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Updates to the Andino model #6

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Updates to the Andino model #6

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2376dc5
Added defaults for visual and collision geoms
ndelima-ekumen Jan 30, 2025
8189574
Updated caster wheel
ndelima-ekumen Jan 30, 2025
ff628e1
Added default class for wheel joints
ndelima-ekumen Jan 30, 2025
9d20cd0
Removed attributes with default values
ndelima-ekumen Jan 30, 2025
7afcf7b
Added default class for caster_wheel_support joint
ndelima-ekumen Jan 30, 2025
82fcd0f
Removed position attribute from camera element
ndelima-ekumen Jan 30, 2025
9ef02ab
Modified wheels
ndelima-ekumen Jan 30, 2025
1e975e2
Modified the chassis position and orientation
ndelima-ekumen Jan 31, 2025
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101 changes: 64 additions & 37 deletions andino_mujoco/andino_mujoco_description/mjcf/andino.xml
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Original file line number Diff line number Diff line change
@@ -1,13 +1,14 @@
<mujoco model="andino">
<compiler angle="radian" meshdir="../meshes" balanceinertia="true"/>

<default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" rgba="0.3 0.3 0.3 1"/>
</default>
</default>

<asset>
<material name="3D_Print_Blue" rgba="0 0 1 1"/>
<material name="Aluminum" rgba="0.79 0.82 0.93 1"/>
<material name="Plastic_Grey" rgba="0.3 0.3 0.3 1"/>
<material name="Pure_Black" rgba="0 0 0 1"/>
<material name="Light_Blue" rgba="0 0.5 0.8 1"/>
<material name="Translucent" rgba="0 0 0 0"/>

<mesh name="chassis" file="andino/chassis.stl"/>
<mesh name="chassis_top" file="andino/chassis_top.stl"/>
<mesh name="caster_base" file="andino/caster_base.stl"/>
Expand All @@ -19,67 +20,93 @@
<mesh name="camera_mount" file="sensors/camera_mount.stl"/>
</asset>

<default>
<default class="andino">
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="1"/>
<default class="rubber_wheel_visual">
<geom material="Plastic_Grey"/>
</default>
</default>
<default class="collision">
<geom group="2" type="mesh"/>
<default class="rubber_wheel_collision">
<geom quat="1 1 0 0" type="cylinder" mass="0.03" size="0.035 0.010" material="Translucent"/>
</default>
<default class="caster_wheel_collision">
<geom quat="1 1 0 0" type="cylinder" mass="0.03" size="0.015 0.005" material="Translucent"/>
</default>
</default>
<default class="wheel">
<joint type="hinge" axis="0 1 0" damping="0.001"/>
</default>
<default class="caster_wheel_support">
<joint type="hinge" axis="0 0 1" damping="0.001"/>
</default>
</default>
</default>

<worldbody>
<body name="chassis" pos="0.0 0.0 0.0" quat="0.707 0 0 -0.707">
<site name="chassis"/>
<body name="chassis" pos="0 0 0.0514192" quat="0.999957 0 -0.00926022 0">
<joint type="free"/>
<inertial pos="0 0 -0.02" mass="0.5" diaginertia="0.0009 0.0009 0.0016"/>
<geom type="mesh" rgba="0 0 1 1" mesh="chassis"/>
<geom mesh="chassis" material="3D_Print_Blue" class="collision"/>

<body name="chassis_top" pos="0 0 0.05">
<inertial pos="-0.02 0 0" mass="3" diaginertia="0.0018 0.0018 0.0033"/>
<geom type="mesh" rgba="0 0 1 1" mesh="chassis_top"/>
<geom mesh="chassis_top" material="3D_Print_Blue" class="collision"/>
</body><!-- chassis_top -->

<body name="right_wheel" pos="0.0185 -0.0675 -0.017">
<site name="right_wheel"/>
<joint name="right_wheel_joint" type="hinge" axis="0 1 0" damping="0.001" />
<geom class="visual" quat="0 0 -0.707107 -0.707107" type="mesh" mesh="wheel"/>
<geom quat="1 1 0 0" type="cylinder" mass="0.03" size="0.03 0.010" />
<joint name="right_wheel_joint" class="wheel"/>
<geom mesh="wheel" quat="0 0 -0.707107 -0.707107" class="rubber_wheel_visual"/>
<geom class="rubber_wheel_collision"/>
</body><!-- right_wheel -->

<body name="left_wheel" pos="0.0185 0.0675 -0.017">
<joint name="left_wheel_joint" type="hinge" axis="0 1 0" damping="0.001" />
<geom class="visual" quat="0.707107 0.707107 0 0" type="mesh" mesh="wheel"/>
<geom quat="1 1 0 0" type="cylinder" mass="0.03" size="0.03 0.010" />
<joint name="left_wheel_joint" class="wheel"/>
<geom mesh="wheel" quat="0.707107 0.707107 0 0" class="rubber_wheel_visual"/>
<geom class="rubber_wheel_collision"/>
</body><!-- left_wheel -->

<body name="caster_base" pos="-0.076 0 -0.0155" >
<inertial pos="0 0 0" euler="0 0 0" mass="0.02" diaginertia="5.33e-06 5.33e-06 5.33e-06"/>
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.79 0.82 0.93 1" mesh="caster_base"/>
<body name="caster_base" pos="-0.076 0 -0.0155">
<inertial pos="0 0 0" mass="0.02" diaginertia="5.33e-06 5.33e-06 5.33e-06"/>
<geom mesh="caster_base" material="Aluminum" class="collision"/>

<body name="caster_wheel_support" pos="-0.001 0 0" >
<body name="caster_wheel_support">
<inertial pos="0 0 0" mass="0.1" diaginertia="5.33e-06 5.33e-06 5.33e-06"/>
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.79 0.82 0.93 1" mesh="caster_wheel_support"/>
<joint name="caster_base_to_caster_wheel_support" class="caster_wheel_support"/>
<geom mesh="caster_wheel_support" material="Aluminum" class="collision"/>

<body name="caster_wheel" pos="-0.023 0 -0.02" >
<joint name="caster_wheel_support_to_caster_wheel" pos="0 0 0" type="hinge" axis="0 1 0" damping="0.001" />
<geom type="mesh" rgba="0 0 0 1" mesh="caster_wheel"/>
<body name="caster_wheel" pos="-0.015 0.0 -0.02">
<joint name="caster_wheel_support_to_caster_wheel" class="wheel"/>
<geom mesh="caster_wheel" material="Pure_Black" class="visual"/>
<geom class="caster_wheel_collision"/>
</body> <!-- caster_wheel -->

</body> <!-- caster_wheel_support -->
</body><!-- caster_wheel_support -->

</body> <!-- caster_base -->
</body><!-- caster_base -->

<body name="rplidar-al" pos="0.05 0 0.08" >
<body name="rplidar-al" pos="0.05 0 0.08">
<inertial pos="0 0 0" mass="0.1" diaginertia="6.45e-06 6.45e-06 1.12e-05"/>
<geom quat="-1 0 0 0" type="mesh" rgba="0.3 0.3 0.3 1" mesh="rplidar-a1"/>
<geom mesh="rplidar-a1" quat="-1 0 0 0" material="Plastic_Grey" class="collision"/>
</body><!-- rplidar-al -->

<body name="motor_right" pos="0.0015 -0.03775 -0.017">
<inertial pos="0 0 0" quat="0 -1 0 0" mass="0.35" diaginertia="7.16e-06 4.37e-05 4.50e-05"/>
<geom quat="0 -1 0 0" type="mesh" contype="1" conaffinity="1" group="1" rgba="0 0.5 0.8 1" mesh="motor"/>
<inertial pos="0 0 0" mass="0.35" diaginertia="7.16e-06 4.37e-05 4.50e-05"/>
<geom mesh="motor" material="Light_Blue" class="collision"/>
</body><!-- motor_right -->

<body name="motor_left" pos="0.0015 0.03775 -0.017">
<inertial pos="0 0 0" euler="0 0 0" mass="0.35" diaginertia="7.16e-06 4.375e-05 4.50e-05"/>
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0 0.5 0.8 1" mesh="motor"/>
</body> <!-- motor_left-->
<inertial pos="0 0 0" mass="0.35" diaginertia="7.16e-06 4.375e-05 4.50e-05"/>
<geom mesh="motor" material="Light_Blue" class="collision"/>
</body><!-- motor_left-->

<body name="camera_mount" pos="0.085 0 0.025">
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0 0 1 1" mesh="camera_mount"/>
<camera name="andino_cam" mode="fixed" xyaxes="0 -1 0 0 0 1" pos="-0.1 0 0.09 "/>
</body> <!-- camera_mount -->
<geom mesh="camera_mount" material="3D_Print_Blue" class="collision"/>
<camera name="andino_cam" mode="fixed" xyaxes="0 -1 0 0 0 1"/>
</body><!-- camera_mount -->

</body><!-- chassis -->

Expand Down