Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add toes to Mini Cheetah

Browse Source
This commit is contained in:
Erwin Coumans
2019-05-31 15:04:53 -07:00
parent 3c74ae8366
commit 4247104050
1 changed files with 133 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

133
examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf
View File

@@ -100,6 +100,39 @@
<origin rpy="0 3.141592 0" xyz="0 0 0"/> <origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision> </collision>
</link> </link>
<link name="toe_fr">
<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="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</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="toe_fr_joint" type="fixed">
<parent link="shank_fr"/>
<child link="toe_fr"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!--> <!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_fl_j" type="continuous"> <joint name="torso_to_abduct_fl_j" type="continuous">
@@ -181,6 +214,39 @@
<origin rpy="0 3.141592 0" xyz="0 0 0"/> <origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision> </collision>
</link> </link>
<link name="toe_fl">
<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="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</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="toe_fl_joint" type="fixed">
<parent link="shank_fl"/>
<child link="toe_fl"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!--> <!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_hr_j" type="continuous"> <joint name="torso_to_abduct_hr_j" type="continuous">
@@ -262,6 +328,39 @@
<origin rpy="0 3.141592 0" xyz="0 0 0"/> <origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision> </collision>
</link> </link>
<link name="toe_hr">
<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="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</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="toe_hr_joint" type="fixed">
<parent link="shank_hr"/>
<child link="toe_hr"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!--> <!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_hl_j" type="continuous"> <joint name="torso_to_abduct_hl_j" type="continuous">
@@ -343,5 +442,39 @@
<origin rpy="0 3.141592 0" xyz="0 0 0"/> <origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision> </collision>
</link> </link>
<link name="toe_hl">
<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="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</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="toe_hl_joint" type="fixed">
<parent link="shank_hl"/>
<child link="toe_hl"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot> </robot>