mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
587 lines
20 KiB
Plaintext
587 lines
20 KiB
Plaintext
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</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<link name="link1_30">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<mass value="0.00000"/>
|
||
|
|
<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<link name="link1_31">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<mass value="0.00000"/>
|
||
|
|
<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<link name="left_upper_arm">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.08000 0.08000 -0.08000"/>
|
||
|
|
<mass value="1.66108"/>
|
||
|
|
<inertia ixx="0.02368" ixy="0" ixz="0" iyy="0.02368" iyz="0" izz="0.02267"/>
|
||
|
|
</inertial>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="-2.35619 0.61548 -1.30900" xyz="0.08000 0.08000 -0.08000"/>
|
||
|
|
<geometry>
|
||
|
|
<capsule length="0.27713" radius="0.04000"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<link name="link1_33">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<mass value="0.00000"/>
|
||
|
|
<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<link name="left_lower_arm">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<mass value="1.22954"/>
|
||
|
|
<inertia ixx="0.01419" ixy="0" ixz="0" iyy="0.01419" iyz="0" izz="0.01374"/>
|
||
|
|
</inertial>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0.78540 0.61548 0.26180" xyz="0.09000 -0.09000 0.09000"/>
|
||
|
|
<geometry>
|
||
|
|
<capsule length="0.27713" radius="0.03100"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 -0.18000 0.18000"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.04000"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="abdomen_z" type="continuous">
|
||
|
|
<parent link="torso"/>
|
||
|
|
<child link="link1_2"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00400 0.00000" xyz="-0.01026 0.00000 -0.19500"/>
|
||
|
|
<axis xyz="0.00000 0.00000 1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="abdomen_y" type="continuous">
|
||
|
|
<parent link="link1_2"/>
|
||
|
|
<child link="link1_3"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_7_3" type="fixed">
|
||
|
|
<parent link="link1_3"/>
|
||
|
|
<child link="lwaist"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.06500"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="abdomen_x" type="continuous">
|
||
|
|
<parent link="lwaist"/>
|
||
|
|
<child link="link1_5"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00400 0.00000" xyz="-0.00040 0.00000 -0.06500"/>
|
||
|
|
<axis xyz="1.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_6_5" type="fixed">
|
||
|
|
<parent link="link1_5"/>
|
||
|
|
<child link="pelvis"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.10000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_hip_x" type="continuous">
|
||
|
|
<parent link="pelvis"/>
|
||
|
|
<child link="link1_7"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.10000 -0.04000"/>
|
||
|
|
<axis xyz="1.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_hip_z" type="continuous">
|
||
|
|
<parent link="link1_7"/>
|
||
|
|
<child link="link1_8"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_hip_y" type="continuous">
|
||
|
|
<parent link="link1_8"/>
|
||
|
|
<child link="link1_9"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_2_9" type="fixed">
|
||
|
|
<parent link="link1_9"/>
|
||
|
|
<child link="right_thigh"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_knee" type="continuous">
|
||
|
|
<parent link="right_thigh"/>
|
||
|
|
<child link="link1_11"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.01000 -0.38300"/>
|
||
|
|
<axis xyz="0.00000 -1.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_1_11" type="fixed">
|
||
|
|
<parent link="link1_11"/>
|
||
|
|
<child link="right_shin"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.02000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_ankle_y" type="continuous">
|
||
|
|
<parent link="right_shin"/>
|
||
|
|
<child link="link1_13"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.31000"/>
|
||
|
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_ankle_x" type="continuous">
|
||
|
|
<parent link="link1_13"/>
|
||
|
|
<child link="link1_14"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.04000"/>
|
||
|
|
<axis xyz="1.00000 0.00000 0.50000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_0_14" type="fixed">
|
||
|
|
<parent link="link1_14"/>
|
||
|
|
<child link="right_foot"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.08000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_hip_x" type="continuous">
|
||
|
|
<parent link="pelvis"/>
|
||
|
|
<child link="link1_16"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.10000 -0.04000"/>
|
||
|
|
<axis xyz="-1.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_hip_z" type="continuous">
|
||
|
|
<parent link="link1_16"/>
|
||
|
|
<child link="link1_17"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 -1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_hip_y" type="continuous">
|
||
|
|
<parent link="link1_17"/>
|
||
|
|
<child link="link1_18"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_5_18" type="fixed">
|
||
|
|
<parent link="link1_18"/>
|
||
|
|
<child link="left_thigh"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_knee" type="continuous">
|
||
|
|
<parent link="left_thigh"/>
|
||
|
|
<child link="link1_20"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.01000 -0.38300"/>
|
||
|
|
<axis xyz="0.00000 -1.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_4_20" type="fixed">
|
||
|
|
<parent link="link1_20"/>
|
||
|
|
<child link="left_shin"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.02000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_ankle_y" type="continuous">
|
||
|
|
<parent link="left_shin"/>
|
||
|
|
<child link="link1_22"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.31000"/>
|
||
|
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_ankle_x" type="continuous">
|
||
|
|
<parent link="link1_22"/>
|
||
|
|
<child link="link1_23"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.04000"/>
|
||
|
|
<axis xyz="1.00000 0.00000 0.50000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_3_23" type="fixed">
|
||
|
|
<parent link="link1_23"/>
|
||
|
|
<child link="left_foot"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.08000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_shoulder1" type="continuous">
|
||
|
|
<parent link="torso"/>
|
||
|
|
<child link="link1_25"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.17000 0.06000"/>
|
||
|
|
<axis xyz="2.00000 1.00000 1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_shoulder2" type="continuous">
|
||
|
|
<parent link="link1_25"/>
|
||
|
|
<child link="link1_26"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 -1.00000 1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_9_26" type="fixed">
|
||
|
|
<parent link="link1_26"/>
|
||
|
|
<child link="right_upper_arm"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="right_elbow" type="continuous">
|
||
|
|
<parent link="right_upper_arm"/>
|
||
|
|
<child link="link1_28"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 -0.18000 -0.18000"/>
|
||
|
|
<axis xyz="0.00000 -1.00000 1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_8_28" type="fixed">
|
||
|
|
<parent link="link1_28"/>
|
||
|
|
<child link="right_lower_arm"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_shoulder1" type="continuous">
|
||
|
|
<parent link="torso"/>
|
||
|
|
<child link="link1_30"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.17000 0.06000"/>
|
||
|
|
<axis xyz="2.00000 -1.00000 1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_shoulder2" type="continuous">
|
||
|
|
<parent link="link1_30"/>
|
||
|
|
<child link="link1_31"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 1.00000 1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_11_31" type="fixed">
|
||
|
|
<parent link="link1_31"/>
|
||
|
|
<child link="left_upper_arm"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="left_elbow" type="continuous">
|
||
|
|
<parent link="left_upper_arm"/>
|
||
|
|
<child link="link1_33"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 0.18000 -0.18000"/>
|
||
|
|
<axis xyz="0.00000 -1.00000 -1.00000"/>
|
||
|
|
</joint>
|
||
|
|
<joint name="jointfix_10_33" type="fixed">
|
||
|
|
<parent link="link1_33"/>
|
||
|
|
<child link="left_lower_arm"/>
|
||
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
||
|
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||
|
|
</joint>
|
||
|
|
</robot>
|