diff options
author | Erwin Coumans <erwin.coumans@gmail.com> | 2019-05-22 22:08:45 -0400 |
---|---|---|
committer | Erwin Coumans <erwin.coumans@gmail.com> | 2019-05-22 22:08:45 -0400 |
commit | e13df4ce48c1dda1792da054da43e0254027c7ae (patch) | |
tree | 062802b8f008c77521e20eb689c0ad039b0b7ee2 | |
parent | d7e863e51a68d0fc5a21475afeaa3cae5a568525 (diff) | |
download | bullet3-e13df4ce48c1dda1792da054da43e0254027c7ae.tar.gz |
add toe endeffectors for IK of Microtaur
-rw-r--r-- | examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf | 291 |
1 files changed, 271 insertions, 20 deletions
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf index 3d2afd832..e483ca036 100644 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf +++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf @@ -297,7 +297,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_front"/> <child link="dynamixel4"/> - <origin rpy="-1.57079 0 3.141592" xyz="0 0.135 -0.03"/> + <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> @@ -403,7 +403,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_front"/> <child link="dynamixel5"/> - <origin rpy="-1.57079 0 3.141592" xyz="0 -0.055 -0.03"/> + <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> @@ -438,7 +438,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_rear"/> <child link="dynamixel8"/> - <origin rpy="-1.57079 0 3.141592" xyz="0 0.135 -0.03"/> + <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> @@ -544,7 +544,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_rear"/> <child link="dynamixel7"/> - <origin rpy="-1.57079 0 3.141592" xyz="0 -0.055 -0.03"/> + <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> @@ -704,7 +704,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_right"/> <child link="motor_front_rightR_link"/> - <origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/> + <origin rpy="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -723,7 +723,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_right"/> <child link="motor_front_rightL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/> + <origin rpy="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -742,7 +742,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_left"/> <child link="motor_front_leftL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/> + <origin rpy="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -761,7 +761,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_left"/> <child link="motor_front_leftR_link"/> - <origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/> + <origin rpy="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -780,7 +780,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_right"/> <child link="motor_back_rightR_link"/> - <origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/> + <origin rpy="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -799,7 +799,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_right"/> <child link="motor_back_rightL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/> + <origin rpy="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -818,7 +818,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_left"/> <child link="motor_back_leftL_link"/> - <origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/> + <origin rpy="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -837,7 +837,7 @@ <axis xyz="0 0 1"/> <parent link="chassis_left"/> <child link="motor_back_leftR_link"/> - <origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/> + <origin rpy="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -864,7 +864,7 @@ <axis xyz="0 0 1"/> <parent link="motor_front_rightR_link"/> <child link="upper_leg_front_rightR_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -905,6 +905,36 @@ <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + + <link name="toe_lower_leg_front_rightR_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_front_rightR_joint" type="fixed"> + <parent link="lower_leg_front_rightR_link"/> + <child link="toe_lower_leg_front_rightR_link"/> + <origin xyz="0 0 0.22"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + <link name="upper_leg_front_rightL_link"> <visual> <geometry> @@ -928,7 +958,7 @@ <axis xyz="0 0 1"/> <parent link="motor_front_rightL_link"/> <child link="upper_leg_front_rightL_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -969,6 +999,39 @@ <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + + + <link name="toe_lower_leg_front_rightL_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_front_rightL_joint" type="fixed"> + <parent link="lower_leg_front_rightL_link"/> + <child link="toe_lower_leg_front_rightL_link"/> + <origin xyz="0 0 0.20"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + + <link name="upper_leg_front_leftR_link"> <visual> <geometry> @@ -992,7 +1055,7 @@ <axis xyz="0 0 1"/> <parent link="motor_front_leftR_link"/> <child link="upper_leg_front_leftR_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -1033,6 +1096,36 @@ <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + + <link name="toe_lower_leg_front_leftR_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_front_leftR_joint" type="fixed"> + <parent link="lower_leg_front_leftR_link"/> + <child link="toe_lower_leg_front_leftR_link"/> + <origin xyz="0 0 0.20"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + <link name="upper_leg_front_leftL_link"> <visual> <geometry> @@ -1056,10 +1149,11 @@ <axis xyz="0 0 1"/> <parent link="motor_front_leftL_link"/> <child link="upper_leg_front_leftL_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + <link name="lower_leg_front_leftL_link"> <contact> <friction_anchor/> @@ -1097,6 +1191,37 @@ <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + + <link name="toe_lower_leg_front_leftL_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_front_leftL_joint" type="fixed"> + <parent link="lower_leg_front_leftL_link"/> + <child link="toe_lower_leg_front_leftL_link"/> + <origin xyz="0 0 0.22"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + <link name="upper_leg_back_rightR_link"> <visual> <geometry> @@ -1120,7 +1245,7 @@ <axis xyz="0 0 1"/> <parent link="motor_back_rightR_link"/> <child link="upper_leg_back_rightR_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -1161,6 +1286,71 @@ <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + + + <link name="toe_lower_leg_back_rightR_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_back_rightR_joint" type="fixed"> + <parent link="lower_leg_back_rightR_link"/> + <child link="toe_lower_leg_back_rightR_link"/> + <origin xyz="0 0 0.22"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + + <link name="toe_lower_leg_back_rightL_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_back_rightL_joint" type="fixed"> + <parent link="lower_leg_back_rightL_link"/> + <child link="toe_lower_leg_back_rightL_link"/> + <origin xyz="0 0 0.20"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + + + + <link name="upper_leg_back_rightL_link"> <visual> <geometry> @@ -1184,7 +1374,7 @@ <axis xyz="0 0 1"/> <parent link="motor_back_rightL_link"/> <child link="upper_leg_back_rightL_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> @@ -1248,10 +1438,11 @@ <axis xyz="0 0 1"/> <parent link="motor_back_leftR_link"/> <child link="upper_leg_back_leftR_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + <link name="lower_leg_back_leftR_link"> <contact> <friction_anchor/> @@ -1289,6 +1480,66 @@ <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> + + + <link name="toe_lower_leg_back_leftR_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_back_leftR_joint" type="fixed"> + <parent link="lower_leg_back_leftR_link"/> + <child link="toe_lower_leg_back_leftR_link"/> + <origin xyz="0 0 0.20"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> + + + <link name="toe_lower_leg_back_leftL_link"> + <contact> + <lateral_friction value="1.0"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + <material name="darkgray"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.01"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/> + </inertial> + </link> + <joint name="toe_lower_leg_back_leftL_joint" type="fixed"> + <parent link="lower_leg_back_leftL_link"/> + <child link="toe_lower_leg_back_leftL_link"/> + <origin xyz="0 0 0.22"/> + <dynamics damping="0.0" friction="0.0"/> + </joint> <link name="upper_leg_back_leftL_link"> <visual> <geometry> @@ -1312,7 +1563,7 @@ <axis xyz="0 0 1"/> <parent link="motor_back_leftL_link"/> <child link="upper_leg_back_leftL_link"/> - <origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/> + <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> <limit effort="100" velocity="100"/> <joint_properties damping=".0" friction=".0"/> </joint> |