mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
remove tabs from urdf
This commit is contained in:
Erwin Coumans
parent
ac0bfb0bfa
commit
4732acfcb1
@ -12,7 +12,7 @@
|
||||
<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
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<geometry>
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||||
<mesh filename="chassis.stl" scale="1 1 1"/>
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<mesh filename="chassis.stl" scale="1 1 1"/>
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</geometry>
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||||
<material name="yellow">
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<color rgba="0.95 0.75 0.05 1"/>
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||||
@ -21,7 +21,7 @@
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<collision>
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<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
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||||
<geometry>
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||||
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
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<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
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</geometry>
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||||
</collision>
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||||
</link>
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||||
@ -35,10 +35,10 @@
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="green"/>
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</visual>
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@ -46,19 +46,19 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
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<axis xyz="0 0 -1"/>
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<parent link="chassis"/>
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<child link="FR_hip_motor"/>
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<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="0 0 -1"/>
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<parent link="chassis"/>
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<child link="FR_hip_motor"/>
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<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FR_upper_leg">
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<contact>
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@ -72,7 +72,7 @@
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
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<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="blue"/>
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</visual>
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@ -80,20 +80,20 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
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<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FR_hip_motor"/>
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<child link="FR_upper_leg"/>
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<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="1 0 0"/>
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<parent link="FR_hip_motor"/>
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<child link="FR_upper_leg"/>
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<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FR_lower_leg">
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<contact>
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@ -107,7 +107,7 @@
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<visual>
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<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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@ -115,24 +115,22 @@
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<collision>
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<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FR_upper_leg"/>
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<child link="FR_lower_leg"/>
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<axis xyz="1 0 0"/>
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<parent link="FR_upper_leg"/>
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<child link="FR_lower_leg"/>
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<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FL_hip_motor">
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<link name="FL_hip_motor">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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@ -144,7 +142,7 @@
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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</geometry>
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<material name="green">
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<color rgba="0.23 0.73 0.33 1"/>
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@ -154,20 +152,20 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis"/>
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<child link="FL_hip_motor"/>
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<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="0 0 1"/>
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<parent link="chassis"/>
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<child link="FL_hip_motor"/>
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<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FL_upper_leg">
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<contact>
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@ -182,7 +180,7 @@
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg.stl" scale="1 1 1"/>
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<mesh filename="upper_leg.stl" scale="1 1 1"/>
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</geometry>
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<material name="blue">
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<color rgba="0.28 0.52 0.93 1"/>
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@ -192,7 +190,7 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
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<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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@ -200,13 +198,13 @@
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<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FL_hip_motor"/>
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<child link="FL_upper_leg"/>
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<origin rpy="0 0 0" xyz="0.055855 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="1 0 0"/>
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<parent link="FL_hip_motor"/>
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<child link="FL_upper_leg"/>
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<origin rpy="0 0 0" xyz="0.055855 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FL_lower_leg">
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@ -221,7 +219,7 @@
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<visual>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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<material name="red">
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<color rgba="0.85 0.19 0.21 1"/>
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@ -231,27 +229,27 @@
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<collision>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FL_upper_leg"/>
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<child link="FL_lower_leg"/>
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<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="1 0 0"/>
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<parent link="FL_upper_leg"/>
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<child link="FL_lower_leg"/>
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<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RR_hip_motor">
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<link name="RR_hip_motor">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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@ -261,10 +259,10 @@
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="green"/>
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</visual>
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@ -272,20 +270,20 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
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<axis xyz="0 0 -1"/>
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<parent link="chassis"/>
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<child link="RR_hip_motor"/>
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<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="0 0 -1"/>
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<parent link="chassis"/>
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<child link="RR_hip_motor"/>
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<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RR_upper_leg">
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<contact>
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@ -299,7 +297,7 @@
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
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<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="blue"/>
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</visual>
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@ -307,20 +305,20 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
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<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="RR_hip_motor"/>
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<child link="RR_upper_leg"/>
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<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="1 0 0"/>
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<parent link="RR_hip_motor"/>
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<child link="RR_upper_leg"/>
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<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RR_lower_leg">
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<contact>
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@ -334,7 +332,7 @@
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<visual>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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@ -342,23 +340,23 @@
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<collision>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="RR_upper_leg"/>
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<child link="RR_lower_leg"/>
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<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<axis xyz="1 0 0"/>
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<parent link="RR_upper_leg"/>
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<child link="RR_lower_leg"/>
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<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
|
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RL_hip_motor">
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<link name="RL_hip_motor">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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@ -370,7 +368,7 @@
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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</geometry>
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<material name="green"/>
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</visual>
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@ -378,21 +376,21 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
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|
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</link>
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|
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<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
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<parent link="chassis"/>
|
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<child link="RL_hip_motor"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
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<child link="RL_hip_motor"/>
|
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|
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<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
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<limit effort="100" velocity="100"/>
|
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RL_upper_leg">
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<contact>
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@ -406,7 +404,7 @@
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<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg.stl" scale="1 1 1"/>
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||||
<mesh filename="upper_leg.stl" scale="1 1 1"/>
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||||
</geometry>
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<material name="blue"/>
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</visual>
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||||
@ -414,7 +412,7 @@
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<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
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||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
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||||
</geometry>
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</collision>
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@ -422,13 +420,13 @@
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||||
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||||
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_hip_motor"/>
|
||||
<child link="RL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_hip_motor"/>
|
||||
<child link="RL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_lower_leg">
|
||||
@ -443,7 +441,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
@ -451,20 +449,20 @@
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_upper_leg"/>
|
||||
<child link="RL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_upper_leg"/>
|
||||
<child link="RL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeRL">
|
||||
<contact>
|
||||
@ -499,7 +497,7 @@
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeRR">
|
||||
<link name="toeRR">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
@ -532,7 +530,7 @@
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeFL">
|
||||
<link name="toeFL">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
@ -565,7 +563,7 @@
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeFR">
|
||||
<link name="toeFR">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user