add vision 60 urdf (from Ghost Robotics) and zipped random urdfs
This commit is contained in:
Erwin Coumans
568
examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf
Normal file
568
examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf
Normal file
@@ -0,0 +1,568 @@
|
||||
<?xml version="1.0" ?>
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||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from vision60.urdf.xacro | -->
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||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!--
|
||||
MIT License (modified)
|
||||
|
||||
Copyright (c) 2018 Ghost Robotics
|
||||
Authors:
|
||||
Avik De <avik@ghostrobotics.io>
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Tom Jacobs <tom.jacobs@ghostrobotics.io>
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||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this **file** (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
-->
|
||||
<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Define parameters -->
|
||||
<!-- Define materials -->
|
||||
<material name="gray">
|
||||
<color rgba="0.5 0.5 0.5 0.7"/>
|
||||
</material>
|
||||
<material name="darkgray">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
<material name="purple">
|
||||
<color rgba="0.5 0.0 0.5 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.2 1.0"/>
|
||||
</material>
|
||||
<!-- Body -->
|
||||
<link name="body">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.88 0.25 0.19"/>
|
||||
</geometry>
|
||||
<material name="gray"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="12"/>
|
||||
<!-- Uniform box -->
|
||||
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369"/>
|
||||
</inertial>
|
||||
<!-- Just copy geometry for collision -->
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.05 0.25 0.19"/>
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||||
</geometry>
|
||||
</collision>
|
||||
</link>
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||||
<!-- Define our leg macro -->
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<!-- red new legs -->
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<!-- TODO: clean this, it should be part of main leg macro -->
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<!-- Define our leg macro -->
|
||||
<!-- Our four legs -->
|
||||
<!-- Hip motor -->
|
||||
<link name="hip0">
|
||||
<visual>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.75"/>
|
||||
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
|
||||
<joint name="8" type="revolute">
|
||||
<parent link="body"/>
|
||||
<child link="hip0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin xyz="0.325 0.1575 0"/>
|
||||
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Upper leg -->
|
||||
<link name="upper0">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.625"/>
|
||||
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
|
||||
<joint name="0" type="revolute">
|
||||
<parent link="hip0"/>
|
||||
<child link="upper0"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin xyz="0 0.068 0"/>
|
||||
<!-- rpy="0 -0.3 0" -->
|
||||
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Lower leg -->
|
||||
<link name="lower0">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Knee joint. Joint names are: 1 3 5 7 -->
|
||||
<joint name="1" type="revolute">
|
||||
<parent link="upper0"/>
|
||||
<child link="lower0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="-0.25 0 0"/>
|
||||
<!--rpy="0 0.5 0"-->
|
||||
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Toe -->
|
||||
<link name="toe0">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.3"/>
|
||||
<lateral_friction value="3.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
<material name="darkgray"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.15"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoe0" type="fixed">
|
||||
<parent link="lower0"/>
|
||||
<child link="toe0"/>
|
||||
<origin xyz="0.28 0 -0.0461"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Hip motor -->
|
||||
<link name="hip1">
|
||||
<visual>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
<material name="purple"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.75"/>
|
||||
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
|
||||
<joint name="9" type="revolute">
|
||||
<parent link="body"/>
|
||||
<child link="hip1"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin xyz="-0.325 0.1575 0"/>
|
||||
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Upper leg -->
|
||||
<link name="upper1">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.625"/>
|
||||
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
|
||||
<joint name="2" type="revolute">
|
||||
<parent link="hip1"/>
|
||||
<child link="upper1"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin xyz="0 0.068 0"/>
|
||||
<!-- rpy="0 -0.3 0" -->
|
||||
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Lower leg -->
|
||||
<link name="lower1">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Knee joint. Joint names are: 1 3 5 7 -->
|
||||
<joint name="3" type="revolute">
|
||||
<parent link="upper1"/>
|
||||
<child link="lower1"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="-0.25 0 0"/>
|
||||
<!--rpy="0 0.5 0"-->
|
||||
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Toe -->
|
||||
<link name="toe1">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.3"/>
|
||||
<lateral_friction value="3.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
<material name="darkgray"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.15"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoe1" type="fixed">
|
||||
<parent link="lower1"/>
|
||||
<child link="toe1"/>
|
||||
<origin xyz="0.28 0 -0.0461"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Hip motor -->
|
||||
<link name="hip2">
|
||||
<visual>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.75"/>
|
||||
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
|
||||
<joint name="10" type="revolute">
|
||||
<parent link="body"/>
|
||||
<child link="hip2"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin xyz="0.325 -0.1575 0"/>
|
||||
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Upper leg -->
|
||||
<link name="upper2">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.625"/>
|
||||
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
|
||||
<joint name="4" type="revolute">
|
||||
<parent link="hip2"/>
|
||||
<child link="upper2"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin xyz="0 -0.068 0"/>
|
||||
<!-- rpy="0 -0.3 0" -->
|
||||
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Lower leg -->
|
||||
<link name="lower2">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Knee joint. Joint names are: 1 3 5 7 -->
|
||||
<joint name="5" type="revolute">
|
||||
<parent link="upper2"/>
|
||||
<child link="lower2"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="-0.25 0 0"/>
|
||||
<!--rpy="0 0.5 0"-->
|
||||
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Toe -->
|
||||
<link name="toe2">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.3"/>
|
||||
<lateral_friction value="3.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
<material name="darkgray"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.15"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoe2" type="fixed">
|
||||
<parent link="lower2"/>
|
||||
<child link="toe2"/>
|
||||
<origin xyz="0.28 0 -0.0461"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Hip motor -->
|
||||
<link name="hip3">
|
||||
<visual>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
<material name="purple"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
|
||||
<geometry>
|
||||
<box size="0.195 0.1 0.17"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.75"/>
|
||||
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
|
||||
<joint name="11" type="revolute">
|
||||
<parent link="body"/>
|
||||
<child link="hip3"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin xyz="-0.325 -0.1575 0"/>
|
||||
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Upper leg -->
|
||||
<link name="upper3">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.044 0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.625"/>
|
||||
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
|
||||
<joint name="6" type="revolute">
|
||||
<parent link="hip3"/>
|
||||
<child link="upper3"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin xyz="0 -0.068 0"/>
|
||||
<!-- rpy="0 -0.3 0" -->
|
||||
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Lower leg -->
|
||||
<link name="lower3">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.011"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Knee joint. Joint names are: 1 3 5 7 -->
|
||||
<joint name="7" type="revolute">
|
||||
<parent link="upper3"/>
|
||||
<child link="lower3"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="-0.25 0 0"/>
|
||||
<!--rpy="0 0.5 0"-->
|
||||
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<!-- Toe -->
|
||||
<link name="toe3">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.3"/>
|
||||
<lateral_friction value="3.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
<material name="darkgray"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.15"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoe3" type="fixed">
|
||||
<parent link="lower3"/>
|
||||
<child link="toe3"/>
|
||||
<origin xyz="0.28 0 -0.0461"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
Reference in New Issue
Block a user