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author | Erwin Coumans <erwincoumans@google.com> | 2019-05-31 15:04:53 -0700 |
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committer | Erwin Coumans <erwincoumans@google.com> | 2019-05-31 15:04:53 -0700 |
commit | 42471040501cf1cbb337677df76637c648429e6b (patch) | |
tree | bd5b24bad9bd70c4638c8ceeaa3e66975757da54 | |
parent | 3c74ae83666e91565b5d6b7c0a038a7173a1d230 (diff) | |
download | bullet3-42471040501cf1cbb337677df76637c648429e6b.tar.gz |
add toes to Mini Cheetah
-rw-r--r-- | examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf | 133 |
1 files changed, 133 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf b/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf index 64c8391f3..57da7c0a4 100644 --- a/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf +++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf @@ -100,7 +100,40 @@ <origin rpy="0 3.141592 0" xyz="0 0 0"/> </collision> </link> + <link name="toe_fr"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.3"/> + <lateral_friction value="3.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + </collision> + <inertial> + <mass value="0.15"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_fr_joint" type="fixed"> + <parent link="shank_fr"/> + <child link="toe_fr"/> + <origin xyz="0 0 -0.18"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + <!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!--> <joint name="torso_to_abduct_fl_j" type="continuous"> <axis xyz="1 0 0"/> @@ -181,6 +214,39 @@ <origin rpy="0 3.141592 0" xyz="0 0 0"/> </collision> </link> + <link name="toe_fl"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.3"/> + <lateral_friction value="3.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + </collision> + <inertial> + <mass value="0.15"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_fl_joint" type="fixed"> + <parent link="shank_fl"/> + <child link="toe_fl"/> + <origin xyz="0 0 -0.18"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + <!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!--> <joint name="torso_to_abduct_hr_j" type="continuous"> @@ -262,6 +328,39 @@ <origin rpy="0 3.141592 0" xyz="0 0 0"/> </collision> </link> + <link name="toe_hr"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.3"/> + <lateral_friction value="3.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + </collision> + <inertial> + <mass value="0.15"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_hr_joint" type="fixed"> + <parent link="shank_hr"/> + <child link="toe_hr"/> + <origin xyz="0 0 -0.18"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + <!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!--> <joint name="torso_to_abduct_hl_j" type="continuous"> @@ -343,5 +442,39 @@ <origin rpy="0 3.141592 0" xyz="0 0 0"/> </collision> </link> + <link name="toe_hl"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value="0.3"/> + <lateral_friction value="3.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.015"/> + </geometry> + </collision> + <inertial> + <mass value="0.15"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_hl_joint" type="fixed"> + <parent link="shank_hl"/> + <child link="toe_hl"/> + <origin xyz="0 0 -0.18"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + </robot> |