pybullet a bit more refactoring, moving around files.
pybullet: move data to pybullet_data package, with getDataPath() method
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Erwin Coumans committed
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@@ -0,0 +1,6 @@
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import pybullet as p
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import os
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def getDataPath():
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resdir = os.path.join(os.path.dirname(__file__))
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return resdir
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@@ -0,0 +1,29 @@
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<?xml version="1.0"?>
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<robot name="block_2">
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<link name="block_2_base_link">
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<contact>
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<lateral_friction value="1.0"/>
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<spinning_friction value=".001"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.02"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<box size="0.10 0.018 0.018"/>
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</geometry>
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<material name="blockmat">
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<color rgba="0.1 0.7 0.1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<box size="0.10 0.018 0.018"/>
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</geometry>
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</collision>
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</link>
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</robot>
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@@ -0,0 +1,74 @@
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<?xml version="1.0"?>
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<robot name="physics">
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<link name="slideBar">
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<visual>
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<geometry>
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<box size="30 0.05 0.05"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="green">
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<color rgba="0 0.8 .8 1"/>
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</material>
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</visual>
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<inertial>
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<mass value="0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<link name="cart">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.2"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.5 0.5 0.2"/>
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</geometry>
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<origin xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="slider_to_cart" type="prismatic">
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<axis xyz="1 0 0"/>
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<origin xyz="0.0 0.0 0.0"/>
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<parent link="slideBar"/>
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<child link="cart"/>
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<limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
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</joint>
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<link name="pole">
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<visual>
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<geometry>
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<box size="0.05 0.05 1.0"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<inertial>
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<origin xyz="0 0 0.5"/>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="cart_to_pole" type="continuous">
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<axis xyz="0 1 0"/>
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<origin xyz="0.0 0.0 0"/>
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<parent link="cart"/>
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<child link="pole"/>
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</joint>
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</robot>
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@@ -0,0 +1,198 @@
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<?xml version="1.0" ?>
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<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<link name="world"/>
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<link name="diff_ring">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_ring.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_ring_world" type="continuous">
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<parent link="world"/>
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<child link="diff_ring"/>
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<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_spiderA">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_spiderA_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_spiderA"/>
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<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_spiderB">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_spiderB_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_spiderB"/>
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<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_sideA">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_sideA_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_sideA"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_sideB">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_sideB_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_sideB"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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</robot>
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@@ -0,0 +1,2 @@
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stl files were copied from http://www.otvinta.com/download09.html
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URDF file was manually created, along with mimicJointConstraint.py
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@@ -0,0 +1,802 @@
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<?xml version="1.0" ?>
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<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
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It has been produced from the varients in //third_party/robotics/models.
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Note: This file is temporary, and should be deleted once Bullet supports
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importing models in SDF. Also, this file has been specialized for Bullet,
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because the mass of the base link has been set to 0, as needed by Bullet.
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Note: All of the gripper link poses have been adjusted in the z direction
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to achieve a reasonable position of the gripper relative to the arm.
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Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
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<sdf version='1.6'>
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<world name='default'>
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<model name='lbr_iiwa_with_wsg50'>
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<link name='lbr_iiwa_link_0'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<inertial>
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<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
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<mass>0</mass>
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<inertia>
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<ixx>0.05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.06</iyy>
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<iyz>0</iyz>
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<izz>0.03</izz>
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</inertia>
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||||
</inertial>
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||||
<collision name='lbr_iiwa_link_0_collision'>
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||||
<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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||||
<mesh>
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<scale>1 1 1</scale>
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<uri>/meshes/link_0.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='lbr_iiwa_link_0_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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||||
<scale>1 1 1</scale>
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<uri>meshes/link_0.obj</uri>
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||||
</mesh>
|
||||
</geometry>
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||||
<material>
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||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
<specular>0.4 0.4 0.4 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
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||||
</visual>
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||||
</link>
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||||
<link name='lbr_iiwa_link_1'>
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<pose frame=''>0 0 0.1575 0 -0 0</pose>
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||||
<inertial>
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||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J0' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J1' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J2' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J3' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J4' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J5' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J6' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<!-- Attach the base of the gripper to the end of the arm -->
|
||||
<joint name='gripper_to_arm' type='fixed'>
|
||||
<parent>lbr_iiwa_link_7</parent>
|
||||
<child>base_link</child>
|
||||
</joint>
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 1.305 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<mass>1.2</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='base_link_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_left_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.4</lower>
|
||||
<upper>10.01</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='left_finger_base_joint' type='fixed'>
|
||||
<parent>left_finger</parent>
|
||||
<child>left_finger_base</child>
|
||||
</joint>
|
||||
<link name='left_finger_base'>
|
||||
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_base_tip_joint' type='revolute'>
|
||||
<parent>left_finger_base</parent>
|
||||
<child>left_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.1</lower>
|
||||
<upper>10.3</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>1.0</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_tip_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='base_right_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.01</lower>
|
||||
<upper>10.4</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='right_finger_base_joint' type='fixed'>
|
||||
<parent>right_finger</parent>
|
||||
<child>right_finger_base</child>
|
||||
</joint>
|
||||
<link name='right_finger_base'>
|
||||
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_base_tip_joint' type='revolute'>
|
||||
<parent>right_finger_base</parent>
|
||||
<child>right_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.3</lower>
|
||||
<upper>10.1</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>1.0</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,857 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
|
||||
It has been produced from the varients in //third_party/robotics/models.
|
||||
Note: This file is temporary, and should be deleted once Bullet supports
|
||||
importing models in SDF. Also, this file has been specialized for Bullet,
|
||||
because the mass of the base link has been set to 0, as needed by Bullet.
|
||||
Note: All of the gripper link poses have been adjusted in the z direction
|
||||
to achieve a reasonable position of the gripper relative to the arm.
|
||||
Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa_with_wsg50'>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>/meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
<specular>0.4 0.4 0.4 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J0' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J1' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J2' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J3' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J4' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J5' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>1.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J6' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<!-- Attach the base of the gripper to the end of the arm -->
|
||||
<joint name='gripper_to_arm' type='continuous'>
|
||||
<parent>lbr_iiwa_link_7</parent>
|
||||
<child>base_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 1.305 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='base_link_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='base_link_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name='base_left_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.4</lower>
|
||||
<upper>10.01</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_collision'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_finger_base_joint' type='fixed'>
|
||||
<parent>left_finger</parent>
|
||||
<child>left_finger_base</child>
|
||||
</joint>
|
||||
<link name='left_finger_base'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_base_tip_joint' type='revolute'>
|
||||
<parent>left_finger_base</parent>
|
||||
<child>left_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.1</lower>
|
||||
<upper>10.3</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_tip_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='base_right_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.01</lower>
|
||||
<upper>10.4</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_collision'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_finger_base_joint' type='fixed'>
|
||||
<parent>right_finger</parent>
|
||||
<child>right_finger_base</child>
|
||||
</joint>
|
||||
<link name='right_finger_base'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_base_tip_joint' type='revolute'>
|
||||
<parent>right_finger_base</parent>
|
||||
<child>right_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.3</lower>
|
||||
<upper>10.1</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,414 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<joint name='fix_to_world' type='fixed'>
|
||||
<parent>world</parent>
|
||||
<child>lbr_iiwa_link_0</child>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0.01</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
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Kd 0.8 0.8 0.8
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Ks 0.8 0.8 0.8
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illum 2
|
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File diff suppressed because it is too large.
Load diff
Binary file not shown.
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||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
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Ks 0.8 0.8 0.8
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d 1
|
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illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
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Ks 0.8 0.8 0.8
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d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
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d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -0,0 +1,459 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<pose frame=''>0 -2.3 0.7 0 0 0</pose>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,289 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,818 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
|
||||
<model name='lbr_iiwa'>
|
||||
<pose frame=''>2 2 0 0 -0 0</pose>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,285 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,289 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,289 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-.96705972839" upper="0.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="0.19439510239" upper="2.29439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,71 @@
|
||||
<mujoco model="ant">
|
||||
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
|
||||
<option integrator="RK4" timestep="0.01"/>
|
||||
<custom>
|
||||
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
|
||||
</custom>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
|
||||
</default>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 0.75">
|
||||
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
|
||||
<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
|
||||
<body name="front_left_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body name="aux_1" pos="0.2 0.2 0">
|
||||
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body pos="0.2 0.2 0" name="front_left_foot">
|
||||
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="front_right_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
|
||||
<body name="aux_2" pos="-0.2 0.2 0">
|
||||
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
|
||||
<body pos="-0.2 0.2 0" name="front_right_foot">
|
||||
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_back_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
|
||||
<body name="aux_3" pos="-0.2 -0.2 0">
|
||||
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
|
||||
<body pos="-0.2 -0.2 0" name="left_back_foot">
|
||||
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_back_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body name="aux_4" pos="0.2 -0.2 0">
|
||||
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body pos="0.2 -0.2 0" name="right_back_foot">
|
||||
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom name="aux_1_geom" size="0.05 0.1" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom name="aux_1_geom" size="0.05 0.1" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,57 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<!-- light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/-->
|
||||
<geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
|
||||
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,5 @@
|
||||
<mujoco model="ground_plane">
|
||||
<worldbody>
|
||||
<geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,88 @@
|
||||
<!-- Cheetah Model
|
||||
|
||||
The state space is populated with joints in the order that they are
|
||||
defined in this file. The actuators also operate on joints.
|
||||
|
||||
State-Space (name/joint/parameter):
|
||||
- rootx slider position (m)
|
||||
- rootz slider position (m)
|
||||
- rooty hinge angle (rad)
|
||||
- bthigh hinge angle (rad)
|
||||
- bshin hinge angle (rad)
|
||||
- bfoot hinge angle (rad)
|
||||
- fthigh hinge angle (rad)
|
||||
- fshin hinge angle (rad)
|
||||
- ffoot hinge angle (rad)
|
||||
- rootx slider velocity (m/s)
|
||||
- rootz slider velocity (m/s)
|
||||
- rooty hinge angular velocity (rad/s)
|
||||
- bthigh hinge angular velocity (rad/s)
|
||||
- bshin hinge angular velocity (rad/s)
|
||||
- bfoot hinge angular velocity (rad/s)
|
||||
- fthigh hinge angular velocity (rad/s)
|
||||
- fshin hinge angular velocity (rad/s)
|
||||
- ffoot hinge angular velocity (rad/s)
|
||||
|
||||
Actuators (name/actuator/parameter):
|
||||
- bthigh hinge torque (N m)
|
||||
- bshin hinge torque (N m)
|
||||
- bfoot hinge torque (N m)
|
||||
- fthigh hinge torque (N m)
|
||||
- fshin hinge torque (N m)
|
||||
- ffoot hinge torque (N m)
|
||||
|
||||
-->
|
||||
<mujoco model="cheetah">
|
||||
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
|
||||
<default>
|
||||
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
|
||||
<geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1"/>
|
||||
</default>
|
||||
<size nstack="300000" nuser_geom="1"/>
|
||||
<option gravity="0 0 -9.81" timestep="0.01"/>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 .7">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
|
||||
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
|
||||
<!-- <site name='tip' pos='.15 0 .11'/>-->
|
||||
<body name="bthigh" pos="-.5 0 0">
|
||||
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
|
||||
<body name="bshin" pos=".16 0 -.25">
|
||||
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
|
||||
<body name="bfoot" pos="-.28 0 -.14">
|
||||
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
|
||||
<inertial mass="10"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="fthigh" pos=".5 0 0">
|
||||
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
|
||||
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
|
||||
<body name="fshin" pos="-.14 0 -.24">
|
||||
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
|
||||
<body name="ffoot" pos=".13 0 -.18">
|
||||
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
|
||||
<inertial mass="10"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor gear="120" joint="bthigh" name="bthigh"/>
|
||||
<motor gear="90" joint="bshin" name="bshin"/>
|
||||
<motor gear="60" joint="bfoot" name="bfoot"/>
|
||||
<motor gear="120" joint="fthigh" name="fthigh"/>
|
||||
<motor gear="60" joint="fshin" name="fshin"/>
|
||||
<motor gear="30" joint="ffoot" name="ffoot"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,39 @@
|
||||
<mujoco model="hopper">
|
||||
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" timestep="0.002"/>
|
||||
<worldbody>
|
||||
<!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
|
||||
Interpretation of body pos="" depends on coordinate="global" above.
|
||||
Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
|
||||
After this change, Hopper still loads and works in MuJoCo simulator.
|
||||
-->
|
||||
<body name="torso">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
|
||||
<body name="thigh">
|
||||
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
|
||||
<body name="leg">
|
||||
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
|
||||
<body name="foot">
|
||||
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,130 @@
|
||||
<mujoco model='humanoid'>
|
||||
<compiler inertiafromgeom='true' angle='degree'/>
|
||||
|
||||
<default>
|
||||
<joint limited='true' damping='1' armature='0' />
|
||||
<geom contype='1' conaffinity='1' condim='1' rgba='0.8 0.6 .4 1'
|
||||
margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
|
||||
<motor ctrlrange='-.4 .4' ctrllimited='true'/>
|
||||
</default>
|
||||
|
||||
<option timestep='0.002' iterations="50" solver="PGS">
|
||||
<flag energy="enable"/>
|
||||
</option>
|
||||
|
||||
<visual>
|
||||
<map fogstart="3" fogend="5" force="0.1"/>
|
||||
<quality shadowsize="2048"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8"
|
||||
rgb2="0 0 0"/>
|
||||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
|
||||
width="100" height="100"/>
|
||||
|
||||
<material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
<material name='geom' texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom name='floor' pos='0 0 0' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>
|
||||
|
||||
<body name='torso' pos='0 0 1.4'>
|
||||
<light mode='trackcom' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>
|
||||
|
||||
|
||||
<geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0' size='0.07' />
|
||||
<geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
|
||||
<geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
|
||||
<body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
|
||||
<geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0' size='0.06' />
|
||||
<joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
|
||||
<joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
|
||||
<body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
|
||||
<joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
|
||||
<geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0' size='0.09' />
|
||||
<body name='right_thigh' pos='0 -0.1 -0.04' >
|
||||
<joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-110 20' damping='5' stiffness='20' armature='0.0080' />
|
||||
<geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34' size='0.06' />
|
||||
<body name='right_shin' pos='0 0.01 -0.403' >
|
||||
<joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' armature='0.0060' />
|
||||
<geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='right_foot' pos='0 0 -.39' >
|
||||
<joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0' size='0.027' />
|
||||
<geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_thigh' pos='0 0.1 -0.04' >
|
||||
<joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
|
||||
<geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34' size='0.06' />
|
||||
<body name='left_shin' pos='0 -0.01 -0.403' >
|
||||
<joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
|
||||
<geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='left_foot' pos='0 0 -.39' >
|
||||
<joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0' size='0.027' />
|
||||
<geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 -0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='right_upper_arm' pos='0 -0.17 0.06' >
|
||||
<joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1' range='-85 60' stiffness='1' armature='0.0068' />
|
||||
<joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1' armature='0.0051' />
|
||||
<geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16' size='0.04 0.16' />
|
||||
<body name='right_lower_arm' pos='.18 -.18 -.18' >
|
||||
<joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17' size='0.031' />
|
||||
<geom name='right_hand' type='sphere' pos='.18 .18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_upper_arm' pos='0 0.17 0.06' >
|
||||
<joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
|
||||
<joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85' stiffness='1' armature='0.0051' />
|
||||
<geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16' size='0.04 0.16' />
|
||||
<body name='left_lower_arm' pos='.18 .18 -.18' >
|
||||
<joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17' size='0.031' />
|
||||
<geom name='left_hand' type='sphere' pos='.18 -.18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name='abdomen_y' gear='200' joint='abdomen_y' />
|
||||
<motor name='abdomen_z' gear='200' joint='abdomen_z' />
|
||||
<motor name='abdomen_x' gear='200' joint='abdomen_x' />
|
||||
<motor name='right_hip_x' gear='200' joint='right_hip_x' />
|
||||
<motor name='right_hip_z' gear='200' joint='right_hip_z' />
|
||||
<motor name='right_hip_y' gear='600' joint='right_hip_y' />
|
||||
<motor name='right_knee' gear='400' joint='right_knee' />
|
||||
<motor name='right_ankle_x' gear='100' joint='right_ankle_x' />
|
||||
<motor name='right_ankle_y' gear='100' joint='right_ankle_y' />
|
||||
<motor name='left_hip_x' gear='200' joint='left_hip_x' />
|
||||
<motor name='left_hip_z' gear='200' joint='left_hip_z' />
|
||||
<motor name='left_hip_y' gear='600' joint='left_hip_y' />
|
||||
<motor name='left_knee' gear='400' joint='left_knee' />
|
||||
<motor name='left_ankle_x' gear='100' joint='left_ankle_x' />
|
||||
<motor name='left_ankle_y' gear='100' joint='left_ankle_y' />
|
||||
<motor name='right_shoulder1' gear='100' joint='right_shoulder1' />
|
||||
<motor name='right_shoulder2' gear='100' joint='right_shoulder2' />
|
||||
<motor name='right_elbow' gear='200' joint='right_elbow' />
|
||||
<motor name='left_shoulder1' gear='100' joint='left_shoulder1' />
|
||||
<motor name='left_shoulder2' gear='100' joint='left_shoulder2' />
|
||||
<motor name='left_elbow' gear='200' joint='left_elbow' />
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,115 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="fixed"/>
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,107 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,115 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,47 @@
|
||||
<!-- Cartpole Model
|
||||
|
||||
The state space is populated with joints in the order that they are
|
||||
defined in this file. The actuators also operate on joints.
|
||||
|
||||
State-Space (name/joint/parameter):
|
||||
- cart slider position (m)
|
||||
- pole hinge angle (rad)
|
||||
- cart slider velocity (m/s)
|
||||
- pole hinge angular velocity (rad/s)
|
||||
|
||||
Actuators (name/actuator/parameter):
|
||||
- cart motor force x (N)
|
||||
|
||||
-->
|
||||
<mujoco model="cartpole">
|
||||
<compiler coordinate="local" inertiafromgeom="true"/>
|
||||
<custom>
|
||||
<numeric data="2" name="frame_skip"/>
|
||||
</custom>
|
||||
<default>
|
||||
<joint damping="0.05"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
</default>
|
||||
<option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||||
<size nstack="3000"/>
|
||||
<worldbody>
|
||||
<geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
|
||||
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
|
||||
<body name="cart" pos="0 0 0">
|
||||
<joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
|
||||
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
|
||||
<body name="pole" pos="0 0 0">
|
||||
<joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||||
<body name="pole2" pos="0 0 0.6">
|
||||
<joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||||
<!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,27 @@
|
||||
<mujoco model="inverted pendulum">
|
||||
<compiler inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="0" damping="1" limited="true"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
<tendon/>
|
||||
<motor ctrlrange="-3 3"/>
|
||||
</default>
|
||||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
|
||||
<size nstack="3000"/>
|
||||
<worldbody>
|
||||
<!--geom name="ground" type="plane" pos="0 0 0" /-->
|
||||
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
|
||||
<body name="cart" pos="0 0 0">
|
||||
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
|
||||
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
|
||||
<body name="pole" pos="0 0 0">
|
||||
<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
|
||||
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
|
||||
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor gear="100" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,90 @@
|
||||
<mujoco model="pusher">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<default>
|
||||
<joint armature='0.04' damping="0" limited="true"/>
|
||||
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
<option timestep="0.01" gravity="0 0 0" integrator="RK4" />
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
|
||||
|
||||
<body name="wrist_flex_link" pos="0.321 0 0">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
<body name="fingertip" pos="0 0 0">
|
||||
<geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
|
||||
<geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
|
||||
</body>
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
|
||||
<geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0.45 -0.05 -0.275" >
|
||||
<geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
|
||||
<joint name="object_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="object_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.45 -0.05 -0.3230">
|
||||
<geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
|
||||
<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,39 @@
|
||||
<mujoco model="reacher">
|
||||
<compiler angle="radian" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
</default>
|
||||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||||
<worldbody>
|
||||
<!-- Arena -->
|
||||
<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto=" .3 -.3 .01 .3 .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 .3 .01 .3 .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<!-- Arm -->
|
||||
<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
|
||||
<body name="body0" pos="0 0 .01">
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
|
||||
<body name="body1" pos="0.1 0 0">
|
||||
<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<body name="fingertip" pos="0.11 0 0">
|
||||
<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- Target -->
|
||||
<body name="target" pos="0 0 .01">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
|
||||
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,100 @@
|
||||
<mujoco model="striker">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
|
||||
|
||||
<default>
|
||||
<joint armature='0.04' damping="0" limited="true"/>
|
||||
<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
|
||||
|
||||
<body name="wrist_flex_link" pos="0.321 0 0">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
<body name="fingertip" pos="0 0 0">
|
||||
<geom name="tip_arml" type="box" pos="0.017 0 0" size="0.003 0.12 0.05" conaffinity="1" contype="1" />
|
||||
</body>
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" conaffinity="1" contype="1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0 0 -0.270" >
|
||||
<geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
|
||||
<joint name="object_x" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
|
||||
<joint name="object_y" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.0 0.0 -0.3230">
|
||||
<geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
|
||||
<body pos="0 0 0">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<body name="coaster" pos="0 0 0">
|
||||
<geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 0.785">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 -0.785">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<joint name="target_free" type="free" pos="0 0 0" limited="false" damping="0"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,38 @@
|
||||
<mujoco model="swimmer">
|
||||
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
|
||||
<option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
|
||||
<default>
|
||||
<geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<joint armature='0.1' />
|
||||
</default>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
|
||||
<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
|
||||
<!-- ================= SWIMMER ================= /-->
|
||||
<body name="torso" pos="0 0 0">
|
||||
<geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
|
||||
<joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
|
||||
<joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
|
||||
<body name="mid" pos="0.5 0 0">
|
||||
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>
|
||||
<body name="back" pos="-1 0 0">
|
||||
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot2"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,127 @@
|
||||
<mujoco model="thrower">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<default>
|
||||
<joint armature='0.75' damping="0" limited="true"/>
|
||||
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
|
||||
|
||||
<body name="wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
|
||||
<geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.57">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.178">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 0.785">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.96">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 2.355">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 2.74">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0.5 -0.8 0.275">
|
||||
<geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
|
||||
<joint name="object_free" type="free" armature='0' damping="0" limited="false"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.575 0.5 -0.328">
|
||||
<geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,52 @@
|
||||
<mujoco model="walker2d">
|
||||
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="0.01" damping=".1" limited="true"/>
|
||||
<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
|
||||
</default>
|
||||
<option integrator="RK4" timestep="0.002"/>
|
||||
<worldbody>
|
||||
<!-- CHANGES: see hopper.xml -->
|
||||
<body name="torso">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
|
||||
<body name="thigh">
|
||||
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
|
||||
<body name="leg">
|
||||
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
|
||||
<body name="foot">
|
||||
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
|
||||
<body name="thigh_left">
|
||||
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
|
||||
<body name="leg_left">
|
||||
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
|
||||
<body name="foot_left">
|
||||
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
|
||||
<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,15 @@
|
||||
newmtl Material
|
||||
Ns 10.0000
|
||||
Ni 1.5000
|
||||
d 1.0000
|
||||
Tr 0.0000
|
||||
Tf 1.0000 1.0000 1.0000
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.5880 0.5880 0.5880
|
||||
Ks 0.0000 0.0000 0.0000
|
||||
Ke 0.0000 0.0000 0.0000
|
||||
map_Ka cube.tga
|
||||
map_Kd checker_blue.png
|
||||
|
||||
|
||||
@@ -0,0 +1,18 @@
|
||||
# Blender v2.66 (sub 1) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib plane.mtl
|
||||
o Plane
|
||||
v 15.000000 -15.000000 0.000000
|
||||
v 15.000000 15.000000 0.000000
|
||||
v -15.000000 15.000000 0.000000
|
||||
v -15.000000 -15.000000 0.000000
|
||||
|
||||
vt 15.000000 0.000000
|
||||
vt 15.000000 15.000000
|
||||
vt 0.000000 15.000000
|
||||
vt 0.000000 0.000000
|
||||
|
||||
usemtl Material
|
||||
s off
|
||||
f 1/1 2/2 3/3
|
||||
f 1/1 3/3 4/4
|
||||
@@ -0,0 +1,29 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="plane">
|
||||
<link name="planeLink">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="plane.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -5"/>
|
||||
<geometry>
|
||||
<box size="30 30 10"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
Binary file not shown.
@@ -0,0 +1,929 @@
|
||||
<?xml version="0.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2017, Erwin Coumans -->
|
||||
<!--Google Inc. -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions or derived work must retain this copyright notice, -->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".33 0.10 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".33 0.10 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,913 @@
|
||||
<?xml version="0.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2017, Erwin Coumans -->
|
||||
<!--Google Inc. -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions or derived work must retain this copyright notice, -->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".33 0.14 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".34 0.14 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 -1.570796 0" xyz="0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 -1.570796 3.141592" xyz="0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 1.570796 3.141592" xyz="0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 1.570796 0" xyz="0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 -1.570796 0" xyz="-0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 -1.570796 3.141592" xyz="-0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 1.570796 3.141592" xyz="-0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 1.570796 0" xyz="-0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,929 @@
|
||||
<?xml version="0.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2017, Erwin Coumans -->
|
||||
<!--Google Inc. -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions or derived work must retain this copyright notice, -->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".33 0.14 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".34 0.14 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,712 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".226 0.16 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".226 0.16 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.2"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
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|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 153 KiB |
Binary file not shown.
@@ -0,0 +1,19 @@
|
||||
# Blender MTL File: 'tmotor.blend'
|
||||
# Material Count: 2
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd t-motor.jpg
|
||||
|
||||
newmtl None_NONE
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
@@ -0,0 +1,325 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: 'tmotor.blend'
|
||||
# www.blender.org
|
||||
mtllib tmotor3.mtl
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
v -0.023890 -0.035753 0.006500
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
<technique_common>
|
||||
<accessor count="36" source="#ID8" stride="3">
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||||
<param name="X" type="float" />
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||||
<param name="Y" type="float" />
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<param name="Z" type="float" />
|
||||
</accessor>
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</technique_common>
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||||
</source>
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||||
<source id="ID6">
|
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<float_array id="ID9" count="108">0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1</float_array>
|
||||
<technique_common>
|
||||
<accessor count="36" source="#ID9" stride="3">
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||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
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||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="ID7">
|
||||
<input semantic="POSITION" source="#ID5" />
|
||||
<input semantic="NORMAL" source="#ID6" />
|
||||
</vertices>
|
||||
<triangles count="26" material="Material2">
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||||
<input offset="0" semantic="VERTEX" source="#ID7" />
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<p>0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23 23 20 24 24 20 25 25 20 26 25 26 27 27 26 28 28 26 29 22 30 31 30 22 32 32 22 33 33 22 21 31 30 34 31 34 35 31 35 29 31 29 26</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<geometry id="ID10">
|
||||
<mesh>
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||||
<source id="ID11">
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<float_array id="ID14" count="72">-2.045729 1.181102 0.1968504 -2.362205 0 0.1968504 0 0 6.692913 -2.045729 -1.181102 0.1968504 0 0 6.692913 -1.181102 2.045729 0.1968504 0 0 6.692913 0 0 6.692913 -1.181102 -2.045729 0.1968504 0 0 6.692913 0 2.362205 0.1968504 0 0 6.692913 4.440892e-016 -2.362205 0.1968504 0 0 6.692913 1.181102 2.045729 0.1968504 0 0 6.692913 1.181102 -2.045729 0.1968504 0 0 6.692913 2.045729 1.181102 0.1968504 0 0 6.692913 2.045729 -1.181102 0.1968504 0 0 6.692913 2.362205 4.440892e-016 0.1968504 0 0 6.692913</float_array>
|
||||
<technique_common>
|
||||
<accessor count="24" source="#ID14" stride="3">
|
||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="ID12">
|
||||
<float_array id="ID15" count="72">-0.813885 0.4698967 0.3417431 -0.9397934 -3.08962e-016 0.3417431 -0.9113426 0.2441935 0.3313973 -0.813885 -0.4698967 0.3417431 -0.9113426 -0.2441935 0.3313973 -0.4698967 0.813885 0.3417431 -0.6671491 0.6671491 0.3313973 -0.6671491 -0.6671491 0.3313973 -0.4698967 -0.813885 0.3417431 -0.2441935 0.9113426 0.3313973 -1.737911e-016 0.9397934 0.3417431 -0.2441935 -0.9113426 0.3313973 2.317215e-016 -0.9397934 0.3417431 0.2441935 0.9113426 0.3313973 0.4698967 0.813885 0.3417431 0.2441935 -0.9113426 0.3313973 0.4698967 -0.813885 0.3417431 0.6671491 0.6671491 0.3313973 0.813885 0.4698967 0.3417431 0.6671491 -0.6671491 0.3313973 0.813885 -0.4698967 0.3417431 0.9113426 0.2441935 0.3313973 0.9397934 -2.896519e-016 0.3417431 0.9113426 -0.2441935 0.3313973</float_array>
|
||||
<technique_common>
|
||||
<accessor count="24" source="#ID15" stride="3">
|
||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="ID13">
|
||||
<input semantic="POSITION" source="#ID11" />
|
||||
<input semantic="NORMAL" source="#ID12" />
|
||||
</vertices>
|
||||
<triangles count="12" material="Material2">
|
||||
<input offset="0" semantic="VERTEX" source="#ID13" />
|
||||
<p>0 1 2 1 3 4 5 0 6 7 3 8 9 10 5 11 8 12 13 14 10 15 12 16 17 18 14 19 16 20 18 21 22 22 23 20</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_materials>
|
||||
<material id="ID3" name="material_1">
|
||||
<instance_effect url="#ID4" />
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_effects>
|
||||
<effect id="ID4">
|
||||
<profile_COMMON>
|
||||
<technique sid="COMMON">
|
||||
<lambert>
|
||||
<diffuse>
|
||||
<color>0.7529412 0.3764706 0.0627451 1</color>
|
||||
</diffuse>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<scene>
|
||||
<instance_visual_scene url="#ID1" />
|
||||
</scene>
|
||||
</COLLADA>
|
||||
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl material_1
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.602353 0.301176 0.050196
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni -1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
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Reference in new issue
Block a user