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fix r2d2.urdf and avoid self-penetrating limbs

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erwin coumans
2016-10-19 16:21:33 -07:00
parent ad07b3cf13
commit 24593ed11a
1 changed files with 6 additions and 6 deletions
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12
data/r2d2.urdf
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@@ -11,7 +11,7 @@
</visual>
<collision>
<geometry>
<cylinder length="0.6" radius="0.2"/>
<cylinder length="0.6" radius="0.17"/>
</geometry>
</collision>
<inertial>
@@ -266,7 +266,7 @@
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<origin rpy="0 0 0" xyz="0.2 0.02 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
@@ -317,7 +317,7 @@
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<origin rpy="0 0 0" xyz="0.2 -0.02 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
@@ -368,13 +368,13 @@
<link name="head">
<visual>
<geometry>
<sphere radius="0.2"/>
<sphere radius="0.16"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<sphere radius="0.2"/>
<sphere radius="0.16"/>
</geometry>
</collision>
<inertial>
@@ -412,7 +412,7 @@
<joint name="tobox" type="fixed">
<parent link="head"/>
<child link="box"/>
<origin xyz="0 0.1414 0.1414"/>
<origin xyz="0 0.1214 0.1214"/>
</joint>
</robot>