Add bullet thirdparty library
This commit is contained in:
Dane Johnson
BIN
thirdparty/bullet/data/quadruped/LOG00076.TXT
vendored
Normal file
BIN
thirdparty/bullet/data/quadruped/LOG00076.TXT
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Binary file not shown.
27
thirdparty/bullet/data/quadruped/license.txt
vendored
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27
thirdparty/bullet/data/quadruped/license.txt
vendored
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@@ -0,0 +1,27 @@
|
||||
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.
|
||||
929
thirdparty/bullet/data/quadruped/minitaur.urdf
vendored
Normal file
929
thirdparty/bullet/data/quadruped/minitaur.urdf
vendored
Normal file
@@ -0,0 +1,929 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--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 0.10 .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=".33 0.10 .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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 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="0.026" 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_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="0.21 0.025 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>
|
||||
<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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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="revolute">
|
||||
<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 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
1073
thirdparty/bullet/data/quadruped/minitaur_derpy.urdf
vendored
Normal file
1073
thirdparty/bullet/data/quadruped/minitaur_derpy.urdf
vendored
Normal file
File diff suppressed because it is too large
Load Diff
913
thirdparty/bullet/data/quadruped/minitaur_fixed_all.urdf
vendored
Normal file
913
thirdparty/bullet/data/quadruped/minitaur_fixed_all.urdf
vendored
Normal file
@@ -0,0 +1,913 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--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>
|
||||
|
||||
929
thirdparty/bullet/data/quadruped/minitaur_fixed_knees.urdf
vendored
Normal file
929
thirdparty/bullet/data/quadruped/minitaur_fixed_knees.urdf
vendored
Normal file
@@ -0,0 +1,929 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
<stiffness value="10000"/>
|
||||
<damping value="10"/>
|
||||
<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>
|
||||
|
||||
914
thirdparty/bullet/data/quadruped/minitaur_rainbow_dash.urdf
vendored
Normal file
914
thirdparty/bullet/data/quadruped/minitaur_rainbow_dash.urdf
vendored
Normal file
@@ -0,0 +1,914 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".3 .13 .087"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba=".3 .3 .3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz=".10 0 .08"/>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".3 .13 .087"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz=".10 0 .08"/>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".05 0 0"/>
|
||||
<mass value="3.353"/>
|
||||
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.32"/>
|
||||
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.32"/>
|
||||
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
980
thirdparty/bullet/data/quadruped/minitaur_rainbow_dash_v1.urdf
vendored
Normal file
980
thirdparty/bullet/data/quadruped/minitaur_rainbow_dash_v1.urdf
vendored
Normal file
@@ -0,0 +1,980 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="quadruped">
|
||||
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".3 .13 .087"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba=".3 .3 .3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".3 .13 .087"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".05 0 0"/>
|
||||
<mass value="3.353"/>
|
||||
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="chassis_right">
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="yellow">
|
||||
<color rgba="1 1 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.322"/>
|
||||
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="green">
|
||||
<color rgba="0 1 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.322"/>
|
||||
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_rightR_bracket_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="1 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
|
||||
<mass value=".16"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_bracket_joint" type="prismatic">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_rightR_bracket_link"/>
|
||||
<origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/>
|
||||
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_bracket_link"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_rightL_link">
|
||||
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_front_leftL_bracket_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="1 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0"/>
|
||||
<mass value=".16"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_bracket_joint" type="prismatic">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_leftL_bracket_link"/>
|
||||
<origin rpy="0 0 0" xyz=".2375 0.154 -.0185"/>
|
||||
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_bracket_link"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_rightR_bracket_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="1 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
|
||||
<mass value=".16"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_bracket_joint" type="prismatic">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_rightR_bracket_link"/>
|
||||
<origin rpy="0 0 0" xyz="-.2375 -0.154 -.0185"/>
|
||||
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white1">
|
||||
<color rgba="1 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_bracket_link"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_leftL_bracket_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="1 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0"/>
|
||||
<geometry>
|
||||
<box size=".068 .032 .050"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0"/>
|
||||
<mass value=".16"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_bracket_joint" type="prismatic">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_leftL_bracket_link"/>
|
||||
<origin rpy="0 0 0" xyz="-.2375 0.154 -.0185"/>
|
||||
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_bracket_link"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".241"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
||||
<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_rightR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_rightL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_leftR_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftR_link"/>
|
||||
<child link="upper_leg_back_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftR_link"/>
|
||||
<child link="lower_leg_back_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".039 .008 .129"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".034"/>
|
||||
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_back_leftL_joint" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftL_link"/>
|
||||
<child link="upper_leg_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".05"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba=".65 .65 .75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .240"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<mass value=".086"/>
|
||||
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_leftL_link"/>
|
||||
<child link="lower_leg_back_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
203
thirdparty/bullet/data/quadruped/minitaur_single_motor.urdf
vendored
Normal file
203
thirdparty/bullet/data/quadruped/minitaur_single_motor.urdf
vendored
Normal file
@@ -0,0 +1,203 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--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 0.10 .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=".33 0.10 .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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
958
thirdparty/bullet/data/quadruped/minitaur_v1.urdf
vendored
Normal file
958
thirdparty/bullet/data/quadruped/minitaur_v1.urdf
vendored
Normal file
@@ -0,0 +1,958 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!--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 0.10 .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=".33 0.10 .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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 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="0.026" 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_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="0.21 0.025 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 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>
|
||||
<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 .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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="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 .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>
|
||||
<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 .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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="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 .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>
|
||||
<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 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>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<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="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 .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>
|
||||
<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 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>
|
||||
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
||||
<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="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 .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>
|
||||
<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 .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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="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 .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>
|
||||
<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 .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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="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 .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>
|
||||
<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 .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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="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 .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>
|
||||
<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 .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>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<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="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 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
712
thirdparty/bullet/data/quadruped/quadruped.urdf
vendored
Normal file
712
thirdparty/bullet/data/quadruped/quadruped.urdf
vendored
Normal file
@@ -0,0 +1,712 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".226 0.16 .07"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".226 0.16 .07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.2"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 -0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0.21 0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 -0.06 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 0.125 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.026" radius="0.0434"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</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="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-0.21 0.06 0"/>
|
||||
<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 -0.02"/>
|
||||
<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 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftR_link">
|
||||
<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_leftR_link" type="revolute">
|
||||
<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 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_leftL_link">
|
||||
<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="revolute">
|
||||
<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 0.0 .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 -0.02"/>
|
||||
<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 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftR_link">
|
||||
<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_leftR_link" type="revolute">
|
||||
<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 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<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_leftL_link" type="revolute">
|
||||
<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 0.0 .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 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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||||
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
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vendored
Normal file
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vendored
Normal file
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|
After Width: | Height: | Size: 153 KiB |
BIN
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19
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||||
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vendored
Normal file
@@ -0,0 +1,325 @@
|
||||
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||||
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||||
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||||
vn 0.0000 0.0000 -1.0000
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||||
usemtl None
|
||||
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|
||||
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12
thirdparty/bullet/data/quadruped/vision/chassis.mtl
vendored
Normal file
12
thirdparty/bullet/data/quadruped/vision/chassis.mtl
vendored
Normal file
@@ -0,0 +1,12 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
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|
||||
newmtl None.002
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Ns 0.000000
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Ks 0.800000 0.800000 0.800000
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Ke 0.000000 0.000000 0.000000
|
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Ni 1.000000
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d 1.000000
|
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illum 2
|
||||
32
thirdparty/bullet/data/quadruped/vision/chassis.obj
vendored
Normal file
32
thirdparty/bullet/data/quadruped/vision/chassis.obj
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib chassis.mtl
|
||||
o Cube.002
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v -0.150000 0.065000 -0.043500
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v -0.150000 -0.065000 -0.043500
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v -0.150000 0.065000 0.043500
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v 0.150000 0.065000 0.043500
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|
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v 0.150000 -0.065000 0.043500
|
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vn -1.0000 -0.0000 0.0000
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vn -0.0000 1.0000 0.0000
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vn 1.0000 0.0000 0.0000
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vn 0.0000 -1.0000 0.0000
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vn -0.0000 0.0000 -1.0000
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vn -0.0000 0.0000 1.0000
|
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usemtl None.002
|
||||
s 1
|
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f 1//1 2//1 3//1
|
||||
f 4//2 5//2 2//2
|
||||
f 6//3 7//3 5//3
|
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f 8//4 3//4 7//4
|
||||
f 5//5 3//5 2//5
|
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f 4//6 8//6 6//6
|
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f 1//1 4//1 2//1
|
||||
f 4//2 6//2 5//2
|
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f 6//3 8//3 7//3
|
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f 8//4 1//4 3//4
|
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f 5//5 7//5 3//5
|
||||
f 4//6 1//6 8//6
|
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10
thirdparty/bullet/data/quadruped/vision/chassis2.mtl
vendored
Normal file
10
thirdparty/bullet/data/quadruped/vision/chassis2.mtl
vendored
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
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Ka 0.000000 0.000000 0.000000
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Kd 0.8 0.8 0.8
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Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
1906
thirdparty/bullet/data/quadruped/vision/chassis2.obj
vendored
Normal file
1906
thirdparty/bullet/data/quadruped/vision/chassis2.obj
vendored
Normal file
File diff suppressed because it is too large
Load Diff
BIN
thirdparty/bullet/data/quadruped/vision/checker_blue.png
vendored
Normal file
BIN
thirdparty/bullet/data/quadruped/vision/checker_blue.png
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 6.2 KiB |
BIN
thirdparty/bullet/data/quadruped/vision/t-motor.jpg
vendored
Normal file
BIN
thirdparty/bullet/data/quadruped/vision/t-motor.jpg
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 153 KiB |
BIN
thirdparty/bullet/data/quadruped/vision/tmotor.blend
vendored
Normal file
BIN
thirdparty/bullet/data/quadruped/vision/tmotor.blend
vendored
Normal file
Binary file not shown.
19
thirdparty/bullet/data/quadruped/vision/tmotor3.mtl
vendored
Normal file
19
thirdparty/bullet/data/quadruped/vision/tmotor3.mtl
vendored
Normal file
@@ -0,0 +1,19 @@
|
||||
# Blender MTL File: 'tmotor.blend'
|
||||
# Material Count: 2
|
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|
||||
newmtl None
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Ka 0.000000 0.000000 0.000000
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Kd 0.8 0.8 0.8
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Ks 0.8 0.8 0.8
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d 1
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illum 2
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map_Kd t-motor.jpg
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|
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newmtl None_NONE
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Ns 0
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Kd 0.8 0.8 0.8
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Ks 0.8 0.8 0.8
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d 1
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illum 2
|
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325
thirdparty/bullet/data/quadruped/vision/tmotor3.obj
vendored
Normal file
325
thirdparty/bullet/data/quadruped/vision/tmotor3.obj
vendored
Normal file
@@ -0,0 +1,325 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: 'tmotor.blend'
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# www.blender.org
|
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mtllib tmotor3.mtl
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|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vt 0.0000 0.0000
|
||||
vn 0.0000 0.0000 1.0000
|
||||
vn 0.0980 0.9952 0.0000
|
||||
vn 0.2903 0.9569 0.0000
|
||||
vn 0.4714 0.8819 0.0000
|
||||
vn 0.6344 0.7730 0.0000
|
||||
vn 0.7730 0.6344 0.0000
|
||||
vn 0.8819 0.4714 0.0000
|
||||
vn 0.9569 0.2903 0.0000
|
||||
vn 0.9952 0.0980 0.0000
|
||||
vn 0.9952 -0.0980 0.0000
|
||||
vn 0.9569 -0.2903 0.0000
|
||||
vn 0.8819 -0.4714 0.0000
|
||||
vn 0.7730 -0.6344 0.0000
|
||||
vn 0.6344 -0.7730 0.0000
|
||||
vn 0.4714 -0.8819 0.0000
|
||||
vn 0.2903 -0.9569 0.0000
|
||||
vn 0.0980 -0.9952 0.0000
|
||||
vn -0.0980 -0.9952 0.0000
|
||||
vn -0.2903 -0.9569 0.0000
|
||||
vn -0.4714 -0.8819 0.0000
|
||||
vn -0.6344 -0.7730 0.0000
|
||||
vn -0.7730 -0.6344 0.0000
|
||||
vn -0.8819 -0.4714 0.0000
|
||||
vn -0.9569 -0.2903 0.0000
|
||||
vn -0.9952 -0.0980 0.0000
|
||||
vn -0.9952 0.0980 0.0000
|
||||
vn -0.9569 0.2903 0.0000
|
||||
vn -0.8819 0.4714 0.0000
|
||||
vn -0.7730 0.6344 0.0000
|
||||
vn -0.6344 0.7730 0.0000
|
||||
vn -0.4714 0.8819 0.0000
|
||||
vn -0.2903 0.9569 0.0000
|
||||
vn -0.0980 0.9952 0.0000
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
usemtl None
|
||||
s off
|
||||
f 30/1/1 22/2/1 6/3/1
|
||||
f 6/3/1 4/4/1 62/5/1
|
||||
f 2/6/1 64/7/1 62/5/1
|
||||
f 62/5/1 60/8/1 58/9/1
|
||||
f 58/9/1 56/10/1 54/11/1
|
||||
f 54/11/1 52/12/1 50/13/1
|
||||
f 50/13/1 48/14/1 54/11/1
|
||||
f 46/15/1 44/16/1 42/17/1
|
||||
f 42/17/1 40/18/1 38/19/1
|
||||
f 38/19/1 36/20/1 34/21/1
|
||||
f 34/21/1 32/22/1 38/19/1
|
||||
f 30/1/1 28/23/1 26/24/1
|
||||
f 26/24/1 24/25/1 22/2/1
|
||||
f 22/2/1 20/26/1 18/27/1
|
||||
f 18/27/1 16/28/1 22/2/1
|
||||
f 14/29/1 12/30/1 10/31/1
|
||||
f 10/31/1 8/32/1 6/3/1
|
||||
f 4/4/1 2/6/1 62/5/1
|
||||
f 62/5/1 58/9/1 6/3/1
|
||||
f 54/11/1 48/14/1 46/15/1
|
||||
f 46/15/1 42/17/1 54/11/1
|
||||
f 38/19/1 32/22/1 30/1/1
|
||||
f 30/1/1 26/24/1 22/2/1
|
||||
f 22/2/1 16/28/1 14/29/1
|
||||
f 14/29/1 10/31/1 22/2/1
|
||||
f 6/3/1 58/9/1 54/11/1
|
||||
f 54/11/1 42/17/1 38/19/1
|
||||
f 38/19/1 30/1/1 6/3/1
|
||||
f 22/2/1 10/31/1 6/3/1
|
||||
f 6/3/1 54/11/1 38/19/1
|
||||
usemtl None
|
||||
f 2/33/2 3/34/2 1/35/2
|
||||
f 4/36/3 5/37/3 3/34/3
|
||||
f 6/38/4 7/39/4 5/37/4
|
||||
f 8/40/5 9/41/5 7/39/5
|
||||
f 10/42/6 11/43/6 9/41/6
|
||||
f 12/44/7 13/45/7 11/43/7
|
||||
f 14/46/8 15/47/8 13/45/8
|
||||
f 16/48/9 17/49/9 15/47/9
|
||||
f 18/50/10 19/51/10 17/49/10
|
||||
f 20/52/11 21/53/11 19/51/11
|
||||
f 22/54/12 23/55/12 21/53/12
|
||||
f 24/56/13 25/57/13 23/55/13
|
||||
f 26/58/14 27/59/14 25/57/14
|
||||
f 28/60/15 29/61/15 27/59/15
|
||||
f 30/62/16 31/63/16 29/61/16
|
||||
f 32/64/17 33/65/17 31/63/17
|
||||
f 34/66/18 35/67/18 33/65/18
|
||||
f 36/68/19 37/69/19 35/67/19
|
||||
f 38/70/20 39/71/20 37/69/20
|
||||
f 40/72/21 41/73/21 39/71/21
|
||||
f 42/74/22 43/75/22 41/73/22
|
||||
f 44/76/23 45/77/23 43/75/23
|
||||
f 46/78/24 47/79/24 45/77/24
|
||||
f 48/80/25 49/81/25 47/79/25
|
||||
f 50/82/26 51/83/26 49/81/26
|
||||
f 52/84/27 53/85/27 51/83/27
|
||||
f 54/86/28 55/87/28 53/85/28
|
||||
f 56/88/29 57/89/29 55/87/29
|
||||
f 58/90/30 59/91/30 57/89/30
|
||||
f 60/92/31 61/93/31 59/91/31
|
||||
f 62/94/32 63/95/32 61/93/32
|
||||
f 64/96/33 1/35/33 63/95/33
|
||||
f 31/63/34 55/87/34 63/95/34
|
||||
f 2/33/2 4/36/2 3/34/2
|
||||
f 4/36/3 6/38/3 5/37/3
|
||||
f 6/38/4 8/40/4 7/39/4
|
||||
f 8/40/5 10/42/5 9/41/5
|
||||
f 10/42/6 12/44/6 11/43/6
|
||||
f 12/44/7 14/46/7 13/45/7
|
||||
f 14/46/8 16/48/8 15/47/8
|
||||
f 16/48/9 18/50/9 17/49/9
|
||||
f 18/50/10 20/52/10 19/51/10
|
||||
f 20/52/11 22/54/11 21/53/11
|
||||
f 22/54/12 24/56/12 23/55/12
|
||||
f 24/56/13 26/58/13 25/57/13
|
||||
f 26/58/14 28/60/14 27/59/14
|
||||
f 28/60/15 30/62/15 29/61/15
|
||||
f 30/62/16 32/64/16 31/63/16
|
||||
f 32/64/17 34/66/17 33/65/17
|
||||
f 34/66/18 36/68/18 35/67/18
|
||||
f 36/68/19 38/70/19 37/69/19
|
||||
f 38/70/20 40/72/20 39/71/20
|
||||
f 40/72/21 42/74/21 41/73/21
|
||||
f 42/74/22 44/76/22 43/75/22
|
||||
f 44/76/23 46/78/23 45/77/23
|
||||
f 46/78/24 48/80/24 47/79/24
|
||||
f 48/80/25 50/82/25 49/81/25
|
||||
f 50/82/26 52/84/26 51/83/26
|
||||
f 52/84/27 54/86/27 53/85/27
|
||||
f 54/86/28 56/88/28 55/87/28
|
||||
f 56/88/29 58/90/29 57/89/29
|
||||
f 58/90/30 60/92/30 59/91/30
|
||||
f 60/92/31 62/94/31 61/93/31
|
||||
f 62/94/32 64/96/32 63/95/32
|
||||
f 64/96/33 2/33/33 1/35/33
|
||||
f 63/95/34 1/35/34 3/34/34
|
||||
f 3/34/34 5/37/34 7/39/34
|
||||
f 7/39/34 9/41/34 15/47/34
|
||||
f 11/43/34 13/45/34 15/47/34
|
||||
f 15/47/34 17/49/34 19/51/34
|
||||
f 19/51/34 21/53/34 23/55/34
|
||||
f 23/55/34 25/57/34 31/63/34
|
||||
f 27/59/34 29/61/34 31/63/34
|
||||
f 31/63/34 33/65/34 35/67/34
|
||||
f 35/67/34 37/69/34 31/63/34
|
||||
f 39/71/34 41/73/34 47/79/34
|
||||
f 43/75/34 45/77/34 47/79/34
|
||||
f 47/79/34 49/81/34 51/83/34
|
||||
f 51/83/34 53/85/34 55/87/34
|
||||
f 55/87/34 57/89/34 63/95/34
|
||||
f 59/91/34 61/93/34 63/95/34
|
||||
f 63/95/34 3/34/34 15/47/34
|
||||
f 9/41/34 11/43/34 15/47/34
|
||||
f 15/47/34 19/51/34 31/63/34
|
||||
f 25/57/34 27/59/34 31/63/34
|
||||
f 31/63/34 37/69/34 39/71/34
|
||||
f 41/73/34 43/75/34 47/79/34
|
||||
f 47/79/34 51/83/34 55/87/34
|
||||
f 57/89/34 59/91/34 63/95/34
|
||||
f 3/34/34 7/39/34 15/47/34
|
||||
f 19/51/34 23/55/34 31/63/34
|
||||
f 31/63/34 39/71/34 47/79/34
|
||||
f 47/79/34 55/87/34 31/63/34
|
||||
f 63/95/34 15/47/34 31/63/34
|
||||
341
thirdparty/bullet/data/quadruped/vision/vision.py
vendored
Normal file
341
thirdparty/bullet/data/quadruped/vision/vision.py
vendored
Normal file
@@ -0,0 +1,341 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
import math
|
||||
|
||||
pi = 3.14159264
|
||||
limitVal = 2 * pi
|
||||
legpos = 3. / 4. * pi
|
||||
legposS = 0
|
||||
legposSright = 0 #-0.3
|
||||
legposSleft = 0 #0.3
|
||||
|
||||
defaultERP = 0.4
|
||||
maxMotorForce = 5000
|
||||
maxGearForce = 10000
|
||||
jointFriction = 0.1
|
||||
|
||||
p.connect(p.GUI)
|
||||
|
||||
amplitudeId = p.addUserDebugParameter("amplitude", 0, 3.14, 0.5)
|
||||
timeScaleId = p.addUserDebugParameter("timeScale", 0, 10, 1)
|
||||
|
||||
jointTypeNames = {}
|
||||
jointTypeNames[p.JOINT_REVOLUTE] = "JOINT_REVOLUTE"
|
||||
jointTypeNames[p.JOINT_FIXED] = "JOINT_FIXED"
|
||||
p.setPhysicsEngineParameter(numSolverIterations=100)
|
||||
p.loadURDF("plane_transparent.urdf", useMaximalCoordinates=True)
|
||||
#disable rendering during creation.
|
||||
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION, 1)
|
||||
|
||||
jointNamesToIndex = {}
|
||||
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
|
||||
vision = p.loadURDF("vision60.urdf", [0, 0, 0.4], useFixedBase=False)
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
|
||||
|
||||
for j in range(p.getNumJoints(vision)):
|
||||
jointInfo = p.getJointInfo(vision, j)
|
||||
jointInfoName = jointInfo[1].decode("utf-8")
|
||||
print("joint ", j, " = ", jointInfoName, "type=", jointTypeNames[jointInfo[2]])
|
||||
jointNamesToIndex[jointInfoName] = j
|
||||
#print("jointNamesToIndex[..]=",jointNamesToIndex[jointInfoName])
|
||||
p.setJointMotorControl2(vision, j, p.VELOCITY_CONTROL, targetVelocity=0, force=jointFriction)
|
||||
|
||||
chassis_right_center = jointNamesToIndex['chassis_right_center']
|
||||
motor_front_rightR_joint = jointNamesToIndex['motor_front_rightR_joint']
|
||||
motor_front_rightS_joint = jointNamesToIndex['motor_front_rightS_joint']
|
||||
hip_front_rightR_joint = jointNamesToIndex['hip_front_rightR_joint']
|
||||
knee_front_rightR_joint = jointNamesToIndex['knee_front_rightR_joint']
|
||||
motor_front_rightL_joint = jointNamesToIndex['motor_front_rightL_joint']
|
||||
motor_back_rightR_joint = jointNamesToIndex['motor_back_rightR_joint']
|
||||
motor_back_rightS_joint = jointNamesToIndex['motor_back_rightS_joint']
|
||||
hip_back_rightR_joint = jointNamesToIndex['hip_back_rightR_joint']
|
||||
knee_back_rightR_joint = jointNamesToIndex['knee_back_rightR_joint']
|
||||
motor_back_rightL_joint = jointNamesToIndex['motor_back_rightL_joint']
|
||||
chassis_left_center = jointNamesToIndex['chassis_left_center']
|
||||
motor_front_leftL_joint = jointNamesToIndex['motor_front_leftL_joint']
|
||||
motor_front_leftS_joint = jointNamesToIndex['motor_front_leftS_joint']
|
||||
hip_front_leftL_joint = jointNamesToIndex['hip_front_leftL_joint']
|
||||
knee_front_leftL_joint = jointNamesToIndex['knee_front_leftL_joint']
|
||||
motor_front_leftR_joint = jointNamesToIndex['motor_front_leftR_joint']
|
||||
motor_back_leftL_joint = jointNamesToIndex['motor_back_leftL_joint']
|
||||
hip_back_leftL_joint = jointNamesToIndex['hip_back_leftL_joint']
|
||||
knee_back_leftL_joint = jointNamesToIndex['knee_back_leftL_joint']
|
||||
motor_back_leftR_joint = jointNamesToIndex['motor_back_leftR_joint']
|
||||
motor_back_leftS_joint = jointNamesToIndex['motor_back_leftS_joint']
|
||||
|
||||
motA_rf_Id = p.addUserDebugParameter("motA_rf", -limitVal, limitVal, legpos)
|
||||
motB_rf_Id = p.addUserDebugParameter("motB_rf", -limitVal, limitVal, legpos)
|
||||
motC_rf_Id = p.addUserDebugParameter("motC_rf", -limitVal, limitVal, legposSright)
|
||||
erp_rf_Id = p.addUserDebugParameter("erp_rf", 0, 1, defaultERP)
|
||||
relPosTarget_rf_Id = p.addUserDebugParameter("relPosTarget_rf", -limitVal, limitVal, 0)
|
||||
|
||||
motA_lf_Id = p.addUserDebugParameter("motA_lf", -limitVal, limitVal, -legpos)
|
||||
motB_lf_Id = p.addUserDebugParameter("motB_lf", -limitVal, limitVal, -legpos)
|
||||
motC_lf_Id = p.addUserDebugParameter("motC_lf", -limitVal, limitVal, legposSleft)
|
||||
|
||||
erp_lf_Id = p.addUserDebugParameter("erp_lf", 0, 1, defaultERP)
|
||||
relPosTarget_lf_Id = p.addUserDebugParameter("relPosTarget_lf", -limitVal, limitVal, 0)
|
||||
|
||||
motA_rb_Id = p.addUserDebugParameter("motA_rb", -limitVal, limitVal, legpos)
|
||||
motB_rb_Id = p.addUserDebugParameter("motB_rb", -limitVal, limitVal, legpos)
|
||||
motC_rb_Id = p.addUserDebugParameter("motC_rb", -limitVal, limitVal, legposSright)
|
||||
|
||||
erp_rb_Id = p.addUserDebugParameter("erp_rb", 0, 1, defaultERP)
|
||||
relPosTarget_rb_Id = p.addUserDebugParameter("relPosTarget_rb", -limitVal, limitVal, 0)
|
||||
|
||||
motA_lb_Id = p.addUserDebugParameter("motA_lb", -limitVal, limitVal, -legpos)
|
||||
motB_lb_Id = p.addUserDebugParameter("motB_lb", -limitVal, limitVal, -legpos)
|
||||
motC_lb_Id = p.addUserDebugParameter("motC_lb", -limitVal, limitVal, legposSleft)
|
||||
|
||||
erp_lb_Id = p.addUserDebugParameter("erp_lb", 0, 1, defaultERP)
|
||||
relPosTarget_lb_Id = p.addUserDebugParameter("relPosTarget_lb", -limitVal, limitVal, 0)
|
||||
|
||||
camTargetPos = [0.25, 0.62, -0.15]
|
||||
camDist = 2
|
||||
camYaw = -2
|
||||
camPitch = -16
|
||||
p.resetDebugVisualizerCamera(camDist, camYaw, camPitch, camTargetPos)
|
||||
|
||||
c_rf = p.createConstraint(vision,
|
||||
knee_front_rightR_joint,
|
||||
vision,
|
||||
motor_front_rightL_joint,
|
||||
jointType=p.JOINT_GEAR,
|
||||
jointAxis=[0, 1, 0],
|
||||
parentFramePosition=[0, 0, 0],
|
||||
childFramePosition=[0, 0, 0])
|
||||
p.changeConstraint(c_rf, gearRatio=-1, gearAuxLink=motor_front_rightR_joint, maxForce=maxGearForce)
|
||||
|
||||
c_lf = p.createConstraint(vision,
|
||||
knee_front_leftL_joint,
|
||||
vision,
|
||||
motor_front_leftR_joint,
|
||||
jointType=p.JOINT_GEAR,
|
||||
jointAxis=[0, 1, 0],
|
||||
parentFramePosition=[0, 0, 0],
|
||||
childFramePosition=[0, 0, 0])
|
||||
p.changeConstraint(c_lf, gearRatio=-1, gearAuxLink=motor_front_leftL_joint, maxForce=maxGearForce)
|
||||
|
||||
c_rb = p.createConstraint(vision,
|
||||
knee_back_rightR_joint,
|
||||
vision,
|
||||
motor_back_rightL_joint,
|
||||
jointType=p.JOINT_GEAR,
|
||||
jointAxis=[0, 1, 0],
|
||||
parentFramePosition=[0, 0, 0],
|
||||
childFramePosition=[0, 0, 0])
|
||||
p.changeConstraint(c_rb, gearRatio=-1, gearAuxLink=motor_back_rightR_joint, maxForce=maxGearForce)
|
||||
|
||||
c_lb = p.createConstraint(vision,
|
||||
knee_back_leftL_joint,
|
||||
vision,
|
||||
motor_back_leftR_joint,
|
||||
jointType=p.JOINT_GEAR,
|
||||
jointAxis=[0, 1, 0],
|
||||
parentFramePosition=[0, 0, 0],
|
||||
childFramePosition=[0, 0, 0])
|
||||
p.changeConstraint(c_lb, gearRatio=-1, gearAuxLink=motor_back_leftL_joint, maxForce=maxGearForce)
|
||||
|
||||
p.setRealTimeSimulation(1)
|
||||
for i in range(1):
|
||||
#while (1):
|
||||
motA_rf = p.readUserDebugParameter(motA_rf_Id)
|
||||
motB_rf = p.readUserDebugParameter(motB_rf_Id)
|
||||
motC_rf = p.readUserDebugParameter(motC_rf_Id)
|
||||
erp_rf = p.readUserDebugParameter(erp_rf_Id)
|
||||
relPosTarget_rf = p.readUserDebugParameter(relPosTarget_rf_Id)
|
||||
#motC_rf
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_rightR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_rf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_rightL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_rf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_rightS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_rf,
|
||||
force=maxMotorForce)
|
||||
p.changeConstraint(c_rf,
|
||||
gearRatio=-1,
|
||||
gearAuxLink=motor_front_rightR_joint,
|
||||
erp=erp_rf,
|
||||
relativePositionTarget=relPosTarget_rf,
|
||||
maxForce=maxGearForce)
|
||||
|
||||
motA_lf = p.readUserDebugParameter(motA_lf_Id)
|
||||
motB_lf = p.readUserDebugParameter(motB_lf_Id)
|
||||
motC_lf = p.readUserDebugParameter(motC_lf_Id)
|
||||
erp_lf = p.readUserDebugParameter(erp_lf_Id)
|
||||
relPosTarget_lf = p.readUserDebugParameter(relPosTarget_lf_Id)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_leftL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_lf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_leftR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_lf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_leftS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_lf,
|
||||
force=maxMotorForce)
|
||||
p.changeConstraint(c_lf,
|
||||
gearRatio=-1,
|
||||
gearAuxLink=motor_front_leftL_joint,
|
||||
erp=erp_lf,
|
||||
relativePositionTarget=relPosTarget_lf,
|
||||
maxForce=maxGearForce)
|
||||
|
||||
motA_rb = p.readUserDebugParameter(motA_rb_Id)
|
||||
motB_rb = p.readUserDebugParameter(motB_rb_Id)
|
||||
motC_rb = p.readUserDebugParameter(motC_rb_Id)
|
||||
erp_rb = p.readUserDebugParameter(erp_rb_Id)
|
||||
relPosTarget_rb = p.readUserDebugParameter(relPosTarget_rb_Id)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_rightR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_rb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_rightL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_rb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_rightS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_rb,
|
||||
force=maxMotorForce)
|
||||
p.changeConstraint(c_rb,
|
||||
gearRatio=-1,
|
||||
gearAuxLink=motor_back_rightR_joint,
|
||||
erp=erp_rb,
|
||||
relativePositionTarget=relPosTarget_rb,
|
||||
maxForce=maxGearForce)
|
||||
|
||||
motA_lb = p.readUserDebugParameter(motA_lb_Id)
|
||||
motB_lb = p.readUserDebugParameter(motB_lb_Id)
|
||||
motC_lb = p.readUserDebugParameter(motC_lb_Id)
|
||||
erp_lb = p.readUserDebugParameter(erp_lb_Id)
|
||||
relPosTarget_lb = p.readUserDebugParameter(relPosTarget_lb_Id)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_leftL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_lb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_leftR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_lb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_leftS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_lb,
|
||||
force=maxMotorForce)
|
||||
p.changeConstraint(c_lb,
|
||||
gearRatio=-1,
|
||||
gearAuxLink=motor_back_leftL_joint,
|
||||
erp=erp_lb,
|
||||
relativePositionTarget=relPosTarget_lb,
|
||||
maxForce=maxGearForce)
|
||||
|
||||
p.setGravity(0, 0, -10)
|
||||
time.sleep(1. / 240.)
|
||||
t = 0
|
||||
prevTime = time.time()
|
||||
while (1):
|
||||
timeScale = p.readUserDebugParameter(timeScaleId)
|
||||
amplitude = p.readUserDebugParameter(amplitudeId)
|
||||
newTime = time.time()
|
||||
dt = (newTime - prevTime) * timeScale
|
||||
t = t + dt
|
||||
prevTime = newTime
|
||||
|
||||
amp = amplitude
|
||||
motA_rf = math.sin(t) * amp + legpos
|
||||
motA_rb = math.sin(t) * amp + legpos
|
||||
motA_lf = -(math.sin(t) * amp + legpos)
|
||||
motA_lb = -(math.sin(t) * amp + legpos)
|
||||
|
||||
motB_rf = math.sin(t) * amp + legpos
|
||||
motB_rb = math.sin(t) * amp + legpos
|
||||
motB_lf = -(math.sin(t) * amp + legpos)
|
||||
motB_lb = -(math.sin(t) * amp + legpos)
|
||||
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_rightR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_rf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_rightL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_rf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_rightS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_rf,
|
||||
force=maxMotorForce)
|
||||
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_leftL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_lf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_leftR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_lf,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_front_leftS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_lf,
|
||||
force=maxMotorForce)
|
||||
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_rightR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_rb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_rightL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_rb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_rightS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_rb,
|
||||
force=maxMotorForce)
|
||||
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_leftL_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motA_lb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_leftR_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motB_lb,
|
||||
force=maxMotorForce)
|
||||
p.setJointMotorControl2(vision,
|
||||
motor_back_leftS_joint,
|
||||
p.POSITION_CONTROL,
|
||||
targetPosition=motC_lb,
|
||||
force=maxMotorForce)
|
||||
|
||||
p.setGravity(0, 0, -10)
|
||||
time.sleep(1. / 240.)
|
||||
696
thirdparty/bullet/data/quadruped/vision/vision60.urdf
vendored
Normal file
696
thirdparty/bullet/data/quadruped/vision/vision60.urdf
vendored
Normal file
@@ -0,0 +1,696 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="quadruped">
|
||||
<link name="base_chassis_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="chassis.obj" scale="1 1 1"/>
|
||||
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba=".3 .3 .3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".3 .13 .087"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".05 0 0"/>
|
||||
<mass value="3.353"/>
|
||||
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="chassis_right">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="chassis2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="yellow">
|
||||
<color rgba=".7 .7 .3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="chassis2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="1.32"/>
|
||||
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_right_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_right"/>
|
||||
<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_rightS_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="motor_front_rightS_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_front_rightS_link"/>
|
||||
<origin rpy="0 1.57075 0" xyz=".1375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_rightS_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="motor_back_rightS_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightS_link"/>
|
||||
<origin rpy="0 1.57075 0" xyz="-.1375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="chassis_left">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="chassis2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="yellow"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="chassis2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="1.32"/>
|
||||
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_left_center" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="base_chassis_link"/>
|
||||
<child link="chassis_left"/>
|
||||
<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftS_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="motor_front_leftS_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_front_leftS_link"/>
|
||||
<origin rpy="0 1.57075 0" xyz=".1375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_back_leftS_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".05" radius=".01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="motor_back_leftS_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftS_link"/>
|
||||
<origin rpy="0 1.57075 0" xyz="-.1375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="motor_front_rightR_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightS_link"/>
|
||||
<child link="motor_front_rightR_link"/>
|
||||
<origin rpy="1.57075 -1.57075 0" xyz="0 0 0.1"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightS_link"/>
|
||||
<child link="motor_front_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="0 0.01 .1"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="motor_front_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="motor_front_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftS_link"/>
|
||||
<child link="motor_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 1.57075 0" xyz="0 0 0.1"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="motor_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftS_link"/>
|
||||
<child link="motor_front_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="0 0 0.1"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="motor_back_rightR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightS_link"/>
|
||||
<child link="motor_back_rightR_link"/>
|
||||
<origin rpy="1.57075 -1.57075 0" xyz="0 0 -0.1"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_right"/>
|
||||
<child link="motor_back_rightL_link"/>
|
||||
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_leftL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="motor_back_leftL_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_leftS_link"/>
|
||||
<child link="motor_back_leftL_link"/>
|
||||
<origin rpy="-1.57075 1.57075 0" xyz="0 0 -0.1"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="motor_back_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".021" radius=".0425"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value=".072"/>
|
||||
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_leftR_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis_left"/>
|
||||
<child link="motor_back_leftR_link"/>
|
||||
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".039 .008 .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_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 0.095 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="3000.0"/>
|
||||
<damping value="100.0"/>
|
||||
<spinning_friction value=".3"/>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
||||
<geometry>
|
||||
<box size=".017 .009 .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_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>
|
||||
Reference in New Issue
Block a user