mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
Merge remote-tracking branch 'bp/master'
This commit is contained in:
Erwin Coumans
commit
98e03108cc
949
data/quadruped/minitaur_derpy.urdf
Normal file
949
data/quadruped/minitaur_derpy.urdf
Normal file
@ -0,0 +1,949 @@
|
||||
<?xml version="0.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2017, Erwin Coumans -->
|
||||
<!--Google Inc. -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions or derived work must retain this copyright notice, -->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".295 0.142 .078"/>
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</geometry>
|
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
|
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</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".295 0.142 .078"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0.05 0 0"/>
|
||||
<mass value="1.81246"/>
|
||||
<inertia ixx="0.00474833" ixy="0.0" ixz="0.0" iyy="0.01386899" iyz="0.0" izz="0.01577876"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".156 0.091 .050"/>
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</geometry>
|
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<material name="black">
|
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<visual>
|
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<origin rpy="0 0 0" xyz="0 0.0455 0"/>
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<geometry>
|
||||
<box size=".307 0.009 .050"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
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<geometry>
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<box size=".307 0.009 .050"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
|
||||
</visual>
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||||
|
||||
<collision>
|
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<origin rpy="0 0 0" xyz="0 0.1165 0"/>
|
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<geometry>
|
||||
<box size=".156 0.091 .050"/>
|
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</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.0455 0"/>
|
||||
<geometry>
|
||||
<box size=".307 0.009 .050"/>
|
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</geometry>
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</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
|
||||
<geometry>
|
||||
<box size=".307 0.009 .050"/>
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</geometry>
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</collision>
|
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<inertial>
|
||||
<mass value=".72277"/>
|
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<inertia ixx="0.00125923" ixy="0.0" ixz="0.0" iyy="0.00346491" iyz="0.0" izz="0.00420849"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.1165 -0.011"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".156 0.091 .050"/>
|
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</geometry>
|
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<material name="black">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.0455 0"/>
|
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<geometry>
|
||||
<box size=".307 0.009 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
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<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
|
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<geometry>
|
||||
<box size=".307 0.009 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
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</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.1165 0"/>
|
||||
<geometry>
|
||||
<box size=".156 0.091 .050"/>
|
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</geometry>
|
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</collision>
|
||||
<collision>
|
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<origin rpy="0 0 0" xyz="0 0.0455 0"/>
|
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<geometry>
|
||||
<box size=".307 0.009 .050"/>
|
||||
</geometry>
|
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</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
|
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<geometry>
|
||||
<box size=".307 0.009 .050"/>
|
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</geometry>
|
||||
</collision>
|
||||
<inertial>
|
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<mass value=".72277"/>
|
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<inertia ixx="0.00125923" ixy="0.0" ixz="0.0" iyy="0.00346491" iyz="0.0" izz="0.00420849"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0.0872665 0 0" xyz="0.0 0.1165 -0.011"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.20268 -0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.20268 0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.20268 0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.20268 -0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
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</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.20268 -0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="0.05268"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.402"/>
|
||||
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.20268 -0.0455 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<mass value="0.066"/>
|
||||
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<mass value="0.055"/>
|
||||
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<mass value="0.055"/>
|
||||
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<mass value="0.066"/>
|
||||
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<mass value="0.066"/>
|
||||
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<mass value="0.055"/>
|
||||
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<mass value="0.055"/>
|
||||
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 0.0064 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.026"/>
|
||||
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
||||
izz="0.0000036030"/>
|
||||
</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="0.0 0.045 -0.030"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.017 0.0064 0.240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
||||
<mass value="0.066"/>
|
||||
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
|
||||
</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="0.0 0.01 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
Loading…
Reference in New Issue
Block a user