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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