mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
Merge pull request #1478 from jietan/pullRequest
add system id for rainbow dash (second generation minitaur with TX2 i…
This commit is contained in:
erwincoumans
GitHub
commit
72eeacc9db
914
data/quadruped/minitaur_rainbow_dash.urdf
Normal file
914
data/quadruped/minitaur_rainbow_dash.urdf
Normal file
@ -0,0 +1,914 @@
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|||||||
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<?xml version="1.0"?>
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||||||
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<robot name="quadruped">
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||||||
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<link name="base_chassis_link">
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||||||
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<visual>
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||||||
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<geometry>
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||||||
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<box size=".3 .13 .087"/>
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||||||
|
</geometry>
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||||||
|
<material name="black">
|
||||||
|
<color rgba=".3 .3 .3 1"/>
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||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz=".10 0 .08"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".08 .08 .08"/>
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||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
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||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".3 .13 .087"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz=".10 0 .08"/>
|
||||||
|
<geometry>
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||||||
|
<box size=".08 .08 .08"/>
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||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz=".05 0 0"/>
|
||||||
|
<mass value="3.353"/>
|
||||||
|
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
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||||||
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</inertial>
|
||||||
|
</link>
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||||||
|
<link name="chassis_right">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
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||||||
|
</material>
|
||||||
|
</visual>
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||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.644"/>
|
||||||
|
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||||
|
</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 0 0" xyz="0 -.1265 -.0185"/>
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||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="chassis_left">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
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||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
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||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".068 .032 .050"/>
|
||||||
|
</geometry>
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||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.644"/>
|
||||||
|
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||||
|
</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 0 0" xyz="0 .1265 -.0185"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</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=".2375 -.0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</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=".2375 .0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="motor_front_leftL_joint" type="continuous">
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
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<parent link="chassis_left"/>
|
||||||
|
<child link="motor_front_leftL_link"/>
|
||||||
|
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</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=".2375 -.0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</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="-.2375 -.0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</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="-.2375 .0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</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="-.2375 .0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".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=".021" radius=".0425"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".241"/>
|
||||||
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||||
|
</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="-.2375 -.0275 0"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_front_rightR_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_front_rightR_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_front_rightR_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<mass value=".086"/>
|
||||||
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_front_rightR_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_front_rightL_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_front_rightL_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_front_rightL_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||||
|
<mass value=".072"/>
|
||||||
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_front_rightL_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_front_leftR_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_front_leftR_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_front_leftR_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||||
|
<mass value=".072"/>
|
||||||
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_front_leftR_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_front_leftL_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_front_leftL_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_front_leftL_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<mass value=".086"/>
|
||||||
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_front_leftL_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_back_rightR_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_back_rightR_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_back_rightR_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<mass value=".086"/>
|
||||||
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_back_rightR_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_back_rightL_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_back_rightL_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_back_rightL_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||||
|
<mass value=".072"/>
|
||||||
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_back_rightL_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_back_leftR_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_back_leftR_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_back_leftR_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .216"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||||
|
<mass value=".072"/>
|
||||||
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_back_leftR_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="upper_leg_back_leftL_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size=".039 .008 .129"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value=".034"/>
|
||||||
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="hip_back_leftL_joint" 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 .045 -.0145"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="lower_leg_back_leftL_link">
|
||||||
|
<contact>
|
||||||
|
<friction_anchor/>
|
||||||
|
<stiffness value="3000.0"/>
|
||||||
|
<damping value="100.0"/>
|
||||||
|
<spinning_friction value=".3"/>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba=".65 .65 .75 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".017 .009 .240"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||||
|
<mass value=".086"/>
|
||||||
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="knee_back_leftL_joint" type="continuous">
|
||||||
|
<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 .0085 .056"/>
|
||||||
|
<limit effort="100" velocity="100"/>
|
||||||
|
<joint_properties damping=".0" friction=".0"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
Loading…
Reference in New Issue
Block a user