From 2376dc5175df21e5acf20253aaa1ab3e2d47e905 Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Thu, 30 Jan 2025 10:16:56 -0300 Subject: [PATCH 1/8] Added defaults for visual and collision geoms Signed-off-by: Nicolas de Lima --- .../andino_mujoco_description/mjcf/andino.xml | 61 ++++++++++++------- 1 file changed, 38 insertions(+), 23 deletions(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index af500d3..692067c 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -1,13 +1,13 @@ - - - - - - + + + + + + @@ -19,42 +19,57 @@ + + + + + + + + + + + + + + + + + - - + - + - - - - + + + - - + + - + - + - + @@ -63,21 +78,21 @@ - + - - + + - + - + From 81895746d8f6b5d6c831300720a1c5c3b76023aa Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Thu, 30 Jan 2025 10:21:28 -0300 Subject: [PATCH 2/8] Updated caster wheel Fixed caster wheel position. Added a joint to the caster wheel support for allowing rotation. Signed-off-by: Nicolas de Lima --- andino_mujoco/andino_mujoco_description/mjcf/andino.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index 692067c..9b2ba2a 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -65,9 +65,10 @@ + - + From ff628e1640c391bee6fedff3809712875b570ac2 Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Thu, 30 Jan 2025 11:38:32 -0300 Subject: [PATCH 3/8] Added default class for wheel joints Signed-off-by: Nicolas de Lima --- andino_mujoco/andino_mujoco_description/mjcf/andino.xml | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index 9b2ba2a..93a892f 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -33,6 +33,9 @@ + + + @@ -48,13 +51,13 @@ - + - + @@ -69,7 +72,7 @@ - + From 9d20cd0a29a01884f837a9b6e6a8e67f39417eb9 Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Thu, 30 Jan 2025 11:43:18 -0300 Subject: [PATCH 4/8] Removed attributes with default values Signed-off-by: Nicolas de Lima --- andino_mujoco/andino_mujoco_description/mjcf/andino.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index 93a892f..5dee4cf 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -40,7 +40,7 @@ - + @@ -68,7 +68,7 @@ - + @@ -91,7 +91,7 @@ - + From 7afcf7be814929d80e51485475c3c0ede46e058e Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Thu, 30 Jan 2025 14:35:41 -0300 Subject: [PATCH 5/8] Added default class for caster_wheel_support joint Signed-off-by: Nicolas de Lima --- andino_mujoco/andino_mujoco_description/mjcf/andino.xml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index 5dee4cf..229d6a5 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -36,6 +36,9 @@ + + + @@ -68,7 +71,7 @@ - + From 82fcd0f5b469c061bab0d69108b6038273041783 Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Thu, 30 Jan 2025 14:52:32 -0300 Subject: [PATCH 6/8] Removed position attribute from camera element The camera should be aligned with the camera mount, so it needs to have the same position as the parent. Signed-off-by: Nicolas de Lima --- andino_mujoco/andino_mujoco_description/mjcf/andino.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index 229d6a5..59b1727 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -100,7 +100,7 @@ - + From 9ef02aba5a7f20945d16871e9352bcb1b6f41001 Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Thu, 30 Jan 2025 15:41:13 -0300 Subject: [PATCH 7/8] Modified wheels Simplified caster wheel collision to a cylinder geom instead of a mesh. Modified the size of the rubber wheels to better match the mesh size. Made cylinder geoms for collisions translucent. Minor formatting changes. Signed-off-by: Nicolas de Lima --- .../andino_mujoco_description/mjcf/andino.xml | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index 59b1727..fc73672 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -7,6 +7,7 @@ + @@ -30,7 +31,10 @@ - + + + + @@ -46,7 +50,7 @@ - + @@ -76,7 +80,8 @@ - + + From 1e975e287e5e7532334fe8ff042e5c2153c85ff4 Mon Sep 17 00:00:00 2001 From: Nicolas de Lima Date: Fri, 31 Jan 2025 10:04:28 -0300 Subject: [PATCH 8/8] Modified the chassis position and orientation Moved the Andino up, so that the base is aligned with the plane z=0. Changed the orientation: removed the rotation around the z axis, and added a small tilt in the y axis to take into account the difference in the size of the wheels. Minor formatting changes. Signed-off-by: Nicolas de Lima --- .../andino_mujoco_description/mjcf/andino.xml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml index fc73672..167796b 100644 --- a/andino_mujoco/andino_mujoco_description/mjcf/andino.xml +++ b/andino_mujoco/andino_mujoco_description/mjcf/andino.xml @@ -47,7 +47,7 @@ - + @@ -69,11 +69,11 @@ - - + + - + @@ -84,11 +84,11 @@ - + - + - + @@ -101,12 +101,12 @@ - + - +