mirror of
https://github.com/bulletphysics/bullet3.git
synced 2026-10-16 22:05:41 +00:00
add spirit40 urdf file, compatible with
https://github.com/google-research/motion_imitation/pull/26
This commit is contained in:
Erwin Coumans
598
examples/pybullet/gym/pybullet_data/quadruped/spirit40newer.urdf
Normal file
598
examples/pybullet/gym/pybullet_data/quadruped/spirit40newer.urdf
Normal file
@@ -0,0 +1,598 @@
|
||||
<?xml version="1.0" ?>
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||||
<robot name="a1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="black">
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||||
<color rgba="0.0 0.0 0.0 1.0"/>
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||||
</material>
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||||
<material name="blue">
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||||
<color rgba="0.0 0.0 0.8 1.0"/>
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||||
</material>
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||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
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||||
</material>
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||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
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||||
</material>
|
||||
<material name="silver">
|
||||
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
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||||
</material>
|
||||
<material name="orange">
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||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
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||||
</material>
|
||||
<material name="brown">
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||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
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||||
</material>
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||||
<material name="red">
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||||
<color rgba="0.8 0.0 0.0 1.0"/>
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||||
</material>
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||||
<material name="white">
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||||
<color rgba="1.0 1.0 1.0 1.0"/>
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||||
</material>
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||||
<link name="trunk">
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||||
<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<box size="0.335 0.24 0.104"/>
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||||
</geometry>
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||||
<material name="grey"/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<box size="0.335 0.24 0.104"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<mass value="5.75"/>
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||||
<inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
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||||
</inertial>
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||||
</link>
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||||
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<joint name="FR_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.2263 -0.07 0"/>
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||||
<parent link="trunk"/>
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||||
<child link="FR_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="20" lower="-0.707" upper="0.707" velocity="52.4"/>
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</joint>
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<link name="FR_hip">
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||||
<visual>
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||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<cylinder length="0.08" radius="0.055"/>
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||||
</geometry>
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||||
<material name="grey"/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<cylinder length="0.08" radius="0.055"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
|
||||
<mass value="0.575"/>
|
||||
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
|
||||
<parent link="FR_hip"/>
|
||||
<child link="FR_upper_shoulder"/>
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||||
</joint>
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||||
<!-- this link is only for collision -->
|
||||
<link name="FR_upper_shoulder">
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||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
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||||
</geometry>
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||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_upper_joint" type="revolute">
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||||
<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
|
||||
<parent link="FR_hip"/>
|
||||
<child link="FR_upper"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-6.28318530718" upper="6.28318530718" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FR_upper">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
|
||||
<mass value="0.775"/>
|
||||
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_lower_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.206 0 0"/>
|
||||
<parent link="FR_upper"/>
|
||||
<child link="FR_lower"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="0" upper="3.14159265359" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FR_lower">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
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||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.075"/>
|
||||
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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||||
</inertial>
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||||
</link>
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||||
<joint name="FR_toe_fixed" type="fixed">
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||||
<origin xyz="0.206 0 -0.0"/>
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||||
<parent link="FR_lower"/>
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||||
<child link="FR_toe"/>
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||||
</joint>
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||||
<link name="FR_toe">
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||||
<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
|
||||
<sphere radius="0.01"/>
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||||
</geometry>
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||||
<material name="white"/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
|
||||
<sphere radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
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||||
</inertial>
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||||
</link>
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||||
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||||
<joint name="FL_hip_joint" type="revolute">
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||||
<origin rpy="0 0 0" xyz="0.2263 0.07 0"/>
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||||
<parent link="trunk"/>
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||||
<child link="FL_hip"/>
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||||
<axis xyz="1 0 0"/>
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||||
<dynamics damping="0" friction="0"/>
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||||
<limit effort="20" lower="-0.707" upper="0.707" velocity="52.4"/>
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||||
</joint>
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||||
<link name="FL_hip">
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||||
<visual>
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||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.055"/>
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||||
</geometry>
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||||
<material name="red"/>
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||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
|
||||
<mass value="0.575"/>
|
||||
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.081 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_upper_shoulder"/>
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||||
</joint>
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||||
<!-- this link is only for collision -->
|
||||
<link name="FL_upper_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_upper_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.08505 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_upper"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-6.28318530718" upper="6.28318530718" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FL_upper">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
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||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
|
||||
<mass value="0.775"/>
|
||||
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_lower_joint" type="revolute">
|
||||
<origin xyz="-0.206 0 0"/>
|
||||
<parent link="FL_upper"/>
|
||||
<child link="FL_lower"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="0" upper="3.14159265359" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="FL_lower">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.075"/>
|
||||
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_toe_fixed" type="fixed">
|
||||
<origin xyz="0.206 0 -0.0"/>
|
||||
<parent link="FL_lower"/>
|
||||
<child link="FL_toe"/>
|
||||
</joint>
|
||||
<link name="FL_toe">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.01"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="FL_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FL_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FL_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FL_upper_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FL_upper_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FL_upper_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="FL_lower_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="FL_lower_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="FL_lower_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="RR_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.2263 -0.07 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.707" upper="0.707" velocity="52.4"/>
|
||||
</joint>
|
||||
<link name="RR_hip">
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.055"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
|
||||
<mass value="0.575"/>
|
||||
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_upper_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="RR_upper_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_upper_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_upper"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-6.28318530718" upper="6.28318530718" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RR_upper">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
|
||||
<mass value="0.775"/>
|
||||
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_lower_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.206 0 0"/>
|
||||
<parent link="RR_upper"/>
|
||||
<child link="RR_lower"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="0" upper="3.14159265359" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RR_lower">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
|
||||
</geometry>
|
||||
<material name="darkgray"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.075"/>
|
||||
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_toe_fixed" type="fixed">
|
||||
<origin xyz="0.206 0 -0.0"/>
|
||||
<parent link="RR_lower"/>
|
||||
<child link="RR_toe"/>
|
||||
</joint>
|
||||
<link name="RR_toe">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.01"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="RR_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RR_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RR_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="RR_upper_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RR_upper_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RR_upper_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="RR_lower_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="RR_lower_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="RR_lower_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="RL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.2263 0.07 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.707" upper="0.707" velocity="52.4"/>
|
||||
</joint>
|
||||
<link name="RL_hip">
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.055"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.08" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
|
||||
<mass value="0.575"/>
|
||||
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.081 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_upper_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="RL_upper_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_upper_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.08505 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_upper"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-6.28318530718" upper="6.28318530718" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RL_upper">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
|
||||
<geometry>
|
||||
<box size="0.206 0.022 0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
|
||||
<mass value="0.775"/>
|
||||
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_lower_joint" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="-0.206 0 0"/>
|
||||
<parent link="RL_upper"/>
|
||||
<child link="RL_lower"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="0" upper="3.14159265359" velocity="28.6"/>
|
||||
</joint>
|
||||
<link name="RL_lower">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
|
||||
</geometry>
|
||||
<material name="darkgray"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.206" radius="0.013"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.075"/>
|
||||
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_toe_fixed" type="fixed">
|
||||
<origin xyz="0.206 0 -0.0"/>
|
||||
<parent link="RL_lower"/>
|
||||
<child link="RL_toe"/>
|
||||
</joint>
|
||||
<link name="RL_toe">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.01"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
Reference in New Issue
Block a user