diff --git a/config/pam_mujoco/models/mesh/Base.stl b/config/pam_mujoco/models/mesh/Base.stl new file mode 100644 index 0000000..46c41ff Binary files /dev/null and b/config/pam_mujoco/models/mesh/Base.stl differ diff --git a/config/pam_mujoco/models/mesh/J1.stl b/config/pam_mujoco/models/mesh/J1.stl new file mode 100644 index 0000000..6cc9ea4 Binary files /dev/null and b/config/pam_mujoco/models/mesh/J1.stl differ diff --git a/config/pam_mujoco/models/mesh/J2.stl b/config/pam_mujoco/models/mesh/J2.stl new file mode 100644 index 0000000..4165ce0 Binary files /dev/null and b/config/pam_mujoco/models/mesh/J2.stl differ diff --git a/config/pam_mujoco/models/mesh/J3.stl b/config/pam_mujoco/models/mesh/J3.stl new file mode 100644 index 0000000..078954b Binary files /dev/null and b/config/pam_mujoco/models/mesh/J3.stl differ diff --git a/config/pam_mujoco/models/mesh/J4.stl b/config/pam_mujoco/models/mesh/J4.stl new file mode 100644 index 0000000..d99a747 Binary files /dev/null and b/config/pam_mujoco/models/mesh/J4.stl differ diff --git a/config/pam_mujoco/models/igus/RL-50_Rotaryeinheit_abkupfer.stl b/config/pam_mujoco/models/mesh/RL-50_Rotaryeinheit_abkupfer.stl similarity index 100% rename from config/pam_mujoco/models/igus/RL-50_Rotaryeinheit_abkupfer.stl rename to config/pam_mujoco/models/mesh/RL-50_Rotaryeinheit_abkupfer.stl diff --git a/config/pam_mujoco/models/igus/igus_base.stl b/config/pam_mujoco/models/mesh/igus_base.stl similarity index 100% rename from config/pam_mujoco/models/igus/igus_base.stl rename to config/pam_mujoco/models/mesh/igus_base.stl diff --git a/config/pam_mujoco/models/igus/igus_base_move.stl b/config/pam_mujoco/models/mesh/igus_base_move.stl similarity index 100% rename from config/pam_mujoco/models/igus/igus_base_move.stl rename to config/pam_mujoco/models/mesh/igus_base_move.stl diff --git a/config/pam_mujoco/models/igus/igus_move.stl b/config/pam_mujoco/models/mesh/igus_move.stl similarity index 100% rename from config/pam_mujoco/models/igus/igus_move.stl rename to config/pam_mujoco/models/mesh/igus_move.stl diff --git a/config/pam_mujoco/models/igus/schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1.stl b/config/pam_mujoco/models/mesh/schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1.stl similarity index 100% rename from config/pam_mujoco/models/igus/schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1.stl rename to config/pam_mujoco/models/mesh/schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1.stl diff --git a/config/pam_mujoco/models/igus/schlaeger_anbindung-igus_anbindung_extra-1.stl b/config/pam_mujoco/models/mesh/schlaeger_anbindung-igus_anbindung_extra-1.stl similarity index 100% rename from config/pam_mujoco/models/igus/schlaeger_anbindung-igus_anbindung_extra-1.stl rename to config/pam_mujoco/models/mesh/schlaeger_anbindung-igus_anbindung_extra-1.stl diff --git a/config/pam_mujoco/models/robot_templates/pamy2/body_template.xml b/config/pam_mujoco/models/robot_templates/pamy2/body_template.xml index 95aa360..c4fe3fc 100644 --- a/config/pam_mujoco/models/robot_templates/pamy2/body_template.xml +++ b/config/pam_mujoco/models/robot_templates/pamy2/body_template.xml @@ -1,5 +1,4 @@ - @@ -42,32 +41,32 @@ - + - + - + - + - + - + @@ -80,82 +79,91 @@ - + - + - + - + - + - + - - - - - - - + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + - - - - - - - + + + + + + + - - - - - + + + + + + + + - - - - - - - - + + + + diff --git a/config/pam_mujoco/models/robot_templates/pamy2/body_template_no_muscles.xml b/config/pam_mujoco/models/robot_templates/pamy2/body_template_no_muscles.xml index e64aafa..21224a7 100644 --- a/config/pam_mujoco/models/robot_templates/pamy2/body_template_no_muscles.xml +++ b/config/pam_mujoco/models/robot_templates/pamy2/body_template_no_muscles.xml @@ -1,28 +1,31 @@ - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + - diff --git a/config/pam_mujoco/models/robot_templates/tendon_template.xml b/config/pam_mujoco/models/robot_templates/tendon_template.xml index 53d2773..99b78b8 100644 --- a/config/pam_mujoco/models/robot_templates/tendon_template.xml +++ b/config/pam_mujoco/models/robot_templates/tendon_template.xml @@ -14,7 +14,7 @@ - + @@ -24,7 +24,7 @@ - + @@ -34,7 +34,7 @@ - + @@ -45,7 +45,7 @@ - + @@ -56,7 +56,7 @@ - + @@ -67,7 +67,7 @@ - + diff --git a/config/pam_mujoco/models/template.xml b/config/pam_mujoco/models/template.xml index ddf30a6..1882de4 100644 --- a/config/pam_mujoco/models/template.xml +++ b/config/pam_mujoco/models/template.xml @@ -1,5 +1,5 @@ - +