def Generate_Body():
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[1,0,1.5], size=[length,width,height])
pyrosim.Send_Joint(name="Torso_BackLeg", parent="Torso", child="BackLeg", type="revolute", position="0.5 0 1.0")
pyrosim.Send_Cube(name="BackLeg", pos=[-0.5,0,-0.5], size=[length,width,height])
pyrosim.Send_Joint(name="Torso_FrontLeg", parent="Torso", child="FrontLeg", type="revolute", position="1.5 0 1.0")
pyrosim.Send_Cube(name="FrontLeg", pos=[0.5,0,-0.5], size=[length,width,height])
pyrosim.End()
def Generate_Body():
pyrosim.Start_URDF("body.urdf")
# Robot Torso
pyrosim.Send_Cube(name="Torso", pos=[1.5, 0, 1.5], size=[length, width, height])
# Connect BackLeg to Torso with one joint
pyrosim.Send_Joint(name="Torso_FrontLeg", parent="Torso", child="FrontLeg", type="revolute", position="2.0 0.0 1.0")
# Robot FrontLeg
pyrosim.Send_Cube(name="FrontLeg", pos=[0.5, 0, -0.5], size=[length, width, height])
# Connect FrontLeg to Torso with a second joint.
pyrosim.Send_Joint(name="Torso_BackLeg", parent="Torso", child="BackLeg", type="revolute", position="1.0 0.0 1.0")
# The other BackLeg
pyrosim.Send_Cube(name="BackLeg", pos=[-0.5, 0, -0.5], size=[length, width, height])
# End
pyrosim.End()
def Create_Robot():
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[0, 0, 1.5], size=[1, 1, 1])
pyrosim.Send_Joint(name="Torso_Leg_F",
parent="Torso",
child="LegFront",
type="revolute",
position="0.5 0 1")
pyrosim.Send_Cube(name="LegFront", pos=[0.5, 0, -.5], size=[1, 1, 1])
pyrosim.Send_Joint(name="Torso_Leg_B",
parent="Torso",
child="LegBack",
type="revolute",
position="-0.5 0 1")
pyrosim.Send_Cube(name="LegBack", pos=[-0.5, 0, -.5], size=[1, 1, 1])
pyrosim.End()
def Create_Body(self):
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[0, 0, 1], size=[1, 1, 1])
pyrosim.Send_Joint(name="Torso_FrontLeg",
parent="Torso",
child="FrontLeg",
type="revolute",
position="0.0 0.5 1.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="FrontLeg", pos=[0, 0.5, 0], size=[0.2, 1, 0.2])
pyrosim.Send_Joint(name="Torso_BackLeg",
parent="Torso",
child="BackLeg",
type="revolute",
position="0.0 -0.5 1.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="BackLeg", pos=[0, -0.5, 0], size=[0.2, 1, 0.2])
# Left-leg
pyrosim.Send_Joint(name="Torso_LeftLeg",
parent="Torso",
child="LeftLeg",
type="revolute",
position="-0.5 0.0 1.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="LeftLeg", pos=[-0.5, 0, 0], size=[1, 0.2, 0.2])
# Right-leg
pyrosim.Send_Joint(name="Torso_RightLeg",
parent="Torso",
child="RightLeg",
type="revolute",
position="0.5 0.0 1.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="RightLeg", pos=[0.5, 0, 0], size=[1, 0.2, 0.2])
# front lower leg
pyrosim.Send_Joint(name="FrontLeg_FrontLowerLeg",
parent="FrontLeg",
child="FrontLowerLeg",
type="revolute",
position="0.0 1.0 0.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="FrontLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# back lower leg
pyrosim.Send_Joint(name="BackLeg_BackLowerLeg",
parent="BackLeg",
child="BackLowerLeg",
type="revolute",
position="0.0 -1.0 0.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="BackLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# left lower leg
pyrosim.Send_Joint(name="LeftLeg_LeftLowerLeg",
parent="LeftLeg",
child="LeftLowerLeg",
type="revolute",
position="-1.0 0.0 0.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="LeftLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# right lower leg
pyrosim.Send_Joint(name="RightLeg_RightLowerLeg",
parent="RightLeg",
child="RightLowerLeg",
type="revolute",
position="1.0 0.0 0.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="RightLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
pyrosim.End()
def Create_Robot(self):
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[0, 0, 1], size=[1, 1, 0.5])
#Front Leg
pyrosim.Send_Joint(name="Torso_Leg_F",
parent="Torso",
child="LegFront",
type="revolute",
position="0 0.5 1",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegFront", pos=[0, 0.5, 0], size=[0.2, 1, 0.2])
pyrosim.Send_Joint(name="Leg_F_Leg_LF",
parent="LegFront",
child="LegLowerFront",
type="revolute",
position="0 1 0",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegLowerFront",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
#Back Leg
pyrosim.Send_Joint(name="Torso_Leg_B",
parent="Torso",
child="LegBack",
type="revolute",
position="0 -0.5 1",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegBack", pos=[0, -0.5, 0], size=[0.2, 1, 0.2])
pyrosim.Send_Joint(name="Leg_B_Leg_LB",
parent="LegBack",
child="LegLowerBack",
type="revolute",
position="0 -1 0",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegLowerBack",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# Right Leg
pyrosim.Send_Joint(name="Torso_Leg_R",
parent="Torso",
child="LegRight",
type="revolute",
position="0.5 0 1",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegRight", pos=[0.5, 0, 0], size=[1, 0.2, 0.2])
pyrosim.Send_Joint(name="Leg_R_Leg_LR",
parent="LegRight",
child="LegLowerRight",
type="revolute",
position="1 0 0",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegLowerRight",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# Left Leg
pyrosim.Send_Joint(name="Torso_Leg_L",
parent="Torso",
child="LegLeft",
type="revolute",
position="-0.5 0 1",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegLeft", pos=[-0.5, 0, 0], size=[1, 0.2, 0.2])
pyrosim.Send_Joint(name="Leg_L_Leg_LL",
parent="LegLeft",
child="LegLowerLeft",
type="revolute",
position="-1 0 0",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegLowerLeft",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
pyrosim.End()