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remove trailing whitespace

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This commit is contained in:
Erwin Coumans
2019-07-17 12:55:13 -07:00
parent dff277ad7b
commit ac0bfb0bfa
1 changed files with 72 additions and 77 deletions
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149
examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
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@@ -12,7 +12,6 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.043794"/> <origin rpy="0 0 0" xyz="0 0 0.043794"/>
<geometry> <geometry>
<mesh filename="chassis.stl" scale="1 1 1"/> <mesh filename="chassis.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="yellow"> <material name="yellow">
@@ -22,24 +21,20 @@
<collision> <collision>
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/> <origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
<geometry> <geometry>
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/> <mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<link name="FR_hip_motor">
<contact>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
</contact> </contact>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/> <origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/> <mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
@@ -47,7 +42,7 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
@@ -55,7 +50,7 @@
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous"> <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<parent link="chassis"/> <parent link="chassis"/>
@@ -64,7 +59,7 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FR_upper_leg"> <link name="FR_upper_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -81,16 +76,16 @@
</geometry> </geometry>
<material name="blue"/> <material name="blue"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/> <parent link="FR_hip_motor"/>
@@ -99,7 +94,7 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FR_lower_leg"> <link name="FR_lower_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -116,27 +111,27 @@
</geometry> </geometry>
<material name="red"/> <material name="red"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/> <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/> <parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/> <child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/> <origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FL_hip_motor"> <link name="FL_hip_motor">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -155,16 +150,16 @@
<color rgba="0.23 0.73 0.33 1"/> <color rgba="0.23 0.73 0.33 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/> <mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous"> <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis"/> <parent link="chassis"/>
@@ -173,7 +168,7 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FL_upper_leg"> <link name="FL_upper_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -186,24 +181,24 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg.stl" scale="1 1 1"/> <mesh filename="upper_leg.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="blue"> <material name="blue">
<color rgba="0.28 0.52 0.93 1"/> <color rgba="0.28 0.52 0.93 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/> <parent link="FL_hip_motor"/>
@@ -212,8 +207,8 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="FL_lower_leg"> <link name="FL_lower_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -232,16 +227,16 @@
<color rgba="0.85 0.19 0.21 1"/> <color rgba="0.85 0.19 0.21 1"/>
</material> </material>
</visual> </visual>
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/> <parent link="FL_upper_leg"/>
@@ -250,12 +245,12 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RR_hip_motor"> <link name="RR_hip_motor">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -265,7 +260,7 @@
<mass value="1.095"/> <mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
@@ -273,16 +268,16 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/> <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous"> <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<parent link="chassis"/> <parent link="chassis"/>
@@ -291,7 +286,7 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RR_upper_leg"> <link name="RR_upper_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -308,16 +303,16 @@
</geometry> </geometry>
<material name="blue"/> <material name="blue"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/> <parent link="RR_hip_motor"/>
@@ -326,7 +321,7 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RR_lower_leg"> <link name="RR_lower_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -343,16 +338,16 @@
</geometry> </geometry>
<material name="red"/> <material name="red"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/> <parent link="RR_upper_leg"/>
@@ -361,8 +356,8 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RL_hip_motor"> <link name="RL_hip_motor">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -379,26 +374,26 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/> <mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous"> <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis"/> <parent link="chassis"/>
<child link="RL_hip_motor"/> <child link="RL_hip_motor"/>
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/> <origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RL_upper_leg"> <link name="RL_upper_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -415,17 +410,17 @@
</geometry> </geometry>
<material name="blue"/> <material name="blue"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/> <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous"> <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/> <parent link="RL_hip_motor"/>
@@ -434,8 +429,8 @@
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/> <joint_properties damping=".0" friction=".0"/>
</joint> </joint>
<link name="RL_lower_leg"> <link name="RL_lower_leg">
<contact> <contact>
<lateral_friction value="1"/> <lateral_friction value="1"/>
@@ -452,16 +447,16 @@
</geometry> </geometry>
<material name="red"/> <material name="red"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/> <origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/> <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous"> <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/> <parent link="RL_upper_leg"/>
@@ -502,8 +497,8 @@
<child link="toeRL"/> <child link="toeRL"/>
<origin xyz="0 -0.25 -0.022"/> <origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="toeRR"> <link name="toeRR">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
@@ -535,8 +530,8 @@
<child link="toeRR"/> <child link="toeRR"/>
<origin xyz="0 -0.25 -0.022"/> <origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="toeFL"> <link name="toeFL">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
@@ -568,8 +563,8 @@
<child link="toeFL"/> <child link="toeFL"/>
<origin xyz="0 -0.25 -0.022"/> <origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="toeFR"> <link name="toeFR">
<contact> <contact>
<friction_anchor/> <friction_anchor/>
@@ -601,6 +596,6 @@
<child link="toeFR"/> <child link="toeFR"/>
<origin xyz="0 -0.25 -0.022"/> <origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
</robot> </robot>