AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2025-01-07 16:20:07 +00:00
Code Issues Releases Wiki Activity
5a1977b176
bullet3/examples/pybullet/gym/pybullet_data/biped/biped2d_pybullet.urdf

274 lines
7.3 KiB
XML
Raw Blame History

<?xml version="1.0"?>
<robot name="balance">
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
</material>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
<link name="world">
<inertial>
<mass value="0"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<link name="y_prismatic">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="y_to_world" type="prismatic">
<parent link="world"/>
<child link="y_prismatic"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="z_prismatic">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="z_to_y" type="prismatic">
<parent link="y_prismatic"/>
<child link="z_prismatic"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<joint name="torso_to_z" type="continuous">
<parent link="z_prismatic"/>
<child link="torso"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 1.4"/>
</joint>
<link name="torso">
<visual>
<geometry>
<box size="0.1 0.1 0.48"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0.0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 0.48"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0.0 0"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="70"/>
<inertia ixx="0.2404" ixy="-0.01" ixz="-0.048" iyy="0.2404" iyz="-0.048" izz="0.02"/>
<origin rpy="0 0 0" xyz="0 0.0 0"/>
</inertial>
</link>
<link name="r_upperleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.018 0. -0.21715"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.018 -0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="5"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0.018 -0 -0.21715"/>
</inertial>
</link>
<joint name="torso_to_rightleg" type="revolute">
<parent link="torso"/>
<child link="r_upperleg"/>
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0.05 0 -0.17"/>
</joint>
<link name="l_upperleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.018 0. -0.21715"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.018 0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="5"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="-0.018 -0 -0.21715"/>
</inertial>
</link>
<joint name="torso_to_leftleg" type="revolute">
<parent link="torso"/>
<child link="l_upperleg"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="-0.05 0 -0.17"/>
</joint>
<link name="r_lowerleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.048 0. -0.21715"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="0.048 0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="4"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="0.048 -0 -0.21715"/>
</inertial>
</link>
<joint name="r_knee" type="revolute">
<parent link="r_upperleg"/>
<child link="r_lowerleg"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0.015 0 -.41"/>
</joint>
<link name="l_lowerleg">
<visual>
<geometry>
<box size="0.05 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.048 0. -0.21715"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 .45"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.048 0.0 -0.21715"/>
<contact_coefficients mu="0.08" />
</collision>
<inertial>
<mass value="4"/>
<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
<origin rpy="0 0 0" xyz="-0.048 -0 -0.21715"/>
</inertial>
</link>
<joint name="l_knee" type="revolute">
<parent link="l_upperleg"/>
<child link="l_lowerleg"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-1.57." upper="1.57" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="-0.015 0 -.41"/>
</joint>
<link name="l_foot">
<visual>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="0.05 0.08 -0.038"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="0.05 0.08 -0.038"/>
<contact_coefficients mu="0.5" />
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.0416" ixy="-0.01" ixz="-0.002" iyy="0.0041" iyz="-0.008" izz="0.0425"/>
<origin rpy="0 0 0" xyz="0.05 0.08 -0.038"/>
</inertial>
</link>
<joint name="l_ankle" type="revolute">
<parent link="l_lowerleg"/>
<child link="l_foot"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-2" upper="2" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="-0.05 -0.03 -.459"/>
</joint>
<link name="r_foot">
<visual>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05 0.08 -0.038"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.05 0.2 .04"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.05 0.08 -0.038"/>
<contact_coefficients mu="0.5" />
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.0416" ixy="-0.01" ixz="-0.002" iyy="0.0041" iyz="-0.008" izz="0.0425"/>
<origin rpy="0 0 0" xyz="-0.05 0.08 -0.038"/>
</inertial>
</link>
<joint name="r_ankle" type="revolute">
<parent link="r_lowerleg"/>
<child link="r_foot"/>
<axis xyz="1 0 0"/>
<limit effort="10.0" lower="-2." upper="2" velocity="1000.0"/>
<origin rpy="0 0 0" xyz="0.05 -0.03 -.459"/>
</joint>
</robot>
Reference in New Issue View Git Blame Copy Permalink