/lower_arm.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/lower_leg.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("lower_leg.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([0,-1,0]){ 6 | rotate([90,0,0]){ 7 | cylinder(r=18, h=2, center=true); 8 | } 9 | } 10 | translate([0,-1,170]){ 11 | rotate([90,0,0]){ 12 | cylinder(r=18, h=2, center=true); 13 | } 14 | } 15 | 16 | translate([-4,-1,5]){ 17 | rotate([90,0,0]){ 18 | cylinder(r=20, h=2, center=true); 19 | } 20 | } 21 | 22 | translate([4,-1,165]){ 23 | rotate([90,0,0]){ 24 | cylinder(r=20, h=2, center=true); 25 | } 26 | } 27 | 28 | translate([-24,-2,6]){ 29 | rotate([0,5,0]){ 30 | translate([34/2,2/2,160/2]) { 31 | cube([34, 2, 160], center=true); 32 | } 33 | } 34 | } 35 | 36 | // cylinder(r=10, h=10, center=true); 37 | // sphere(10); 38 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/lower_leg.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/lower_leg.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/lower_leg_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("lower_leg_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([54-64.485/2,-30.75000+33.5/2,51/2]){ 5 | cube([64.48500, 33.50000, 51], center=true); 6 | } 7 | // cylinder(r=10, h=10, center=true); 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/lower_leg_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/lower_leg_spacer.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/motor_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("motor_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-6,0]){ 5 | cube([28, 6, 5.7]); 6 | } 7 | translate([0,-6,5.7]){ 8 | cube([28, 3.5, 5.9]); 9 | } 10 | // cylinder(r=10, h=10, center=true); 11 | // sphere(10); 12 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/motor_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/motor_connector.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/mx-106_body.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("mx-106_body.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,0, -(65.1/2)+14.5]){ 5 | cube([40.2, 46, 65.10000], center=true);} 6 | // cylinder(r=10, h=10, center=true); 7 | // sphere(10); 8 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/mx-106_body.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/mx-106_body.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/mx-64-body.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("mx-64-body.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0, 0, -(61.1/2)+13]){ 5 | cube([40.2, 41, 61.1], center=true); 6 | } 7 | 8 | // cylinder(r=10, h=10, center=true); 9 | // sphere(10); 10 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/mx-64-body.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/mx-64-body.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_left_back.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_left_back.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_left_back.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/nuc_holder_left_back.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_left_front.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_left_front.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_left_front.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/nuc_holder_left_front.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_right_back.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_right_back.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_right_back.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/nuc_holder_right_back.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_right_front.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_right_front.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_holder_right_front.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/nuc_holder_right_front.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_main.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_main.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/nuc_main.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/nuc_main.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/sea_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("sea_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([0,0,2.5]){ 6 | cylinder(r=25, h=5, center=true); 7 | } 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/sea_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/sea_connector.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/sea_ninjaflex.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("sea_ninjaflex.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([0,0,4.5]){ 6 | cylinder(r=25, h=9, center=true); 7 | } 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/sea_ninjaflex.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/sea_ninjaflex.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/shoulder_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("shoulder_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([0,1.5/2,0]) { 9 | cube([63.90000, 1.5, 34], center=true); 10 | } 11 | 12 | translate([63.9/2-1.5/2,45/2,0]) { 13 | cube([1.5, 45, 28], center=true); 14 | } 15 | translate([-(63.9/2-1.5/2),45/2,0]) { 16 | cube([1.5, 45, 28], center=true); 17 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/shoulder_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/shoulder_connector.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/speaker_holder.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("speaker_holder.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/speaker_holder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/speaker_holder.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/spring_holder_lower.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("spring_holder_lower.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | 9 | translate([-17.3,-6.80000-9.1,89.92880-3]){ 10 | rotate([0,-5,0]){ 11 | cube([14, 9.1, 31]); 12 | } 13 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/spring_holder_lower.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/spring_holder_lower.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/spring_holder_upper.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("spring_holder_upper.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | cylinder(r=14, h=22); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/spring_holder_upper.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/spring_holder_upper.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/springholder_bottom.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("springholder_bottom.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | rotate([90,0,0]){ 9 | cylinder(r=15, h=2.7); 10 | } 11 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/springholder_bottom.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/springholder_bottom.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/springholder_new.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("springholder_new.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([0,-22+3/2,170]){ 9 | rotate([90,0,0]){ 10 | cylinder(r=33/2, h=3, center=true); 11 | } 12 | } 13 | 14 | translate([0,-22+16.3/2+3,170]){ 15 | rotate([90,0,0]){ 16 | cylinder(r=21/2, h=16.3, center=true); 17 | } 18 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/springholder_new.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/springholder_new.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/thrustbearingholder.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("thrustbearingholder.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/thrustbearingholder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/thrustbearingholder.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_bottom.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("torso_bottom.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-150,0]){ 5 | cube([120, 150, 80]); 6 | } 7 | // cylinder(r=10, h=10, center=true); 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_bottom.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/torso_bottom.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_bumper_left.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("torso_bumper_left.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([19/2, 73/2, 13/2]) cube([19, 73, 13], center=true); 8 | 9 | translate([0,36.50000,40+3]){ 10 | rotate([180,0,0]){ 11 | rotate([180-140.582606, 0, 0]){ 12 | translate([19/2, 46.87946/2, 5/2]) cube([19, 46.87946, 5], center=true); 13 | } 14 | } 15 | } 16 | 17 | 18 | 19 | translate([0,-sin(140.582606)*5,cos(140.582606)*5]){ 20 | translate([0,36.50000,40+3]){ 21 | rotate([180,0,0]){ 22 | rotate([140.582606, 0, 0]){ 23 | translate([19/2, 46.87946/2, 5/2]) cube([19, 46.87946, 5], center=true); 24 | } 25 | } 26 | } 27 | } 28 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_bumper_left.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/torso_bumper_left.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_bumper_right.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("torso_bumper_right.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([-19,0,0]){ 8 | translate([19/2, 73/2, 13/2]) cube([19, 73, 13], center=true); 9 | 10 | translate([0,36.50000,40+3]){ 11 | rotate([180,0,0]){ 12 | rotate([180-140.582606, 0, 0]){ 13 | translate([19/2, 46.87946/2, 5/2]) cube([19, 46.87946, 5], center=true); 14 | } 15 | } 16 | } 17 | 18 | 19 | 20 | translate([0,-sin(140.582606)*5,cos(140.582606)*5]){ 21 | translate([0,36.50000,40+3]){ 22 | rotate([180,0,0]){ 23 | rotate([140.582606, 0, 0]){ 24 | translate([19/2, 46.87946/2, 5/2]) cube([19, 46.87946, 5], center=true); 25 | } 26 | } 27 | } 28 | } 29 | 30 | } 31 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_bumper_right.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/torso_bumper_right.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_top.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("torso_top.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([0,-135,0]){ 9 | cube([150, 125, 115]); 10 | } 11 | translate([0,-135,5]){ 12 | rotate([180-174.709919,0,0]) { 13 | cube([150, 10, cos(180-174.709919)*(60-5)]); 14 | } 15 | } 16 | 17 | translate([0,-135-5,60]){ 18 | cube([150, 10, 65.45031]); 19 | } 20 | 21 | translate([0,-135-5,115]){ 22 | cube([150, 136, 150-115]); 23 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/torso_top.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/torso_top.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/upper_arm.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("upper_arm.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([0,-2.25/2-0.25000,0]){ 8 | rotate([90,0,0]){ 9 | cylinder(r=20, h=2.25, center=true); 10 | } 11 | } 12 | 13 | 14 | translate([0,-2.25/2-0.25000,130]){ 15 | rotate([90,0,0]){ 16 | cylinder(r=20, h=2.25, center=true); 17 | } 18 | } 19 | 20 | translate([0,-2.25/2-0.25000,130/2]){ 21 | cube([40, 2.25, 130], center=true); 22 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/upper_arm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/upper_arm.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/upper_arm_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("upper_arm_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([-4,-23+4,0]){ 9 | cube([37.60000, 23, 46]); 10 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/upper_arm_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/upper_arm_spacer.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/upper_leg.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/upper_leg.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/upper_leg_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("upper_leg_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([-1.65,-4,0]){ 9 | cube([35.15, 38, 53]); 10 | } -------------------------------------------------------------------------------- /wolfgang_description/urdf/upper_leg_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/upper_leg_spacer.stl -------------------------------------------------------------------------------- /wolfgang_description/urdf/xh-540.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("xh-540.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([0,-58.5/2+13.75,0]){ 8 | cube([34, 58.5, 44], center=true); 9 | } 10 | -------------------------------------------------------------------------------- /wolfgang_description/urdf/xh-540.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_description/urdf/xh-540.stl -------------------------------------------------------------------------------- /wolfgang_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: wolfgang_description 4 | relative_path: urdf/robot.urdf 5 | xacro_args: "" 6 | SRDF: 7 | relative_path: config/wolfgang.srdf 8 | CONFIG: 9 | author_name: Marc Bestmann 10 | author_email: bestmann@informatik.uni-hamburg.de 11 | generated_timestamp: 1601969583 -------------------------------------------------------------------------------- /wolfgang_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(wolfgang_moveit_config) 3 | 4 | # Add support for C++17 5 | if(NOT CMAKE_CXX_STANDARD) 6 | set(CMAKE_CXX_STANDARD 17) 7 | endif() 8 | 9 | find_package(ament_cmake REQUIRED) 10 | 11 | set(INCLUDE_DIRS ${ament_cmake_INCLUDE_DIRS}) 12 | include_directories(${INCLUDE_DIRS}) 13 | 14 | set(LIBRARY_DIRS ${ament_cmake_LIBRARY_DIRS}) 15 | 16 | link_directories(${LIBRARY_DIRS}) 17 | 18 | set(LIBS ${ament_cmake_LIBRARIES}) 19 | 20 | install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) 21 | 22 | ament_export_dependencies(ament_cmake) 23 | ament_export_include_directories(${INCLUDE_DIRS}) 24 | 25 | install(DIRECTORY config 26 | DESTINATION share/${PROJECT_NAME}) 27 | 28 | ament_package() 29 | -------------------------------------------------------------------------------- /wolfgang_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | LeftLeg: 2 | kinematics_solver: bio_ik/BioIKKinematicsPlugin # kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.00001 4 | kinematics_solver_timeout: 0.01 5 | RightLeg: 6 | kinematics_solver: bio_ik/BioIKKinematicsPlugin # kdl_kinematics_plugin/KDLKinematicsPlugin 7 | kinematics_solver_search_resolution: 0.00001 8 | kinematics_solver_timeout: 0.01 9 | Legs: 10 | kinematics_solver_search_resolution: 0.0001 11 | kinematics_solver_timeout: 0.005 12 | RightArm: 13 | kinematics_solver: bio_ik/BioIKKinematicsPlugin 14 | kinematics_solver_search_resolution: 0.00001 15 | kinematics_solver_timeout: 0.01 16 | LeftArm: 17 | kinematics_solver: bio_ik/BioIKKinematicsPlugin 18 | kinematics_solver_search_resolution: 0.00001 19 | kinematics_solver_timeout: 0.01 20 | Arms: 21 | kinematics_solver_search_resolution: 0.00001 22 | kinematics_solver_timeout: 0.01 23 | Head: 24 | kinematics_solver: bio_ik/BioIKKinematicsPlugin 25 | kinematics_solver_search_resolution: 0.001 26 | kinematics_solver_timeout: 0.001 27 | All: 28 | kinematics_solver_search_resolution: 0.005 29 | kinematics_solver_timeout: 0.005 30 | -------------------------------------------------------------------------------- /wolfgang_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - "dummy" 4 | 5 | # This is needed to suppress an error message during every launch 6 | dummy: 7 | sensor_plugin: "~" 8 | -------------------------------------------------------------------------------- /wolfgang_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | wolfgang_moveit_config 6 | 0.3.0 7 | 8 | An automatically generated package with all the configuration and launch files for using the wolfgang with the MoveIt! Motion Planning Framework 9 | 10 | Marc Bestmann 11 | Marc Bestmann 12 | 13 | BSD 14 | 15 | http://moveit.ros.org/ 16 | https://github.com/ros-planning/moveit/issues 17 | https://github.com/ros-planning/moveit 18 | 19 | ament_cmake 20 | 21 | moveit_ros_move_group 22 | moveit_simple_controller_manager 23 | moveit_kinematics 24 | moveit_planners_ompl 25 | moveit_ros_visualization 26 | moveit_setup_assistant 27 | joint_state_publisher 28 | robot_state_publisher 29 | tf2_ros 30 | xacro 31 | 32 | 33 | wolfgang_description 34 | wolfgang_description 35 | 36 | 37 | ament_cmake 38 | 39 | 40 | -------------------------------------------------------------------------------- /wolfgang_moveit_config/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | - builder: sphinx 3 | sphinx_root_dir: doc -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/README.md: -------------------------------------------------------------------------------- 1 | This package provides a PyBullet simulation environment with ROS topic support for the Wolfgang Robot. 2 | 3 | There are different options to use this: 4 | 1. Start the simulation with interface `rosrun wolfgang_pybullet_sim simulation_with_gui.py` 5 | 2. Start the simulation without interface `rosrun wolfgang_pybullet_sim simulation_headless.py` 6 | 3. Use the python class `Simulation` in `simulation.py` to directly run a simulation without using ROS 7 | 8 | Shortcuts in gui: 9 | 10 | `r` reset simulation 11 | 12 | `g` debug interface 13 | 14 | `space` pausing 15 | 16 | `s` hold to step while pausing 17 | 18 | `n` gravity on/off -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/config/config.yaml: -------------------------------------------------------------------------------- 1 | /**: 2 | ros__parameters: 3 | simulation_active: true 4 | use_sim_time: true 5 | contact_stiffness: -1.0 6 | contact_damping: -1.0 7 | lateral_friction: 1.0 8 | spinning_friction: 0.1 9 | rolling_friction: 0.1 10 | restitution: 0.9 11 | order: 5 12 | cutoff: 10 -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_pybullet_sim/docs/_static/logo.png -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/launch/simulation.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/models/field/config.json: -------------------------------------------------------------------------------- 1 | { 2 | "documentId": "7c9b2b33f4117af700005b74", 3 | "outputFormat": "urdf", 4 | "noDynamics": true, 5 | "useFixedLinks": true 6 | } 7 | -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/models/field/field.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_pybullet_sim/models/field/field.stl -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/models/field/goalsally.stl: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /wolfgang_pybullet_sim/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | wolfgang_pybullet_sim 5 | 1.3.0 6 | Simulation environment using PyBullet for Wolfgang robot. 7 | 8 | Marc Bestmann 9 | Hamburg Bit-Bots 10 | 11 | Marc Bestmann 12 | Hamburg Bit-Bots 13 | 14 | 15 | MIT 16 | 17 | ament_cmake 18 | sensor_msgs 19 | urdf 20 | bitbots_msgs 21 | nav_msgs 22 | rosgraph_msgs 23 | std_msgs 24 | bitbots_docs 25 | wolfgang_webots_sim 26 | tf_transformations 27 | python3-transforms3d 28 | python3-numpy 29 | 30 | 31 | 32 | unknown 33 | python 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/scripts/simulation_headless.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import threading 3 | 4 | import rclpy 5 | from wolfgang_pybullet_sim.ros_interface import ROSInterface 6 | from wolfgang_pybullet_sim.simulation import Simulation 7 | from rclpy.node import Node 8 | 9 | if __name__ == "__main__": 10 | rclpy.init(args=None) 11 | simulation = Simulation(False) 12 | node = Node('pybullet_sim') 13 | interface = ROSInterface(node, simulation) 14 | thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True) 15 | thread.start() 16 | interface.run_simulation() 17 | 18 | node.destroy_node() 19 | rclpy.shutdown() 20 | -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/scripts/simulation_with_gui.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import threading 3 | 4 | import rclpy 5 | from rclpy.node import Node 6 | from wolfgang_pybullet_sim.ros_interface import ROSInterface 7 | from wolfgang_pybullet_sim.simulation import Simulation 8 | 9 | if __name__ == "__main__": 10 | rclpy.init(args=None) 11 | simulation = Simulation(True) 12 | node = Node('pybullet_sim') 13 | interface = ROSInterface(node, simulation) 14 | thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True) 15 | thread.start() 16 | interface.run_simulation() 17 | 18 | node.destroy_node() 19 | rclpy.shutdown() 20 | -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | from catkin_pkg.python_setup import generate_distutils_setup 3 | 4 | d = generate_distutils_setup( 5 | packages=['wolfgang_pybullet_sim'], 6 | #scripts=['bin/myscript'], 7 | package_dir={'': 'src'} 8 | ) 9 | 10 | setup(**d) 11 | -------------------------------------------------------------------------------- /wolfgang_pybullet_sim/wolfgang_pybullet_sim/__init__.py: 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-------------------------------------------------------------------------------- 1 | { 2 | "name": "Bit-Bots", 3 | "players": { 4 | "1": { 5 | "proto": "Wolfgang", 6 | "dockerTag": "latest", 7 | "dockerCmd": "roslaunch wolfgang_robocup_api robocup_walk.launch", 8 | "halfTimeStartingPose": { 9 | "translation": [-3.6, -3.20, 0.43], 10 | "rotation": [0.13, -0.13, -0.98, -1.57] 11 | }, 12 | "reentryStartingPose": { 13 | "translation": [-3.6, -3.20, 0.43], 14 | "rotation": [0.0, -0.0, -1.0, -1.57] 15 | }, 16 | "shootoutStartingPose": { 17 | "translation": [2.6, 0, 0.43], 18 | "rotation": [0, 0.98, 0.13, 0.26] 19 | }, 20 | "goalKeeperStartingPose": { 21 | "translation": [-4.47, 0, 0.43], 22 | "rotation": [-0.13, 0, 0.98, 3.14] 23 | } 24 | } 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /wolfgang_robocup_api/launch/robocup_teamplayer.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /wolfgang_robocup_api/launch/robocup_walk.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /wolfgang_robocup_api/launch/wolfgang_robocup_api_bridge.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /wolfgang_robocup_api/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | wolfgang_robocup_api 5 | 0.0.0 6 | Bridge between the official Humanoid League RoboCup Proto3 API 7 | and our ROS topics for the Wolfgang Robot 8 | https://cdn.robocup.org/hl/wp/2021/05/v-hsc_simulator_api_v1.0.pdf) 9 | 10 | 11 | Hamburg Bit-Bots 12 | 13 | Jan Gutsche 14 | Timon Engelke 15 | Hamburg Bit-Bots 16 | 17 | MIT 18 | 19 | ament_cmake 20 | 21 | bitbots_msgs 22 | hlvs_player 23 | rclpy 24 | sensor_msgs 25 | wolfgang_webots_sim 26 | protobuf-dev 27 | urdfdom_py 28 | topic_tools 29 | rosbag2 30 | 31 | 32 | ament_python 33 | 34 | unknown 35 | python 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /wolfgang_robocup_api/resource/wolfgang_robocup_api: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_robocup_api/resource/wolfgang_robocup_api -------------------------------------------------------------------------------- /wolfgang_robocup_api/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/wolfgang_robocup_api 3 | [install] 4 | install_scripts=$base/lib/wolfgang_robocup_api 5 | -------------------------------------------------------------------------------- /wolfgang_robocup_api/setup.py: -------------------------------------------------------------------------------- 1 | import glob 2 | import os.path 3 | 4 | from setuptools import setup 5 | from setuptools import find_packages 6 | 7 | package_name = 'wolfgang_robocup_api' 8 | 9 | setup( 10 | name=package_name, 11 | packages=find_packages(), 12 | data_files=[ 13 | ('share/ament_index/resource_index/packages', 14 | ['resource/' + package_name]), 15 | (os.path.join('share', package_name), ['package.xml']), 16 | (os.path.join('share', package_name, 'config'), ['config/devices.json']), 17 | (os.path.join('share', package_name, 'launch'), glob.glob('launch/*.launch')), 18 | ], 19 | install_requires=[ 20 | 'launch', 21 | 'setuptools', 22 | ], 23 | zip_safe=True, 24 | keywords=['ROS'], 25 | license='MIT', 26 | entry_points={ 27 | 'console_scripts': [ 28 | f'command_proxy = {package_name}.command_proxy:main', 29 | ], 30 | }, 31 | ) 32 | -------------------------------------------------------------------------------- /wolfgang_robocup_api/wolfgang_robocup_api/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_robocup_api/wolfgang_robocup_api/__init__.py -------------------------------------------------------------------------------- /wolfgang_webots_sim/.gitignore: -------------------------------------------------------------------------------- 1 | protos/**/*.cache 2 | worlds/.*.wbproj 3 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/.rdmanifest: -------------------------------------------------------------------------------- 1 | --- 2 | # See http://doku.bit-bots.de/meta/manual/software/ci.html#make-package-resolvable-in-ci 3 | check-presence-script: '#!/bin/bash 4 | 5 | test -d $BITBOTS_CATKIN_WORKSPACE/src/wolfgang_webots_sim' 6 | depends: 7 | - bitbots_docs 8 | - bitbots_msgs 9 | - gazebo_msgs 10 | - imu_complementary_filter 11 | - nav_msgs 12 | - rosgraph_msgs 13 | - rospy 14 | - sensor_msgs 15 | - std_msgs 16 | - urdf 17 | - xvfb 18 | exec-path: wolfgang_robot-master/wolfgang_webots_sim 19 | install-script: '#!/bin/bash 20 | 21 | cp -r . $BITBOTS_CATKIN_WORKSPACE/src/wolfgang_webots_sim' 22 | uri: https://github.com/bit-bots/wolfgang_robot/archive/refs/heads/master.tar.gz 23 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/README.md: -------------------------------------------------------------------------------- 1 | This package provides a Webots simulation environment with ROS topic support for the Wolfgang Robot. 2 | 3 | The model is generated from the URDF by using the urdf2webots package. -------------------------------------------------------------------------------- /wolfgang_webots_sim/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/docs/_static/logo.png -------------------------------------------------------------------------------- /wolfgang_webots_sim/launch/fake_localization.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/launch/imu_filter_sim.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | wolfgang_webots_sim 5 | 1.4.0 6 | Simulation environment using Webots for Wolfgang robot. 7 | 8 | Marc Bestmann 9 | Hamburg Bit-Bots 10 | 11 | Marc Bestmann 12 | Hamburg Bit-Bots 13 | 14 | 15 | MIT 16 | 17 | ament_cmake 18 | sensor_msgs 19 | urdf 20 | bitbots_msgs 21 | nav_msgs 22 | rosgraph_msgs 23 | std_msgs 24 | bitbots_docs 25 | gazebo_msgs 26 | geometry_msgs 27 | python3-transforms3d 28 | python3-numpy 29 | python3-psutil 30 | std_srvs 31 | 32 | 33 | imu_complementary_filter 34 | xvfb 35 | 36 | 37 | 38 | 39 | unknown 40 | python 41 | 42 | ament_cmake 43 | 44 | 45 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/FreeCamera.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2021b utf8 2 | # Just a camera that can be used to render images from the simulation 3 | 4 | PROTO FreeCamera [ 5 | field SFVec3f translation 0 0.1 0 6 | field SFRotation rotation 0 1 0 0 7 | field SFString name "free_camera" 8 | field SFFloat cameraFOV 1.04 9 | field SFInt32 cameraWidth 800 10 | field SFInt32 cameraHeight 600 11 | field SFString controller "" 12 | field MFString controllerArgs [] 13 | 14 | ] 15 | { 16 | Robot { 17 | translation IS translation 18 | rotation IS rotation 19 | controller IS controller 20 | controllerArgs IS controllerArgs 21 | children [ 22 | Solid { 23 | translation IS translation 24 | rotation IS rotation 25 | children [ 26 | Camera { 27 | rotation 1.0 0.0 0.0 3.141591 28 | name "camera" 29 | fieldOfView IS cameraFOV 30 | width IS cameraWidth 31 | height IS cameraHeight 32 | } 33 | ] 34 | name IS name 35 | } 36 | ] 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/RoboCupBackground.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # template language: javascript 3 | PROTO RoboCupBackground [ 4 | field SFString{"stadium_dry", "shanghai_riverside", "ulmer_muenster", "sunset_jhbcentral", "sepulchral_chapel_rotunda","paul_lobe_haus", "kiara_1_dawn"} 5 | texture "stadium_dry" # Defines the texture of the background. 6 | field SFFloat luminosity 1 # Is `Background.luminosity`. 7 | field SFBool skybox TRUE # Specifies if the `texture` field is used to define the skybox shown in the scene background. 8 | field MFColor skyColor [0 0 0] # Defines the background color in case the `skybox` field is `FALSE`. 9 | ] 10 | { 11 | %< 12 | 13 | const path = 'backgrounds'; 14 | const texture = fields.texture.value 15 | const extension = 'png' 16 | let topTexture; 17 | if (texture === 'stadium_dry') 18 | topTexture = 'stadium'; 19 | else 20 | topTexture = texture; 21 | >% 22 | 23 | Background { 24 | skyColor IS skyColor 25 | backUrl [ 26 | %<= '"' + path + '/' + texture + '_back.' + extension + '"' >% 27 | ] 28 | bottomUrl [ 29 | %<= '"' + path + '/' + texture + '_bottom.' + extension + '"' >% 30 | ] 31 | frontUrl [ 32 | %<= '"' + path + '/' + texture + '_front.' + extension + '"' >% 33 | ] 34 | leftUrl [ 35 | %<= '"' + path + '/' + texture + '_left.' + extension + '"' >% 36 | ] 37 | rightUrl [ 38 | %<= '"' + path + '/' + texture + '_right.' + extension + '"' >% 39 | ] 40 | topUrl [ 41 | %<= '"' + path + '/' + topTexture + '_top.' + extension + '"' >% 42 | ] 43 | luminosity IS luminosity 44 | } 45 | } 46 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/Wolfgang_meshes/ankle.stl: -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_back.png -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_bottom.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_bottom.png -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_front.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_front.png 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https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/ball_textures/europass.jpg -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/ball_textures/jabulani.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/ball_textures/jabulani.jpg -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/ball_textures/tango.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/ball_textures/tango.jpg -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/ball_textures/teamgeist.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/ball_textures/teamgeist.jpg -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/ball_textures/telstar.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/ball_textures/telstar.jpg -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/hl_supervisor/hl_supervisor.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2021b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # This is a proto file for Webots for the Wolfgang 5 | 6 | PROTO hl_supervisor [ 7 | field SFVec3f translation 0 0 0 8 | field SFRotation rotation 0 1 0 0 9 | field SFString name "hl_supervisor" # Is `Robot.name`. 10 | field SFString controller "void" # Is `Robot.controller`. 11 | field MFString controllerArgs [] # Is `Robot.controllerArgs`. 12 | field SFString customData "" # Is `Robot.customData`. 13 | field SFBool supervisor TRUE # Is `Robot.supervisor`. 14 | field SFBool synchronization TRUE # Is `Robot.synchronization`. 15 | field SFBool selfCollision FALSE # Is `Robot.selfCollision`. 16 | ] 17 | { 18 | Robot { 19 | translation IS translation 20 | rotation IS rotation 21 | controller IS controller 22 | controllerArgs IS controllerArgs 23 | customData IS customData 24 | supervisor IS supervisor 25 | synchronization IS synchronization 26 | selfCollision IS selfCollision 27 | name IS name 28 | } 29 | } 30 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/lighting/RoboCupTopLight.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # template language: javascript 3 | PROTO RoboCupTopLight [ 4 | field SFString{"stadium_dry", "shanghai_riverside", "ulmer_muenster", "sunset_jhbcentral", "sepulchral_chapel_rotunda","paul_lobe_haus", "kiara_1_dawn"} 5 | texture "stadium_dry" 6 | field SFFloat luminosity 1.0 7 | ] 8 | { 9 | %< 10 | 11 | let direction = [0.0, 0.0, -1.0]; 12 | let color = [1.0, 1.0, 1.0]; 13 | let intensity = 1.0; 14 | const luminosity = fields.luminosity.value > 0.0 ? fields.luminosity.value : 0.0; 15 | 16 | if (fields.texture.value === 'stadium_dry') { 17 | color = [0.95, 0.95, 1]; 18 | intensity = 1.0; 19 | } else if (fields.texture.value === 'shanghai_riverside') { 20 | color = [1.0, 1.0, 1.0]; 21 | intensity = 1.5; 22 | } else if (fields.texture.value === 'ulmer_muenster') { 23 | color = [0.95, 0.95, 1]; 24 | intensity = 0.5; 25 | } else if (fields.texture.value === 'sunset_jhbcentral') { 26 | color = [1.0, 1.0, 1.0]; 27 | intensity = 1.5; 28 | } else if (fields.texture.value === 'sepulchral_chapel_rotunda') { 29 | color = [0.95, 0.95, 1.0]; 30 | intensity = 1.75; 31 | } else if (fields.texture.value === 'paul_lobe_haus') { 32 | color = [0.9, 0.9, 1.0]; 33 | intensity = 1.5; 34 | } else if (fields.texture.value === 'kiara_1_dawn') { 35 | color = [1.0, 0.6, 0.8]; 36 | intensity = 1.0; 37 | } 38 | 39 | >% 40 | DirectionalLight { 41 | direction %<= direction[0] >% %<= direction[1] >% %<= direction[2] >% 42 | color %<= color[0] >% %<= color[1] >% %<= color[2] >% 43 | intensity %<= luminosity * intensity >% 44 | castShadows TRUE 45 | } 46 | } -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/lighting/icons/RoboCupMainLight.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/lighting/icons/RoboCupMainLight.png -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/lighting/icons/RoboCupOffLight.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/lighting/icons/RoboCupOffLight.png -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/lighting/icons/RoboCupTopLight.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/protos/lighting/icons/RoboCupTopLight.png -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2021b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # This is a proto file for Webots for the WolfgangRobocup 5 | 6 | PROTO WolfgangOptimization [ 7 | field SFVec3f translation 0 0 0 8 | field SFRotation rotation 0 1 0 0 9 | field SFString name "red player 1" # Is `Robot.name`. 10 | field MFString controllerArgs [] # Is `Robot.controllerArgs`. 11 | field SFString customData "" 12 | field SFBool selfCollision TRUE # Is `Robot.selfCollision`. 13 | field SFBool supervisor FALSE # Is `Robot.supervisor`. 14 | field SFString controller "player" # Is `Robot.controller`. 15 | field SFBool enableBoundingObject TRUE # Is `Robot.enableBoundingObject`. 16 | field SFBool enablePhysics TRUE # Is `Robot.enablePhysics`. 17 | field SFBool enableFootSensors TRUE # Is `Robot.enableFootSensors`. 18 | field SFFloat transparency 0 # Is `Robot.transparency` 19 | field MFNode externalCamera NULL 20 | ] 21 | { 22 | Wolfgang { 23 | translation IS translation 24 | rotation IS rotation 25 | name IS name 26 | controllerArgs IS controllerArgs 27 | customData IS customData 28 | selfCollision IS selfCollision 29 | supervisor IS supervisor 30 | controller IS controller 31 | enableBoundingObject IS enableBoundingObject 32 | enablePhysics IS enablePhysics 33 | transparency IS transparency 34 | enableFootSensors IS enableFootSensors 35 | externalCamera IS externalCamera 36 | } 37 | } -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2021b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # This is a proto file for Webots for the WolfgangRobocup 5 | EXTERNPROTO "Wolfgang.proto" 6 | PROTO WolfgangRobocup [ 7 | field SFVec3f translation 0 0 0 8 | field SFRotation rotation 0 1 0 0 9 | field SFString name "red player 1" # Is `Robot.name`. 10 | field MFString controllerArgs [] # Is `Robot.controllerArgs`. 11 | field SFString customData "" 12 | ] 13 | { 14 | Wolfgang { 15 | translation IS translation 16 | rotation IS rotation 17 | name IS name 18 | controllerArgs IS controllerArgs 19 | customData IS customData 20 | controller "player" 21 | } 22 | } -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_ankleMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url ["ankle.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangMetal.proto" 8 | 9 | PROTO Wolfgang_basler_ace_gige_c-mount_v01Mesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangMetal {} 14 | geometry Mesh { 15 | url["basler_ace_gige_c-mount_v01.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_batteryMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["battery.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_battery_cageMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["battery_cage.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_battery_clipMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["battery_clip.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["camera_lower_basler_wolfgang_imu_v2.2.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["camera_side_basler_wolfgang_v2.2_left.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["camera_side_basler_wolfgang_v2.2_right.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_connector_shoulderMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["connector_shoulder.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/Pcb.proto" 8 | 9 | PROTO Wolfgang_coreMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance Pcb {} 14 | geometry Mesh { 15 | url["core.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_dummy_speakerMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["dummy_speaker.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_flex_stollenMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["flex_stollen.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_foot_coverMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["foot_cover.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_foot_printed_leftMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["foot_printed_left.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_foot_printed_rightMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["foot_printed_right.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_handMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["hand.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_hip_u_connectorMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["hip_u_connector.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_imu_holderMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["imu_holder.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_knee_connectorMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["knee_connector.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_knee_spacerMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["knee_spacer.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_lenseMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["lense.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_load_cellMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["load_cell.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangCarbonFiberAppearance.proto" 8 | 9 | PROTO Wolfgang_lower_armMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangCarbonFiberAppearance {} 14 | geometry Mesh { 15 | url["lower_arm.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangCarbonFiberAppearance.proto" 8 | 9 | PROTO Wolfgang_lower_legMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangCarbonFiberAppearance {} 14 | geometry Mesh { 15 | url["lower_leg.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_lower_leg_spacerMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["lower_leg_spacer.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_motor_connectorMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["motor_connector.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangMotor.proto" 8 | 9 | PROTO Wolfgang_mx-106_bodyMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangMotor {} 14 | geometry Mesh { 15 | url["mx-106_body.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangMotor.proto" 8 | 9 | PROTO Wolfgang_mx-64-bodyMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangMotor {} 14 | geometry Mesh { 15 | url["mx-64-body.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_nuc_holder_left_backMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["nuc_holder_left_back.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_nuc_holder_left_frontMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["nuc_holder_left_front.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_nuc_holder_right_backMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["nuc_holder_right_back.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_nuc_holder_right_frontMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["nuc_holder_right_front.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangNUC.proto" 8 | 9 | PROTO Wolfgang_nuc_mainMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangNUC {} 14 | geometry Mesh { 15 | url["nuc_main.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_sea_connectorMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["sea_connector.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_sea_ninjaflexMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["sea_ninjaflex.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_shoulder_connectorMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["shoulder_connector.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_speaker_holderMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["speaker_holder.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_spring_holder_lowerMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["spring_holder_lower.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_spring_holder_upperMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["spring_holder_upper.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_springholder_bottomMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["springholder_bottom.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_springholder_newMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["springholder_new.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_thrustbearingholderMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["thrustbearingholder.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_torso_bottomMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["torso_bottom.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_torso_bumper_leftMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["torso_bumper_left.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_torso_bumper_rightMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["torso_bumper_right.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPaintedMetal.proto" 8 | 9 | PROTO Wolfgang_torso_topMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPaintedMetal {} 14 | geometry Mesh { 15 | url["torso_top.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangCarbonFiberAppearance.proto" 8 | 9 | PROTO Wolfgang_upper_armMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangCarbonFiberAppearance {} 14 | geometry Mesh { 15 | url["upper_arm.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_upper_arm_spacerMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["upper_arm_spacer.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangCarbonFiberAppearance.proto" 8 | 9 | PROTO Wolfgang_upper_legMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangCarbonFiberAppearance {} 14 | geometry Mesh { 15 | url["upper_leg.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangPlastic.proto" 8 | 9 | PROTO Wolfgang_upper_leg_spacerMesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangPlastic {} 14 | geometry Mesh { 15 | url["upper_leg_spacer.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | EXTERNPROTO "../Wolfgang_textures/WolfgangMotor.proto" 8 | 9 | PROTO Wolfgang_xh-540Mesh [ 10 | ] 11 | { 12 | Shape { 13 | appearance WolfgangMotor {} 14 | geometry Mesh { 15 | url["xh-540.stl"] 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl: -------------------------------------------------------------------------------- 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Licensed for use only with Webots. 3 | # license url: https://cyberbotics.com/webots_assets_license 4 | # tags: hidden 5 | 6 | PROTO WolfgangCarbonFiberAppearance [ 7 | field SFFloat transparency 0 # [0, 1] 8 | ] 9 | { 10 | PBRAppearance { 11 | baseColorMap ImageTexture { 12 | url [ 13 | "carbon_fiber.jpg" 14 | ] 15 | } 16 | metalness 0 17 | roughness 0.3 18 | transparency IS transparency 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMarker.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | PROTO WolfgangMarker [ 8 | field MFString textureUrl "number_0.png" 9 | field SFColor baseColor 0.0 0.0 0.0 10 | ] 11 | { 12 | PBRAppearance { 13 | baseColor IS baseColor 14 | roughness 0.8 15 | metalness 0 16 | baseColorMap ImageTexture { 17 | url IS textureUrl 18 | } 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMetal.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | PROTO WolfgangMetal [ 8 | ] 9 | { 10 | PBRAppearance { 11 | baseColor 0.7 0.7 0.7 12 | transparency 0.000000 13 | roughness 0.4 14 | metalness 1 15 | emissiveColor 0.000000 0.000000 0.000000 16 | } 17 | } -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMotor.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | PROTO WolfgangMotor [ 8 | ] 9 | { 10 | PBRAppearance { 11 | baseColor 0.1 0.1 0.1 12 | roughness 1 13 | metalness 0 14 | } 15 | } -------------------------------------------------------------------------------- /wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangNUC.proto: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2022b utf8 2 | # license: Apache License 2.0 3 | # license url: http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | PROTO WolfgangNUC [ 8 | ] 9 | { 10 | PBRAppearance { 11 | baseColor 0.03 0.03 0.03 12 | roughness 0.8 13 | metalness 1 14 | } 15 | } 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ET.parse(infile_path) 14 | root = tree.getroot() 15 | 16 | for child in root: 17 | if child.tag == "link": 18 | found_intertial = False 19 | found_collision = False 20 | for link_element in child: 21 | if link_element.tag == "inertial": 22 | found_intertial = True 23 | elif link_element.tag == "collision": 24 | found_collision = True 25 | if found_intertial and (not found_collision): 26 | for link_element in child: 27 | if link_element.tag == "inertial": 28 | child.remove(link_element) 29 | print(f"removed inertial element for link: {child.attrib}") 30 | 31 | tree.write(outfile_path) -------------------------------------------------------------------------------- /wolfgang_webots_sim/scripts/imu_lut_gen.py: -------------------------------------------------------------------------------- 1 | 2 | def noise_table(my_min, noise, iters, indent): 3 | print(indent * " ", end="") 4 | print("lookupTable [") 5 | for i in range(iters): 6 | val = my_min/2 ** i 7 | print(indent * " ", end="") 8 | print(f" {val:f} {val:f} {noise/-val:f},") 9 | print(indent * " ", end="") 10 | print(f" 0 0 0") 11 | for i in range(iters): 12 | val = -my_min/2 ** (iters-i-1) 13 | print(indent * " ", end="") 14 | print(f" {val:f} {val:f} {noise/val:f},") 15 | print(indent * " ", end="") 16 | print("]") 17 | 18 | accel_min = -156.96 19 | accel_noise = 0.03290374028 20 | gyro_min = -34.90659 21 | gyro_noise = 0.00106526458 22 | 23 | noise_table(accel_min, accel_noise, 12, 12) 24 | noise_table(gyro_min, gyro_noise, 12, 12) 25 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/scripts/start_webots_ros_supervisor.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import os 3 | import argparse 4 | import threading 5 | 6 | import rclpy 7 | from rclpy.node import Node 8 | from wolfgang_webots_sim.webots_supervisor_controller import SupervisorController 9 | 10 | 11 | class SupervisorNode: 12 | def __init__(self, simulator_port): 13 | self.node = Node('supervisor_node') 14 | 15 | os.environ["WEBOTS_CONTROLLER_URL"] = f"ipc://{simulator_port}/supervisor_robot" 16 | 17 | self.supervisor_controller = SupervisorController(ros_active=True, ros_node=self.node) 18 | self.node.get_logger().info("started webots ros supervisor") 19 | 20 | def run(self): 21 | while rclpy.ok(): 22 | self.supervisor_controller.step() 23 | 24 | 25 | if __name__ == "__main__": 26 | parser = argparse.ArgumentParser() 27 | parser.add_argument('--sim-port', help="port of the simulation", default="1234") 28 | args, _ = parser.parse_known_args() 29 | 30 | rclpy.init() 31 | supervisor = SupervisorNode(args.sim_port) 32 | thread = threading.Thread(target=rclpy.spin, args=(supervisor.node,), daemon=True) 33 | thread.start() 34 | supervisor.run() 35 | 36 | supervisor.node.destroy_node() 37 | rclpy.shutdown() 38 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | from catkin_pkg.python_setup import generate_distutils_setup 3 | 4 | d = generate_distutils_setup( 5 | packages=['wolfgang_webots_sim'], 6 | #scripts=['bin/myscript'], 7 | package_dir={'': 'src'} 8 | ) 9 | 10 | setup(**d) 11 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/wolfgang_webots_sim/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/wolfgang_robot/b067cae9be182ea793762dfc2c29e34cca9f87dd/wolfgang_webots_sim/wolfgang_webots_sim/__init__.py -------------------------------------------------------------------------------- /wolfgang_webots_sim/wolfgang_webots_sim/webots_robot_supervisor_controller.py: -------------------------------------------------------------------------------- 1 | from wolfgang_webots_sim.webots_robot_controller import RobotController 2 | from wolfgang_webots_sim.webots_supervisor_controller import SupervisorController 3 | 4 | 5 | class RobotSupervisorController(SupervisorController, RobotController): 6 | """Unified controller that has supervisor privileges and controls a robot""" 7 | 8 | def __init__(self, ros_node=None, ros_active=False, mode='normal', robot='wolfgang', base_ns='', model_states_active=True, camera_active=True, foot_sensors_active=True): 9 | """ 10 | A unified controller that has supervisor privileges and controls a robot. 11 | It inherits from SupervisorController and RobotController. Since SupervisorController is the first 12 | parent class, calls to super() use the SupervisorController. The methods of the controllers are mostly 13 | disjoint, only methods that differ in the controllers have to be reimplemented here. 14 | 15 | For the parameter documentation, see the parent class constructors. 16 | """ 17 | super().__init__(ros_node=ros_node, ros_active=ros_active, robot=robot, mode=mode, base_ns=base_ns, model_states_active=model_states_active) 18 | # This is used so that SupervisorController and RobotController can use the same underlying controller 19 | self.robot_node = self.supervisor 20 | RobotController.__init__(self, ros_node=ros_node, ros_active=ros_active, robot=robot, robot_node=self.robot_node, base_ns=base_ns, camera_active=camera_active, foot_sensors_active=foot_sensors_active) 21 | 22 | def step(self): 23 | super().step() 24 | if self.ros_active: 25 | RobotController.publish_ros(self) 26 | -------------------------------------------------------------------------------- /wolfgang_webots_sim/worlds/optimization_wolfgang.wbt: -------------------------------------------------------------------------------- 1 | #VRML_SIM R2021b utf8 2 | DEF world_info WorldInfo { 3 | basicTimeStep 8 4 | optimalThreadCount 1 5 | physicsDisableTime 0.1 6 | physicsDisableLinearThreshold 0.1 7 | physicsDisableAngularThreshold 0.1 8 | contactProperties [ 9 | ContactProperties { 10 | material1 "grass" 11 | coulombFriction [ 12 | 0.5 13 | ] 14 | softCFM 0.03 15 | } 16 | ContactProperties { 17 | material1 "grass" 18 | material2 "robocup soccer ball" 19 | coulombFriction [ 20 | 0.5 21 | ] 22 | bounce 0.76 23 | softCFM 0.05 24 | } 25 | ContactProperties { 26 | material2 "robocup soccer ball" 27 | bounce 0.76 28 | } 29 | ] 30 | } 31 | Viewpoint { 32 | orientation 0.14 -0.605 -0.784 2.78 33 | position -2.20 4.06 1.5 34 | } 35 | TexturedBackground { 36 | texture "stadium_dry" 37 | } 38 | TexturedBackgroundLight { 39 | texture "stadium_dry" 40 | } 41 | 42 | DEF amy WolfgangOptimization { 43 | translation -0.9968797400586715 2.9921102788692946 0.4274542359577024 44 | rotation 0.12198099937775954 0.12935172908461096 -0.9840674600725422 1.5869763401625028 45 | name "amy" 46 | controller "" 47 | supervisor TRUE 48 | } 49 | Floor { 50 | rotation 1 0 0 1.57 51 | contactMaterial "grass" 52 | size 100 100 53 | tileSize 2 2 54 | } --------------------------------------------------------------------------------