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Add bullet thirdparty library

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This commit is contained in:
Dane Johnson
2021-03-15 17:11:19 -05:00
parent a41fcbe7f4
commit 43d2daa899
1538 changed files with 2164827 additions and 9 deletions
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12
thirdparty/bullet/data/quadruped/vision/chassis.mtl vendored Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None.002
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

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thirdparty/bullet/data/quadruped/vision/chassis.obj vendored Normal file
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# Blender v2.78 (sub 0) OBJ File: ''
# www.blender.org
mtllib chassis.mtl
o Cube.002
v -0.150000 -0.065000 0.043500
v -0.150000 0.065000 -0.043500
v -0.150000 -0.065000 -0.043500
v -0.150000 0.065000 0.043500
v 0.150000 0.065000 -0.043500
v 0.150000 0.065000 0.043500
v 0.150000 -0.065000 -0.043500
v 0.150000 -0.065000 0.043500
vn -1.0000 -0.0000 0.0000
vn -0.0000 1.0000 0.0000
vn 1.0000 0.0000 0.0000
vn 0.0000 -1.0000 0.0000
vn -0.0000 0.0000 -1.0000
vn -0.0000 0.0000 1.0000
usemtl None.002
s 1
f 1//1 2//1 3//1
f 4//2 5//2 2//2
f 6//3 7//3 5//3
f 8//4 3//4 7//4
f 5//5 3//5 2//5
f 4//6 8//6 6//6
f 1//1 4//1 2//1
f 4//2 6//2 5//2
f 6//3 8//3 7//3
f 8//4 1//4 3//4
f 5//5 7//5 3//5
f 4//6 1//6 8//6

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thirdparty/bullet/data/quadruped/vision/chassis2.mtl vendored Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

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thirdparty/bullet/data/quadruped/vision/chassis2.obj vendored Normal file
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thirdparty/bullet/data/quadruped/vision/t-motor.jpg vendored Normal file
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thirdparty/bullet/data/quadruped/vision/tmotor.blend vendored Normal file
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thirdparty/bullet/data/quadruped/vision/tmotor3.mtl vendored Normal file
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# Blender MTL File: 'tmotor.blend'
# Material Count: 2
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd t-motor.jpg
newmtl None_NONE
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

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thirdparty/bullet/data/quadruped/vision/tmotor3.obj vendored Normal file
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# Blender v2.78 (sub 0) OBJ File: 'tmotor.blend'
# www.blender.org
mtllib tmotor3.mtl
o Cylinder
v 0.000000 0.043000 -0.006500
v 0.000000 0.043000 0.006500
v 0.008389 0.042174 -0.006500
v 0.008389 0.042174 0.006500
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v 0.016455 0.039727 0.006500
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v 0.023890 0.035753 0.006500
v 0.030406 0.030406 -0.006500
v 0.030406 0.030406 0.006500
v 0.035753 0.023890 -0.006500
v 0.035753 0.023890 0.006500
v 0.039727 0.016455 -0.006500
v 0.039727 0.016455 0.006500
v 0.042174 0.008389 -0.006500
v 0.042174 0.008389 0.006500
v 0.043000 0.000000 -0.006500
v 0.043000 0.000000 0.006500
v 0.042174 -0.008389 -0.006500
v 0.042174 -0.008389 0.006500
v 0.039727 -0.016455 -0.006500
v 0.039727 -0.016455 0.006500
v 0.035753 -0.023890 -0.006500
v 0.035753 -0.023890 0.006500
v 0.030406 -0.030406 -0.006500
v 0.030406 -0.030406 0.006500
v 0.023890 -0.035753 -0.006500
v 0.023890 -0.035753 0.006500
v 0.016455 -0.039727 -0.006500
v 0.016455 -0.039727 0.006500
v 0.008389 -0.042174 -0.006500
v 0.008389 -0.042174 0.006500
v -0.000000 -0.043000 -0.006500
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v -0.008389 -0.042174 -0.006500
v -0.008389 -0.042174 0.006500
v -0.016455 -0.039727 -0.006500
v -0.016455 -0.039727 0.006500
v -0.023890 -0.035753 -0.006500
v -0.023890 -0.035753 0.006500
v -0.030406 -0.030406 -0.006500
v -0.030406 -0.030406 0.006500
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v -0.035753 -0.023889 0.006500
v -0.039727 -0.016455 -0.006500
v -0.039727 -0.016455 0.006500
v -0.042174 -0.008389 -0.006500
v -0.042174 -0.008389 0.006500
v -0.043000 0.000000 -0.006500
v -0.043000 0.000000 0.006500
v -0.042174 0.008389 -0.006500
v -0.042174 0.008389 0.006500
v -0.039727 0.016455 -0.006500
v -0.039727 0.016455 0.006500
v -0.035753 0.023890 -0.006500
v -0.035753 0.023890 0.006500
v -0.030406 0.030406 -0.006500
v -0.030406 0.030406 0.006500
v -0.023889 0.035753 -0.006500
v -0.023889 0.035753 0.006500
v -0.016455 0.039727 -0.006500
v -0.016455 0.039727 0.006500
v -0.008389 0.042174 -0.006500
v -0.008389 0.042174 0.006500
vt 0.6520 0.1657
vt 0.8624 0.3762
vt 0.6520 0.8843
vt 0.5790 0.9064
vt 0.3543 0.8843
vt 0.5031 0.9139
vt 0.4273 0.9064
vt 0.2871 0.8484
vt 0.2281 0.8000
vt 0.1798 0.7411
vt 0.1438 0.6738
vt 0.1217 0.6009
vt 0.1142 0.5250
vt 0.1217 0.4491
vt 0.1438 0.3762
vt 0.1798 0.3089
vt 0.2281 0.2500
vt 0.2871 0.2016
vt 0.3543 0.1657
vt 0.4273 0.1436
vt 0.5031 0.1361
vt 0.5790 0.1436
vt 0.7192 0.2016
vt 0.7781 0.2500
vt 0.8265 0.3089
vt 0.8846 0.4491
vt 0.8920 0.5250
vt 0.8846 0.6009
vt 0.8624 0.6738
vt 0.8265 0.7411
vt 0.7781 0.8000
vt 0.7192 0.8484
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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
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vn -0.8819 0.4714 0.0000
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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
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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
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341
thirdparty/bullet/data/quadruped/vision/vision.py vendored Normal file
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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
View 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>