revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version.
This commit is contained in:
Erwin Coumans
@@ -267,11 +267,6 @@
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<color rgba="1 1 1 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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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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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@@ -432,10 +427,8 @@
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<link name="lower_leg_front_rightR_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -455,12 +448,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_front_rightR_link" type="continuous">
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<joint name="knee_front_rightR_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_rightR_link"/>
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<child link="lower_leg_front_rightR_link"/>
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@@ -503,10 +495,8 @@
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<link name="lower_leg_front_rightL_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -526,12 +516,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_front_rightL_link" type="continuous">
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<joint name="knee_front_rightL_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_rightL_link"/>
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<child link="lower_leg_front_rightL_link"/>
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@@ -572,10 +561,8 @@
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<link name="lower_leg_front_leftR_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -595,12 +582,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_front_leftR_link" type="continuous">
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<joint name="knee_front_leftR_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_leftR_link"/>
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<child link="lower_leg_front_leftR_link"/>
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@@ -642,10 +628,8 @@
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<link name="lower_leg_front_leftL_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -665,12 +649,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_front_leftL_link" type="continuous">
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<joint name="knee_front_leftL_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_leftL_link"/>
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<child link="lower_leg_front_leftL_link"/>
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@@ -709,10 +692,8 @@
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<link name="lower_leg_back_rightR_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -732,12 +713,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_back_rightR_link" type="continuous">
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<joint name="knee_back_rightR_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_rightR_link"/>
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<child link="lower_leg_back_rightR_link"/>
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@@ -780,10 +760,8 @@
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<link name="lower_leg_back_rightL_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -803,12 +781,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_back_rightL_link" type="continuous">
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<joint name="knee_back_rightL_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_rightL_link"/>
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<child link="lower_leg_back_rightL_link"/>
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@@ -849,10 +826,8 @@
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<link name="lower_leg_back_leftR_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -872,12 +847,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_back_leftR_link" type="continuous">
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<joint name="knee_back_leftR_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftR_link"/>
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<child link="lower_leg_back_leftR_link"/>
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@@ -917,10 +891,8 @@
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<link name="lower_leg_back_leftL_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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@@ -940,12 +912,11 @@
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.05"/>
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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="knee_back_leftL_link" type="continuous">
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<joint name="knee_back_leftL_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftL_link"/>
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<child link="lower_leg_back_leftL_link"/>
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958
data/quadruped/minitaur_v1.urdf
Normal file
958
data/quadruped/minitaur_v1.urdf
Normal file
@@ -0,0 +1,958 @@
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<?xml version="0.0" ?>
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<!-- ======================================================================= -->
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<!--LICENSE: -->
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<!--Copyright (c) 2017, Erwin Coumans -->
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<!--Google Inc. -->
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<!--All rights reserved. -->
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<!-- -->
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<!--Redistribution and use in source and binary forms, with or without -->
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<!--modification, are permitted provided that the following conditions are -->
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<!--met: -->
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<!-- -->
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<!--1. Redistributions or derived work must retain this copyright notice, -->
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<!-- this list of conditions and the following disclaimer. -->
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<!-- -->
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<!--2. Redistributions in binary form must reproduce the above copyright -->
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<!-- notice, this list of conditions and the following disclaimer in the -->
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<!-- documentation and/or other materials provided with the distribution. -->
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<!-- -->
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<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
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<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
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<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
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<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
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<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
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<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
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<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
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<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
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<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
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<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
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<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
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<robot name="quadruped">
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<link name="base_chassis_link">
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<visual>
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<geometry>
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<box size=".33 0.10 .07"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.10 0"/>
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<geometry>
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<box size=".17 0.10 .05"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 -0.10 0"/>
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<geometry>
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<box size=".17 0.10 .05"/>
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</geometry>
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<material name="black">
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||||
<color rgba="0.3 0.3 0.3 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=".33 0.10 .07"/>
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</geometry>
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||||
</collision>
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<collision>
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||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
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||||
<geometry>
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<box size=".17 0.10 .05"/>
|
||||
</geometry>
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||||
</collision>
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<collision>
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||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
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||||
<geometry>
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||||
<box size=".17 0.10 .05"/>
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||||
</geometry>
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||||
</collision>
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||||
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||||
<inertial>
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||||
<mass value="3"/>
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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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||||
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||||
<link name="chassis_right">
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||||
<visual>
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<origin rpy="0 0 0" xyz="0 0.035 0"/>
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||||
<geometry>
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||||
<box size=".34 0.01 .04"/>
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||||
</geometry>
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||||
<material name="grey">
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||||
<color rgba="0.65 0.65 0.75 1"/>
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||||
</material> </visual>
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||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
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||||
<material name="grey">
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||||
<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>
|
||||
<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 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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
|
||||
@@ -41,7 +41,7 @@ p.setTimeStep(fixedTimeStep)
|
||||
|
||||
orn = p.getQuaternionFromEuler([0,0,0.4])
|
||||
p.setRealTimeSimulation(0)
|
||||
quadruped = p.loadURDF("quadruped/minitaur.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
|
||||
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
|
||||
nJoints = p.getNumJoints(quadruped)
|
||||
|
||||
|
||||
|
||||
958
examples/pybullet/gym/pybullet_data/quadruped/minitaur_v1.urdf
Normal file
958
examples/pybullet/gym/pybullet_data/quadruped/minitaur_v1.urdf
Normal file
@@ -0,0 +1,958 @@
|
||||
<?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>
|
||||
<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 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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="continuous">
|
||||
<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>
|
||||
|
||||
Reference in New Issue
Block a user