mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-09 11:31:38 +08:00
add urdfs (part1)
This commit is contained in:
Brian Delhaisse
@@ -0,0 +1,21 @@
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The MIT License (MIT)
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||||
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||||
Copyright (c) 2015 Dave Kotfis
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||||
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Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
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||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
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||||
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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||||
SOFTWARE.
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@@ -0,0 +1,754 @@
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<?xml version="1.0"?>
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<robot name="Aibo">
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<!-- WARNING: MASS and INERTIA are not corrects (they are too big!) -->
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<!-- check Aibo.urdf on rds.theconstructism.com -->
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<!-- Weights: 2.2kg (ERS-1000), 1.5kg (ERS-220), 1.65kg () -->
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<link name="base_link" >
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<inertial>
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||||
<!--origin xyz="0.002775 -0.000984 1.226576"/-->
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||||
<mass value="0.613"/> <!-- volume = 0.811633 -->
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||||
<inertia ixx='0.002475011189860075' ixy='0' ixz='0' iyy='0.007506640782378954' iyz='0' izz='0.007113701431115992'/>
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||||
<!--inertia ixx="0.063663" ixy="0.000007" ixz="0.006725" iyy="0.241987" iyz="0.0" izz="0.231997"/--> <!-- volume inertia -->
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||||
<!--inertia ixx="0.00081259581" ixy="8.93481413e-8" ixz="0.00008583803" iyy="0.00308872695" iyz="0.0" izz="0.00296121439"/--> <!-- previous inertia (the one above) divided by volume times mass times scale**2 -->
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||||
</inertial>
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||||
<collision name="geom">
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||||
<!--origin xyz="0 0 0" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.055" length="0.240"/>
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||||
</geometry-->
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||||
<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
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<geometry>
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||||
<mesh filename="meshes/body1.stl" scale="0.13 0.13 0.13" />
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
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||||
<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
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||||
<geometry>
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||||
<mesh filename="meshes/body1.stl" scale="0.13 0.13 0.13" />
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</geometry>
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||||
<material name="white">
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||||
<color rgba="1 1 1 1"/>
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||||
</material>
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||||
<origin xyz="0.0 0 0" rpy="0 1.5707 1.5707"/>
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</visual>
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</link>
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<link name="RF_up_leg_rot_y" > <!-- shoulder -->
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<collision name="geom">
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<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
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<geometry>
|
||||
<sphere radius="0.005"/>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
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||||
<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
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<geometry>
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||||
<sphere radius="0.005"/>
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||||
</geometry>
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<material name="grey">
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||||
<color rgba="0.4 0.4 0.4 1"/>
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</material>
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||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.001888 -0.002933 0.008598" rpy="0 0 0"/>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="4.442444469634999e-05" ixy="0.0" ixz="0.0" iyy="8.199685180759998e-05" iyz="0.0" izz="3.9338485833950003e-05" />
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</inertial>
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</link>
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<link name="RF_up_leg_rot_x" > <!-- RF_leg1 -->
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<collision name="geom">
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<!--origin xyz="0 0 0" rpy="0 0 -1.5707"/>
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<geometry>
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<mesh filename="meshes/RFup.stl" scale="0.13 0.13 0.13" />
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</geometry-->
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<origin xyz="-0.05 -0.061 -0.162" rpy="0 0 -1.5707"/>
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<geometry>
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||||
<mesh filename="meshes/RFup.stl" scale="0.13 0.13 0.13" />
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||||
</geometry>
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||||
</collision>
|
||||
<visual name="visual">
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||||
<origin xyz="-0.05 -0.061 -0.162" rpy="0 0 -1.5707"/>
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||||
<geometry>
|
||||
<mesh filename="meshes/RFup.stl" scale="0.13 0.13 0.13" />
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||||
</geometry>
|
||||
<material name="grey"/>
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||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.000343 -0.001992 -0.011436" rpy="0 0 0"/>
|
||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00011969654852187499" ixy="0.0" ixz="0.0" iyy="0.00011794468285297098" iyz="0.0" izz="2.9366620594846e-05" />
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</inertial>
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||||
</link>
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||||
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<link name="RF_down_leg" > <!-- RF_leg2 -->
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<collision name="geom">
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<!--origin xyz="0 0 -0.0275" rpy="0 0 0"/>
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||||
<geometry>
|
||||
<cylinder radius="0.020" length="0.080"/>
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||||
</geometry-->
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||||
<origin xyz="-0.072 -0.061 -0.085" rpy="0 0 -1.5707"/>
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||||
<geometry>
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||||
<mesh filename="meshes/RFdown.stl" scale="0.13 0.13 0.13" />
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
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||||
<origin xyz="-0.072 -0.061 -0.085" rpy="0 0 -1.5707"/>
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<geometry>
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||||
<mesh filename="meshes/RFdown.stl" scale="0.13 0.13 0.13" />
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||||
</geometry>
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||||
<material name="white"/>
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||||
</visual>
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||||
<inertial>
|
||||
<origin xyz="-0.004809 0.000013 0.008158" rpy="0 0 0"/>
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||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00011969654852187499" ixy="0.0" ixz="0.0" iyy="0.00011794468285297098" iyz="0.0" izz="2.9366620594846e-05" />
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||||
</inertial>
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||||
</link>
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||||
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||||
<joint type="revolute" name="legRF1">
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||||
<origin xyz="0.05 0.061 0.162" rpy="0 0 0"/>
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||||
<limit effort="1000.0" lower="-2.09" upper="2.36" velocity="0.5"/>
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||||
<axis xyz="1 0 0"/>
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||||
<parent link="base_link"/>
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||||
<child link="RF_up_leg_rot_y"/>
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||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
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||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
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||||
</joint>
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||||
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||||
<joint type="revolute" name="legRF2">
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||||
<origin xyz="0 0 0" rpy="0 0 0"/>
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||||
<limit effort="1000.0" lower="-1.58825" upper="0.15708" velocity="0.5"/>
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||||
<axis xyz="0 -1 0"/>
|
||||
<parent link="RF_up_leg_rot_y"/>
|
||||
<child link="RF_up_leg_rot_x"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
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||||
</joint>
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||||
|
||||
<joint type="revolute" name="legRF3">
|
||||
<origin xyz="0.022 0 -0.077" rpy="-0.51 0 0"/>
|
||||
<limit effort="1000.0" lower="-0.506" upper="2.0768" velocity="0.5"/>
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||||
<axis xyz="1 0 0"/>
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||||
<parent link="RF_up_leg_rot_x"/>
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||||
<child link="RF_down_leg"/>
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||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
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||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
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||||
</joint>
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||||
|
||||
<link name="LF_up_leg_rot_y" >
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||||
<collision name="geom">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
<material name="grey"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.001888 0.002933 0.008598" rpy="0 0 0"/>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="4.07077236743e-05" ixy="0.0" ixz="0.0" iyy="8.407799796175e-05" iyz="0.0" izz="4.5252994171749996e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="LF_up_leg_rot_x" >
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||||
<collision name="geom">
|
||||
<!--origin xyz="0 0 -0.0275" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.020" length="0.075"/>
|
||||
</geometry-->
|
||||
<origin xyz="0.05 -0.061 -0.162" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LFup.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0.05 -0.061 -0.162" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LFup.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.000343 0.001992 -0.011436" rpy="0 0 0"/>
|
||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00011566170518423601" ixy="0.0" ixz="0.0" iyy="0.00011431816699501901" iyz="0.0" izz="2.8949038259255004e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="LF_down_leg" >
|
||||
<collision name="geom">
|
||||
<!--origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.020" length="0.080"/>
|
||||
</geometry-->
|
||||
<origin xyz="0.072 -0.061 -0.085" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LFdown.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0.072 -0.061 -0.085" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LFdown.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.004809 -0.000013 0.008158" rpy="0 0 0"/>
|
||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00011969654852187499" ixy="0.0" ixz="0.0" iyy="0.00011794468285297098" iyz="0.0" izz="2.9366620594846e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="legLF1">
|
||||
<origin xyz="-0.05 0.061 0.162" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-2.094" upper="2.36" velocity="0.5"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="LF_up_leg_rot_y"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<joint type="revolute" name="legLF2">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-0.15708" upper="1.58825" velocity="0.5"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="LF_up_leg_rot_y"/>
|
||||
<child link="LF_up_leg_rot_x"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<joint type="revolute" name="legLF3">
|
||||
<origin xyz="-0.022 0 -0.077" rpy="-0.51 0 0"/>
|
||||
<limit effort="1000.0" lower="-0.506" upper="2.0768" velocity="0.5"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="LF_up_leg_rot_x"/>
|
||||
<child link="LF_down_leg"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="RB_up_leg_rot_y" >
|
||||
<collision name="geom">
|
||||
<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
<material name="grey"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.003468 -0.001798 -0.009007" rpy="0 0 0"/>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="2.1327820805349996e-05" ixy="0.0" ixz="0.0" iyy="4.6883250337400005e-05" iyz="0.0" izz="2.6158354222750005e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="RB_up_leg_rot_x" >
|
||||
<collision name="geom">
|
||||
<!--origin xyz="0 0 -0.0275" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.020" length="0.075"/>
|
||||
</geometry-->
|
||||
<origin xyz="-0.05 0.068 -0.162" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RBup.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="-0.05 0.068 -0.162" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RBup.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.000009 -0.002377 -0.010723" rpy="0 0 0"/>
|
||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00011794330961697501" ixy="0.0" ixz="0.0" iyy="0.00011759574351004403" iyz="0.0" izz="2.9943798602131e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="RB_down_leg" >
|
||||
<collision name="geom">
|
||||
<!--origin xyz="0 0 -0.0275" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.020" length="0.080"/>
|
||||
</geometry-->
|
||||
<origin xyz="-0.072 0.0655 -0.081" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RBdown.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="-0.072 0.0655 -0.081" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RBdown.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.003284 0 -0.006815" rpy="0 0 0"/>
|
||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00010389273401253401" ixy="0.0" ixz="0.0" iyy="0.000118542636504766" iyz="0.0" izz="6.864402663235e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="legRB1">
|
||||
<origin xyz="0.05 -0.068 0.162" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-2.3387" upper="2.094" velocity="0.5"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="RB_up_leg_rot_y"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<joint type="revolute" name="legRB2">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-0.15708" upper="1.58825" velocity="0.5"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<parent link="RB_up_leg_rot_y"/>
|
||||
<child link="RB_up_leg_rot_x"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<joint type="revolute" name="legRB3">
|
||||
<limit effort="1000.0" lower="-0.506" upper="2.0768" velocity="0.5"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<origin xyz="0.022 0 -0.079" rpy="0.51 0 0"/>
|
||||
<parent link="RB_up_leg_rot_x"/>
|
||||
<child link="RB_down_leg"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="LB_up_leg_rot_y" >
|
||||
<collision name="geom">
|
||||
<!--geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry-->
|
||||
<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 0 0" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
<material name="grey"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.003468 0.001798 -0.009007" rpy="0 0 0"/>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="2.2119548359949997e-05" ixy="0.0" ixz="0.0" iyy="4.706856616795e-05" iyz="0.0" izz="2.55455926252e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="LB_up_leg_rot_x" >
|
||||
<collision name="geom">
|
||||
<!--origin xyz="0 0 -0.0275" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.020" length="0.075"/>
|
||||
</geometry-->
|
||||
<origin xyz="0.05 0.068 -0.162" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LBup.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0.05 0.068 -0.162" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LBup.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.000009 0.002377 -0.010723" rpy="0 0 0"/>
|
||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00011560491842459497" ixy="0.0" ixz="0.0" iyy="0.00011546106608284297" iyz="0.0" izz="3.0147512367309998e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="LB_down_leg" >
|
||||
<collision name="geom">
|
||||
<!--origin xyz="0 0 -0.0275" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.020" length="0.080"/>
|
||||
</geometry-->
|
||||
<origin xyz="0.072 0.0655 -0.081" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LBdown.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0.072 0.0655 -0.081" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LBdown.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.003284 0 -0.006815" rpy="0 0 0"/>
|
||||
<mass value="0.073"/>
|
||||
<inertia ixx="0.00010389273401253401" ixy="0.0" ixz="0.0" iyy="0.000118542636504766" iyz="0.0" izz="6.864402663235e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="legLB1">
|
||||
<origin xyz="-0.05 -0.068 0.162" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-2.094" upper="2.3387" velocity="0.5"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="LB_up_leg_rot_y"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<joint type="revolute" name="legLB2">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-0.15708" upper="1.58825" velocity="0.5"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="LB_up_leg_rot_y"/>
|
||||
<child link="LB_up_leg_rot_x"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<joint type="revolute" name="legLB3">
|
||||
<limit effort="1000.0" lower="-0.506" upper="2.0768" velocity="0.5"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<origin xyz="-0.022 0 -0.079" rpy="0.51 0 0"/>
|
||||
<parent link="LB_up_leg_rot_x"/>
|
||||
<child link="LB_down_leg"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="neck_link" >
|
||||
<collision name="geom">
|
||||
<origin xyz="0 0 0.04" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.013" length="0.080"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode mu='1.000000' mu2='1.000000'/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 0 0.04" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.013" length="0.090"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.000341 -0.000000 -0.008011" rpy="0 0 0"/>
|
||||
<mass value="0.015"/>
|
||||
<inertia ixx="1.97e-06" ixy="0" ixz="0" iyy="1.97e-06" iyz="0" izz="1.688e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="neck">
|
||||
<origin xyz="0 0.065 0.164" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-1.3788" upper="0.0349" velocity="0.5"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="neck_link"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="pan" >
|
||||
<collision name="geom">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.025"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode mu='1.000000' mu2='1.000000'/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.025"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="8.72e-06" ixy="0" ixz="0" iyy="8.72e-06" iyz="0" izz="8.72e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="headPan">
|
||||
<origin xyz="0 0 0.09" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="1.5882" upper="-1.5882" velocity="0.5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="neck_link"/>
|
||||
<child link="pan"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="head" >
|
||||
<collision name="geom">
|
||||
<!--origin xyz="0 0.025 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry-->
|
||||
<origin xyz="0 -0.094 -0.235" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode mu='1.000000' mu2='1.000000'/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 -0.094 -0.235" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.01 -0.000001 0" rpy="0 -0.44506 0"/>
|
||||
<mass value="0.19"/>
|
||||
<inertia ixx="0.00035622463752244" ixy="0.0" ixz="0.0" iyy="0.0006802505025500499" iyz="0.0" izz="0.0006800426839130501" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="headTilt">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<limit effort="1000.0" lower="-0.28" upper="0.77" velocity="0.5"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="pan"/>
|
||||
<child link="head"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="RF_paw" >
|
||||
<collision name="geom">
|
||||
<!--geometry>
|
||||
<sphere radius="0.015"/>
|
||||
</geometry-->
|
||||
<origin xyz="-0.071 -0.062 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RFpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="-0.071 -0.062 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RFpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="black"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.000193 0 -0.001688" rpy="0 0 0"/>
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="4.888e-05" ixy="0" ixz="0" iyy="4.888e-05" iyz="0" izz="4.888e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="fixed" name="RF_paw_joint">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="RF_down_leg"/>
|
||||
<child link="RF_paw"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="LF_paw" >
|
||||
<collision name="geom">
|
||||
<!--geometry>
|
||||
<sphere radius="0.015"/>
|
||||
</geometry-->
|
||||
<origin xyz="0.071 -0.062 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LFpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0.071 -0.062 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LFpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="black"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.000193 0 -0.001688" rpy="0 0 0"/>
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="4.888e-05" ixy="0" ixz="0" iyy="4.888e-05" iyz="0" izz="4.888e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="fixed" name="LF_paw_joint">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="LF_down_leg"/>
|
||||
<child link="LF_paw"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="RB_paw" >
|
||||
<collision name="geom">
|
||||
<!--geometry>
|
||||
<sphere radius="0.015"/>
|
||||
</geometry-->
|
||||
<origin xyz="-0.071 0.066 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RBpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="-0.071 0.066 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/RBpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="black"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.000193 0 -0.001688" rpy="0 0 0"/>
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="4.888e-05" ixy="0" ixz="0" iyy="4.888e-05" iyz="0" izz="4.888e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="fixed" name="RB_paw_joint">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="RB_down_leg"/>
|
||||
<child link="RB_paw"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
<link name="LB_paw" >
|
||||
<collision name="geom">
|
||||
<!--geometry>
|
||||
<sphere radius="0.015"/>
|
||||
</geometry-->
|
||||
<origin xyz="0.071 0.066 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LBpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0.071 0.066 -0.083" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/LBpaw.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="black"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.000193 0 -0.001688" rpy="0 0 0"/>
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="4.888e-05" ixy="0" ixz="0" iyy="4.888e-05" iyz="0" izz="4.888e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="fixed" name="LB_paw_joint">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="LB_down_leg"/>
|
||||
<child link="LB_paw"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="tail1" >
|
||||
<collision name="geom">
|
||||
<!--geometry>
|
||||
<sphere radius="0.015"/>
|
||||
</geometry-->
|
||||
<origin xyz="0 0 0.01" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.006" length="0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 0 0.01" rpy="0 0 -1.5707"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.006" length="0.020"/>
|
||||
</geometry>
|
||||
<material name="black"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.0001"/>
|
||||
<inertia ixx="6.126e-10" ixy="0" ixz="0" iyy="3.64e-09" iyz="0" izz="3.64e-09"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="tailTilt">
|
||||
<origin xyz="0 -0.11 0.185" rpy="1.5707 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="tail1"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="1000.0" lower="0.03" upper="1.1" velocity="0.5"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
<link name="tail2" >
|
||||
<collision name="geom">
|
||||
<!--geometry>
|
||||
<sphere radius="0.015"/>
|
||||
</geometry-->
|
||||
<origin xyz="0 -0.155 -0.12" rpy="0 -1.5707 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tail.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<origin xyz="0 -0.155 -0.12" rpy="0 -1.5707 -1.5707"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tail.stl" scale="0.13 0.13 0.13" />
|
||||
</geometry>
|
||||
<material name="black"></material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="-0.008924 0.000002 0.006188" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1.323786971875e-07" ixy="0.0" ixz="0.0" iyy="1.454691640315e-07" iyz="0.0" izz="3.9588087513400005e-08" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint type="revolute" name="tailPan">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="tail1"/>
|
||||
<child link="tail2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="1000.0" lower="-1.03" upper="1.03" velocity="0.5"/>
|
||||
<!--dynamics damping="10000.0" friction="10000.0"/--> <!-- this causes problems in pybullet -->
|
||||
<safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
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@@ -0,0 +1,27 @@
|
||||
This software is graciously provided by SimLab under the Simplified BSD License.
|
||||
HumaRobotics is a trademark of Wonik Robotics
|
||||
|
||||
Copyright (c) 2013, Wonik Robotics
|
||||
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 of source code must retain the above 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 OWNER 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.
|
||||
|
||||
The views and conclusions contained in the software and documentation are those
|
||||
of the authors and should not be interpreted as representing official policies,
|
||||
either expressed or implied, of the FreeBSD Project.
|
||||
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Reference in New Issue
Block a user