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

add tingnan's new minitaur urdf for derpy.

Browse Source
This commit is contained in:
Jie
2017-10-06 13:14:23 -07:00
parent 88b440886d
commit a1e260f9f1
1 changed files with 17 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
data/quadruped/minitaur_derpy.urdf
View File

@@ -419,7 +419,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightR_link" type="fixed">
<joint name="hip_front_rightR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/>
@@ -458,7 +458,7 @@
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
</inertial>
</link>
<joint name="knee_front_rightR_link" type="continuous">
<joint name="knee_front_rightR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightR_link"/>
<child link="lower_leg_front_rightR_link"/>
@@ -487,7 +487,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="motor_front_rightL_link" type="fixed">
<joint name="hip_front_rightL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/>
@@ -526,7 +526,7 @@
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
</inertial>
</link>
<joint name="knee_front_rightL_link" type="continuous">
<joint name="knee_front_rightL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightL_link"/>
<child link="lower_leg_front_rightL_link"/>
@@ -556,7 +556,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftR_link" type="fixed">
<joint name="hip_front_leftR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/>
@@ -595,7 +595,7 @@
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
</inertial>
</link>
<joint name="knee_front_leftR_link" type="continuous">
<joint name="knee_front_leftR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftR_link"/>
<child link="lower_leg_front_leftR_link"/>
@@ -624,7 +624,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="motor_front_leftL_link" type="fixed">
<joint name="hip_front_leftL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/>
@@ -663,7 +663,7 @@
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
</inertial>
</link>
<joint name="knee_front_leftL_link" type="continuous">
<joint name="knee_front_leftL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftL_link"/>
<child link="lower_leg_front_leftL_link"/>
@@ -693,7 +693,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="hip_rightR_link" type="fixed">
<joint name="hip_back_rightR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/>
@@ -732,7 +732,7 @@
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
</inertial>
</link>
<joint name="knee_back_rightR_link" type="continuous">
<joint name="knee_back_rightR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightR_link"/>
<child link="lower_leg_back_rightR_link"/>
@@ -761,7 +761,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="motor_back_rightL_link" type="fixed">
<joint name="hip_back_rightL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/>
@@ -800,7 +800,7 @@
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
</inertial>
</link>
<joint name="knee_back_rightL_link" type="continuous">
<joint name="knee_back_rightL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightL_link"/>
<child link="lower_leg_back_rightL_link"/>
@@ -830,7 +830,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="hip_leftR_link" type="fixed">
<joint name="hip_back_leftR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/>
@@ -869,7 +869,7 @@
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
</inertial>
</link>
<joint name="knee_back_leftR_link" type="continuous">
<joint name="knee_back_leftR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftR_link"/>
<child link="lower_leg_back_leftR_link"/>
@@ -898,7 +898,7 @@
izz="0.0000036030"/>
</inertial>
</link>
<joint name="motor_back_leftL_link" type="fixed">
<joint name="hip_back_leftL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/>
@@ -937,7 +937,7 @@
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
</inertial>
</link>
<joint name="knee_back_leftL_link" type="continuous">
<joint name="knee_back_leftL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftL_link"/>
<child link="lower_leg_back_leftL_link"/>
@@ -946,5 +946,4 @@
<joint_properties damping="0.0" friction="0.0"/>
</joint>
</robot>
</robot>