mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
4db6fa9e29
added test urdf files for minitaur with all fixed joints, or fixed knees. added some stiffness/damping to minitaur legs (testing) tiny_obj_loader, don't crash on invalid texture coordinates btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
914 lines
26 KiB
XML
914 lines
26 KiB
XML
<?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=".33 0.14 .07"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba="0.3 0.3 0.3 1"/>
|
|
</material>
|
|
</visual>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
|
<geometry>
|
|
<box size=".17 0.10 .05"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba="0.3 0.3 0.3 1"/>
|
|
</material>
|
|
</visual>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
|
<geometry>
|
|
<box size=".17 0.10 .05"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba="0.3 0.3 0.3 1"/>
|
|
</material>
|
|
</visual>
|
|
|
|
<collision>
|
|
<geometry>
|
|
<box size=".34 0.14 .07"/>
|
|
</geometry>
|
|
</collision>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0.10 0"/>
|
|
<geometry>
|
|
<box size=".17 0.10 .05"/>
|
|
</geometry>
|
|
</collision>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
|
|
<geometry>
|
|
<box size=".17 0.10 .05"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<inertial>
|
|
<mass value="3"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<link name="chassis_right">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material> </visual>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material> </visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
</collision>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</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 -0.10 0.0"/>
|
|
<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 0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material> </visual>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material> </visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
</collision>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
|
|
<geometry>
|
|
<box size=".34 0.01 .04"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</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 0.10 0.0"/>
|
|
<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="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_front_rightR_link"/>
|
|
<origin rpy="1.57075 -1.570796 0" xyz="0.21 -0.025 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="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_front_rightL_link"/>
|
|
<origin rpy="1.57075 -1.570796 3.141592" xyz="0.21 0.04 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="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_front_leftR_link"/>
|
|
<origin rpy="1.57075 1.570796 3.141592" xyz="0.21 0.025 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>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_front_leftL_link"/>
|
|
<origin rpy="1.57075 1.570796 0" xyz="0.21 -0.04 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="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_back_rightR_link"/>
|
|
<origin rpy="1.57075 -1.570796 0" xyz="-0.21 -0.025 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="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_back_rightL_link"/>
|
|
<origin rpy="1.57075 -1.570796 3.141592" xyz="-0.21 0.04 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="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_back_leftR_link"/>
|
|
<origin rpy="1.57075 1.570796 3.141592" xyz="-0.21 0.025 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="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_back_leftL_link"/>
|
|
<origin rpy="1.57075 1.570796 0" xyz="-0.21 -0.04 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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_rightR_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_front_rightR_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_rightR_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_rightR_link"/>
|
|
<child link="lower_leg_front_rightR_link"/>
|
|
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightL_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_front_rightL_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_rightL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_rightL_link"/>
|
|
<child link="lower_leg_front_rightL_link"/>
|
|
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_leftR_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_front_leftR_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_leftR_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_leftR_link"/>
|
|
<child link="lower_leg_front_leftR_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftL_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_front_leftL_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_leftL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_leftL_link"/>
|
|
<child link="lower_leg_front_leftL_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_rightR_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_rightR_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_rightR_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_rightR_link"/>
|
|
<child link="lower_leg_back_rightR_link"/>
|
|
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightL_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_back_rightL_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_rightL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_rightL_link"/>
|
|
<child link="lower_leg_back_rightL_link"/>
|
|
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_leftR_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_leftR_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_leftR_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftR_link"/>
|
|
<child link="lower_leg_back_leftR_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftL_link" 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 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_back_leftL_link">
|
|
<contact>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_leftL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftL_link"/>
|
|
<child link="lower_leg_back_leftL_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
</robot>
|
|
|