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bullet3/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf
Erwin Coumans 16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
2019-06-19 12:07:26 -07:00

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<?xml version="1.0" ?>
<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="body">
<inertial>
<mass value="3.3"/>
<origin xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_body.obj"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_body.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_fr_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
<parent link="body"/>
<child link="abduct_fr"/>
</joint>
<link name="abduct_fr">
<inertial>
<mass value="0.54"/>
<origin xyz="0.0 0.036 0."/>
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="3.141592 0 1.5708" xyz="-0.055 0 0"/>
</collision>
</link>
<joint name="abduct_fr_to_thigh_fr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
<parent link="abduct_fr"/>
<child link="thigh_fr"/>
</joint>
<link name="thigh_fr">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="thigh_fr_to_knee_fr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
<parent link="thigh_fr"/>
<child link="shank_fr"/>
</joint>
<link name="shank_fr">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision>
</link>
<link name="toe_fr">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="toe_fr_joint" type="fixed">
<parent link="shank_fr"/>
<child link="toe_fr"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_fl_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
<parent link="body"/>
<child link="abduct_fl"/>
</joint>
<link name="abduct_fl">
<inertial>
<mass value="0.54"/>
<origin xyz="0.0 0.036 0."/>
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="0. 0. -1.5708" xyz="-0.055 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/>
</collision>
</link>
<joint name="abduct_fl_to_thigh_fl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
<parent link="abduct_fl"/>
<child link="thigh_fl"/>
</joint>
<link name="thigh_fl">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="thigh_fl_to_knee_fl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
<parent link="thigh_fl"/>
<child link="shank_fl"/>
</joint>
<link name="shank_fl">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision>
</link>
<link name="toe_fl">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="toe_fl_joint" type="fixed">
<parent link="shank_fl"/>
<child link="toe_fl"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_hr_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
<parent link="body"/>
<child link="abduct_hr"/>
</joint>
<link name="abduct_hr">
<inertial>
<mass value="0.54"/>
<origin xyz="0.0 0.036 0."/>
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="0 0 1.5708" xyz="0.055 0 0"/>
</collision>
</link>
<joint name="abduct_hr_to_thigh_hr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
<parent link="abduct_hr"/>
<child link="thigh_hr"/>
</joint>
<link name="thigh_hr">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="thigh_hr_to_knee_hr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
<parent link="thigh_hr"/>
<child link="shank_hr"/>
</joint>
<link name="shank_hr">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision>
</link>
<link name="toe_hr">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="toe_hr_joint" type="fixed">
<parent link="shank_hr"/>
<child link="toe_hr"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_hl_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
<parent link="body"/>
<child link="abduct_hl"/>
</joint>
<link name="abduct_hl">
<inertial>
<mass value="0.54"/>
<origin xyz="0.0 0.036 0."/>
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="3.141592 0 -1.5708" xyz="0.055 0 0"/>
</collision>
</link>
<joint name="abduct_hl_to_thigh_hl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
<parent link="abduct_hl"/>
<child link="thigh_hl"/>
</joint>
<link name="thigh_hl">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_upper_link.obj"/>
</geometry>
<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="thigh_hl_to_knee_hl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
<parent link="thigh_hl"/>
<child link="shank_hl"/>
</joint>
<link name="shank_hl">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_lower_link.obj"/>
</geometry>
<origin rpy="0 3.141592 0" xyz="0 0 0"/>
</collision>
</link>
<link name="toe_hl">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="toe_hl_joint" type="fixed">
<parent link="shank_hl"/>
<child link="toe_hl"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>
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