mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-07 08:10:08 +00:00
697 lines
20 KiB
XML
697 lines
20 KiB
XML
<?xml version="1.0"?>
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<robot name="quadruped">
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<link name="base_chassis_link">
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<visual>
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<geometry>
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<mesh filename="chassis.obj" scale="1 1 1"/>
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</geometry>
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<material name="black">
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<color rgba=".3 .3 .3 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".3 .13 .087"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz=".05 0 0"/>
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<mass value="3.353"/>
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<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
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</inertial>
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</link>
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<link name="chassis_right">
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<visual>
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<geometry>
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<mesh filename="chassis2.obj" scale="1 1 1"/>
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</geometry>
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<material name="yellow">
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<color rgba=".7 .7 .3 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="chassis2.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.32"/>
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<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
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</inertial>
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</link>
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<joint name="chassis_right_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_right"/>
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<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_front_rightS_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_front_rightS_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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<child link="motor_front_rightS_link"/>
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<origin rpy="0 1.57075 0" xyz=".1375 .0275 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_back_rightS_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_back_rightS_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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<child link="motor_back_rightS_link"/>
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<origin rpy="0 1.57075 0" xyz="-.1375 .0275 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="chassis_left">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="chassis2.obj" scale="1 1 1"/>
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</geometry>
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<material name="yellow"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="chassis2.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.32"/>
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<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
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</inertial>
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</link>
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<joint name="chassis_left_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_left"/>
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<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_front_leftS_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_front_leftS_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_left"/>
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<child link="motor_front_leftS_link"/>
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<origin rpy="0 1.57075 0" xyz=".1375 -.0275 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_back_leftS_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".05" radius=".01"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_back_leftS_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_left"/>
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<child link="motor_back_leftS_link"/>
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<origin rpy="0 1.57075 0" xyz="-.1375 -.0275 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_front_rightR_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_front_rightR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="motor_front_rightS_link"/>
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<child link="motor_front_rightR_link"/>
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<origin rpy="1.57075 -1.57075 0" xyz="0 0 0.1"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_front_rightL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_front_rightL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="motor_front_rightS_link"/>
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<child link="motor_front_rightL_link"/>
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<origin rpy="1.57075 0 3.141592" xyz="0 0.01 .1"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_front_leftL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_front_leftL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="motor_front_leftS_link"/>
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<child link="motor_front_leftL_link"/>
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<origin rpy="-1.57075 1.57075 0" xyz="0 0 0.1"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_front_leftR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_front_leftR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="motor_front_leftS_link"/>
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<child link="motor_front_leftR_link"/>
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<origin rpy="1.57075 0 0" xyz="0 0 0.1"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_back_rightR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_back_rightR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="motor_back_rightS_link"/>
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<child link="motor_back_rightR_link"/>
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<origin rpy="1.57075 -1.57075 0" xyz="0 0 -0.1"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_back_rightL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_back_rightL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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<child link="motor_back_rightL_link"/>
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<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_back_leftL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_back_leftL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="motor_back_leftS_link"/>
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<child link="motor_back_leftL_link"/>
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<origin rpy="-1.57075 1.57075 0" xyz="0 0 -0.1"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="motor_back_leftR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".021" radius=".0425"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".072"/>
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<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
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</inertial>
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</link>
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<joint name="motor_back_leftR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_left"/>
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<child link="motor_back_leftR_link"/>
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<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="upper_leg_front_rightR_link">
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<visual>
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<geometry>
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<box size=".039 .008 .199"/>
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</geometry>
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<material name="grey">
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<color rgba=".65 .65 .75 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".039 .008 .199"/>
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</geometry>
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</collision>
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<inertial>
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<mass value=".034"/>
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<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
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</inertial>
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</link>
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<joint name="hip_front_rightR_joint" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="motor_front_rightR_link"/>
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<child link="upper_leg_front_rightR_link"/>
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<origin rpy="-1.57075 0 0" xyz="0 0.095 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="lower_leg_front_rightR_link">
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<contact>
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<friction_anchor/>
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<stiffness value="3000.0"/>
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<damping value="100.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 .120"/>
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<geometry>
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<box size=".017 .009 .200"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 .120"/>
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<geometry>
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<box size=".017 .009 .200"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 .120"/>
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<mass value=".086"/>
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<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
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</inertial>
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</link>
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<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 .096"/>
|
|
<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 .199"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .199"/>
|
|
</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 .095 .0"/>
|
|
<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 .200"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .200"/>
|
|
</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 .096"/>
|
|
<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 .199"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .199"/>
|
|
</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 .095 0"/>
|
|
<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 .200"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .200"/>
|
|
</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 .096"/>
|
|
<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 .199"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .199"/>
|
|
</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 .095 0"/>
|
|
<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 .200"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .200"/>
|
|
</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 .096"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
</robot>
|