add minitaur quadruped
This commit is contained in:
Erwin Coumans
BIN
examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT
Normal file
BIN
examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT
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Binary file not shown.
929
examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf
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929
examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf
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@@ -0,0 +1,929 @@
|
||||
<?xml version="0.0" ?>
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||||
<!-- ======================================================================= -->
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||||
<!--LICENSE: -->
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||||
<!--Copyright (c) 2017, Erwin Coumans -->
|
||||
<!--Google Inc. -->
|
||||
<!--All rights reserved. -->
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||||
<!-- -->
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||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
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||||
<!--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 -->
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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 -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--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 -->
|
||||
<!--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 -->
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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 -->
|
||||
<!--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>
|
||||
<box size=".17 0.10 .05"/>
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||||
</geometry>
|
||||
<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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||||
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||||
<collision>
|
||||
<geometry>
|
||||
<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"/>
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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>
|
||||
<box size=".17 0.10 .05"/>
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||||
</geometry>
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||||
</collision>
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||||
|
||||
<inertial>
|
||||
<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>
|
||||
<box size=".34 0.01 .04"/>
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||||
</geometry>
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||||
<material name="grey">
|
||||
<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"/>
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||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
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||||
</geometry>
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||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
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||||
</material> </visual>
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||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
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||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
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||||
</geometry>
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||||
</collision>
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||||
<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"/>
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||||
</inertial>
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||||
</link>
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||||
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||||
<joint name="chassis_right_center" type="fixed">
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||||
<axis xyz="0 0 1"/>
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||||
<parent link="base_chassis_link"/>
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||||
<child link="chassis_right"/>
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||||
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
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||||
<limit effort="100" velocity="100"/>
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||||
<joint_properties damping="0.0" friction="0.0"/>
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||||
</joint>
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||||
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<link name="chassis_left">
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<visual>
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||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
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||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
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||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
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||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
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||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
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||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
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||||
</geometry>
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||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
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||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
|
||||
<mass value=".1"/>
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||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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||||
</inertial>
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||||
</link>
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||||
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<joint name="chassis_left_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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||||
<child link="chassis_left"/>
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||||
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
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||||
<limit effort="100" velocity="100"/>
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||||
<joint_properties damping="0.0" friction="0.0"/>
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||||
</joint>
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||||
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||||
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||||
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||||
<link name="motor_front_rightR_link">
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
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||||
</geometry>
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||||
<material name="white">
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||||
<color rgba="1 1 1 1"/>
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||||
</material>
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||||
</visual>
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||||
<collision>
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||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
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||||
</geometry>
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||||
</collision>
|
||||
<inertial>
|
||||
<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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||||
</inertial>
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||||
</link>
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<joint name="motor_front_rightR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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||||
<child link="motor_front_rightR_link"/>
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||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
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||||
<limit effort="100" velocity="100"/>
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||||
<joint_properties damping="0.0" friction="0.0"/>
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||||
</joint>
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||||
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||||
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||||
<link name="motor_front_rightL_link">
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
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||||
</geometry>
|
||||
<material name="white">
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||||
<color rgba="1 1 1 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
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||||
</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"/>
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||||
</inertial>
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||||
</link>
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||||
<joint name="motor_front_rightL_joint" type="continuous">
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||||
<axis xyz="0 0 1"/>
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||||
<parent link="chassis_right"/>
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||||
<child link="motor_front_rightL_link"/>
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||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
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||||
<limit effort="100" velocity="100"/>
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||||
<joint_properties damping="0.0" friction="0.0"/>
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||||
</joint>
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||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,913 @@
|
||||
<?xml version="0.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2017, Erwin Coumans -->
|
||||
<!--Google Inc. -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions or derived work must retain this copyright notice, -->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".33 0.14 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".34 0.14 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 -1.570796 0" xyz="0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 -1.570796 3.141592" xyz="0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 1.570796 3.141592" xyz="0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 1.570796 0" xyz="0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 -1.570796 0" xyz="-0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 -1.570796 3.141592" xyz="-0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 1.570796 3.141592" xyz="-0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 1.570796 0" xyz="-0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,929 @@
|
||||
<?xml version="0.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2017, Erwin Coumans -->
|
||||
<!--Google Inc. -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions or derived work must retain this copyright notice, -->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".33 0.14 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".34 0.14 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
||||
<geometry>
|
||||
<box size=".17 0.10 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material> </visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
||||
<geometry>
|
||||
<box size=".34 0.01 .04"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .198"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,712 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".226 0.16 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".226 0.16 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.2"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.25"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<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 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
BIN
examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg
Normal file
BIN
examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 153 KiB |
BIN
examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend
Normal file
BIN
examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend
Normal file
Binary file not shown.
@@ -0,0 +1,19 @@
|
||||
# Blender MTL File: 'tmotor.blend'
|
||||
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|
||||
|
||||
newmtl None
|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
map_Kd t-motor.jpg
|
||||
|
||||
newmtl None_NONE
|
||||
Ns 0
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
illum 2
|
||||
325
examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj
Normal file
325
examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj
Normal file
@@ -0,0 +1,325 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: 'tmotor.blend'
|
||||
# www.blender.org
|
||||
mtllib tmotor3.mtl
|
||||
o Cylinder
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
vt 0.3543 0.8843
|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vn 0.0000 0.0000 1.0000
|
||||
vn 0.0980 0.9952 0.0000
|
||||
vn 0.2903 0.9569 0.0000
|
||||
vn 0.4714 0.8819 0.0000
|
||||
vn 0.6344 0.7730 0.0000
|
||||
vn 0.7730 0.6344 0.0000
|
||||
vn 0.8819 0.4714 0.0000
|
||||
vn 0.9569 0.2903 0.0000
|
||||
vn 0.9952 0.0980 0.0000
|
||||
vn 0.9952 -0.0980 0.0000
|
||||
vn 0.9569 -0.2903 0.0000
|
||||
vn 0.8819 -0.4714 0.0000
|
||||
vn 0.7730 -0.6344 0.0000
|
||||
vn 0.6344 -0.7730 0.0000
|
||||
vn 0.4714 -0.8819 0.0000
|
||||
vn 0.2903 -0.9569 0.0000
|
||||
vn 0.0980 -0.9952 0.0000
|
||||
vn -0.0980 -0.9952 0.0000
|
||||
vn -0.2903 -0.9569 0.0000
|
||||
vn -0.4714 -0.8819 0.0000
|
||||
vn -0.6344 -0.7730 0.0000
|
||||
vn -0.7730 -0.6344 0.0000
|
||||
vn -0.8819 -0.4714 0.0000
|
||||
vn -0.9569 -0.2903 0.0000
|
||||
vn -0.9952 -0.0980 0.0000
|
||||
vn -0.9952 0.0980 0.0000
|
||||
vn -0.9569 0.2903 0.0000
|
||||
vn -0.8819 0.4714 0.0000
|
||||
vn -0.7730 0.6344 0.0000
|
||||
vn -0.6344 0.7730 0.0000
|
||||
vn -0.4714 0.8819 0.0000
|
||||
vn -0.2903 0.9569 0.0000
|
||||
vn -0.0980 0.9952 0.0000
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
usemtl None
|
||||
s off
|
||||
f 30/1/1 22/2/1 6/3/1
|
||||
f 6/3/1 4/4/1 62/5/1
|
||||
f 2/6/1 64/7/1 62/5/1
|
||||
f 62/5/1 60/8/1 58/9/1
|
||||
f 58/9/1 56/10/1 54/11/1
|
||||
f 54/11/1 52/12/1 50/13/1
|
||||
f 50/13/1 48/14/1 54/11/1
|
||||
f 46/15/1 44/16/1 42/17/1
|
||||
f 42/17/1 40/18/1 38/19/1
|
||||
f 38/19/1 36/20/1 34/21/1
|
||||
f 34/21/1 32/22/1 38/19/1
|
||||
f 30/1/1 28/23/1 26/24/1
|
||||
f 26/24/1 24/25/1 22/2/1
|
||||
f 22/2/1 20/26/1 18/27/1
|
||||
f 18/27/1 16/28/1 22/2/1
|
||||
f 14/29/1 12/30/1 10/31/1
|
||||
f 10/31/1 8/32/1 6/3/1
|
||||
f 4/4/1 2/6/1 62/5/1
|
||||
f 62/5/1 58/9/1 6/3/1
|
||||
f 54/11/1 48/14/1 46/15/1
|
||||
f 46/15/1 42/17/1 54/11/1
|
||||
f 38/19/1 32/22/1 30/1/1
|
||||
f 30/1/1 26/24/1 22/2/1
|
||||
f 22/2/1 16/28/1 14/29/1
|
||||
f 14/29/1 10/31/1 22/2/1
|
||||
f 6/3/1 58/9/1 54/11/1
|
||||
f 54/11/1 42/17/1 38/19/1
|
||||
f 38/19/1 30/1/1 6/3/1
|
||||
f 22/2/1 10/31/1 6/3/1
|
||||
f 6/3/1 54/11/1 38/19/1
|
||||
usemtl None
|
||||
f 2/33/2 3/34/2 1/35/2
|
||||
f 4/36/3 5/37/3 3/34/3
|
||||
f 6/38/4 7/39/4 5/37/4
|
||||
f 8/40/5 9/41/5 7/39/5
|
||||
f 10/42/6 11/43/6 9/41/6
|
||||
f 12/44/7 13/45/7 11/43/7
|
||||
f 14/46/8 15/47/8 13/45/8
|
||||
f 16/48/9 17/49/9 15/47/9
|
||||
f 18/50/10 19/51/10 17/49/10
|
||||
f 20/52/11 21/53/11 19/51/11
|
||||
f 22/54/12 23/55/12 21/53/12
|
||||
f 24/56/13 25/57/13 23/55/13
|
||||
f 26/58/14 27/59/14 25/57/14
|
||||
f 28/60/15 29/61/15 27/59/15
|
||||
f 30/62/16 31/63/16 29/61/16
|
||||
f 32/64/17 33/65/17 31/63/17
|
||||
f 34/66/18 35/67/18 33/65/18
|
||||
f 36/68/19 37/69/19 35/67/19
|
||||
f 38/70/20 39/71/20 37/69/20
|
||||
f 40/72/21 41/73/21 39/71/21
|
||||
f 42/74/22 43/75/22 41/73/22
|
||||
f 44/76/23 45/77/23 43/75/23
|
||||
f 46/78/24 47/79/24 45/77/24
|
||||
f 48/80/25 49/81/25 47/79/25
|
||||
f 50/82/26 51/83/26 49/81/26
|
||||
f 52/84/27 53/85/27 51/83/27
|
||||
f 54/86/28 55/87/28 53/85/28
|
||||
f 56/88/29 57/89/29 55/87/29
|
||||
f 58/90/30 59/91/30 57/89/30
|
||||
f 60/92/31 61/93/31 59/91/31
|
||||
f 62/94/32 63/95/32 61/93/32
|
||||
f 64/96/33 1/35/33 63/95/33
|
||||
f 31/63/34 55/87/34 63/95/34
|
||||
f 2/33/2 4/36/2 3/34/2
|
||||
f 4/36/3 6/38/3 5/37/3
|
||||
f 6/38/4 8/40/4 7/39/4
|
||||
f 8/40/5 10/42/5 9/41/5
|
||||
f 10/42/6 12/44/6 11/43/6
|
||||
f 12/44/7 14/46/7 13/45/7
|
||||
f 14/46/8 16/48/8 15/47/8
|
||||
f 16/48/9 18/50/9 17/49/9
|
||||
f 18/50/10 20/52/10 19/51/10
|
||||
f 20/52/11 22/54/11 21/53/11
|
||||
f 22/54/12 24/56/12 23/55/12
|
||||
f 24/56/13 26/58/13 25/57/13
|
||||
f 26/58/14 28/60/14 27/59/14
|
||||
f 28/60/15 30/62/15 29/61/15
|
||||
f 30/62/16 32/64/16 31/63/16
|
||||
f 32/64/17 34/66/17 33/65/17
|
||||
f 34/66/18 36/68/18 35/67/18
|
||||
f 36/68/19 38/70/19 37/69/19
|
||||
f 38/70/20 40/72/20 39/71/20
|
||||
f 40/72/21 42/74/21 41/73/21
|
||||
f 42/74/22 44/76/22 43/75/22
|
||||
f 44/76/23 46/78/23 45/77/23
|
||||
f 46/78/24 48/80/24 47/79/24
|
||||
f 48/80/25 50/82/25 49/81/25
|
||||
f 50/82/26 52/84/26 51/83/26
|
||||
f 52/84/27 54/86/27 53/85/27
|
||||
f 54/86/28 56/88/28 55/87/28
|
||||
f 56/88/29 58/90/29 57/89/29
|
||||
f 58/90/30 60/92/30 59/91/30
|
||||
f 60/92/31 62/94/31 61/93/31
|
||||
f 62/94/32 64/96/32 63/95/32
|
||||
f 64/96/33 2/33/33 1/35/33
|
||||
f 63/95/34 1/35/34 3/34/34
|
||||
f 3/34/34 5/37/34 7/39/34
|
||||
f 7/39/34 9/41/34 15/47/34
|
||||
f 11/43/34 13/45/34 15/47/34
|
||||
f 15/47/34 17/49/34 19/51/34
|
||||
f 19/51/34 21/53/34 23/55/34
|
||||
f 23/55/34 25/57/34 31/63/34
|
||||
f 27/59/34 29/61/34 31/63/34
|
||||
f 31/63/34 33/65/34 35/67/34
|
||||
f 35/67/34 37/69/34 31/63/34
|
||||
f 39/71/34 41/73/34 47/79/34
|
||||
f 43/75/34 45/77/34 47/79/34
|
||||
f 47/79/34 49/81/34 51/83/34
|
||||
f 51/83/34 53/85/34 55/87/34
|
||||
f 55/87/34 57/89/34 63/95/34
|
||||
f 59/91/34 61/93/34 63/95/34
|
||||
f 63/95/34 3/34/34 15/47/34
|
||||
f 9/41/34 11/43/34 15/47/34
|
||||
f 15/47/34 19/51/34 31/63/34
|
||||
f 25/57/34 27/59/34 31/63/34
|
||||
f 31/63/34 37/69/34 39/71/34
|
||||
f 41/73/34 43/75/34 47/79/34
|
||||
f 47/79/34 51/83/34 55/87/34
|
||||
f 57/89/34 59/91/34 63/95/34
|
||||
f 3/34/34 7/39/34 15/47/34
|
||||
f 19/51/34 23/55/34 31/63/34
|
||||
f 31/63/34 39/71/34 47/79/34
|
||||
f 47/79/34 55/87/34 31/63/34
|
||||
f 63/95/34 15/47/34 31/63/34
|
||||
Reference in New Issue
Block a user