diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf')
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf | 1428 |
1 files changed, 1428 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf new file mode 100644 index 000000000..6dcdf6f42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf @@ -0,0 +1,1428 @@ +<?xml version="0.0" ?> +<!-- ======================================================================= --> +<!--LICENSE: --> +<!--Copyright (c) 2019, Erwin Coumans --> +<!--Google Inc. --> +<!--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 or derived work must retain this 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 HOLDER 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. --> + +<robot name="microtaur"> + <link name="base_chassis_link"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 -1.57079" xyz="0 0 0.036"/> + <mass value="0.64"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 -1.57079" xyz="-0.045 0.045 0.018"/> + <geometry> + <mesh filename="xavier.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba="0.3 0.3 0.3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 -1.57079" xyz="0 0 0.033"/> + <geometry> + <box size="0.092 0.105 0.045"/> + </geometry> + </collision> + </link> + + <link name="plate0"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.08"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> + <geometry> + <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black1"> + <color rgba="0.1 0.1 0.1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.074 0.009 0.138"/> + </geometry> + </collision> + </link> + + <joint name="plate0_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="plate0"/> + <origin rpy="-1.57079 0 -1.57079" xyz="0.063 0.028 0.005"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="plate1"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.08"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> + <geometry> + <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black1"> + <color rgba="0.1 0.1 0.1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.074 0.009 0.138"/> + </geometry> + </collision> + </link> + + <joint name="plate1_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="plate1"/> + <origin rpy="-1.57079 0 -1.57079" xyz="-0.063 0.028 0.005"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="plate2"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.08"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> + <geometry> + <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black1"> + <color rgba="0.1 0.1 0.1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.074 0.009 0.138"/> + </geometry> + </collision> + </link> + + <joint name="plate2_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="plate2"/> + <origin rpy="-1.57079 0 1.57079" xyz="0.063 -0.028 0.005"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="plate3"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.08"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/> + <geometry> + <mesh filename="plate.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black1"> + <color rgba="0.1 0.1 0.1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.074 0.009 0.138"/> + </geometry> + </collision> + </link> + + <joint name="plate3_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="plate3"/> + <origin rpy="-1.57079 0 1.57079" xyz="-0.063 -0.028 0.005"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + + <link name="chassis_right"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> + <mass value="0.13"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/> + <geometry> + <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> + <geometry> + <box size="0.038 0.038 0.305"/> + </geometry> + </collision> + </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="0.0 -0.0955 0.019"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="chassis_front"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="-1.57079 0 0" xyz="0 0 0"/> + <mass value="0.13"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/> + <geometry> + <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="bla"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="-1.57079 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.038 0.038 0.305"/> + </geometry> + </collision> + </link> + + <joint name="chassis_front_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="chassis_front"/> + <origin rpy="0 0 0" xyz="0.1335 0.0 -0.019"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="dynamixel4"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel4_chassis_front" type="fixed"> + <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"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +<link name="dynamixel12"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel12_chassis_front" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="chassis_front"/> + <child link="dynamixel12"/> + <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="dynamixel3"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel3_chassis_front" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="chassis_front"/> + <child link="dynamixel3"/> + <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +<link name="dynamixel5"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel5_chassis_front" type="fixed"> + <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"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="dynamixel8"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel8_chassis_rear" type="fixed"> + <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"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +<link name="dynamixel10"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel10_chassis_rear" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="chassis_rear"/> + <child link="dynamixel10"/> + <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="dynamixel13"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel13_chassis_rear" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="chassis_rear"/> + <child link="dynamixel13"/> + <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +<link name="dynamixel7"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel7_chassis_rear" type="fixed"> + <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"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="dynamixel9"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.082"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0.011 0"/> + <geometry> + <mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.024 0.047 0.034"/> + </geometry> + </collision> + </link> + + <joint name="dynamixel9_chassis_front" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="chassis_front"/> + <child link="dynamixel9"/> + <origin rpy="1.57079 0 0" xyz="0 0 0.042"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="d435"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="0.081"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0.0125"/> + <geometry> + <mesh filename="d435i.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.09 0.025 0.025"/> + </geometry> + </collision> + </link> + + + <joint name="d435_dynamixel9" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="dynamixel9"/> + <child link="d435"/> + <origin rpy="0 1.57079 0" xyz="0 0.04 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="chassis_rear"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="-1.57079 0 0" xyz="0 0 0"/> + <mass value="0.13"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/> + <geometry> + <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="-1.57079 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.038 0.038 0.305"/> + </geometry> + </collision> + </link> + + <joint name="chassis_rear_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="chassis_rear"/> + <origin rpy="0 0 0" xyz="-0.1335 0.0 -0.019"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="chassis_left"> + <contact> + <lateral_friction value="0.3"/> + </contact> + <inertial> + <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> + <mass value="0.13"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/> + <geometry> + <mesh filename="channel.stl" scale="1.0 1.0 1.0"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/> + <geometry> + <box size="0.038 0.038 0.305"/> + </geometry> + </collision> + </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="0.0 0.0955 0.019"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + + <link name="motor_front_rightR_link"> + + <visual> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + <material name="grey1"> + <color rgba="0. 1. 0. 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_front_rightR_joint" type="continuous"> + <axis xyz="0 0 1"/> + <parent link="chassis_right"/> + <child link="motor_front_rightR_link"/> + <origin rpy="1.57075 0 0" xyz="0.1335 -0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_front_rightL_link"> +<collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_front_rightL_joint" type="continuous"> + <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 0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_front_leftL_link"> + <collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_front_leftL_joint" type="continuous"> + <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 0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_front_leftR_link"> + <collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_front_leftR_joint" type="continuous"> + <axis xyz="0 0 1"/> + <parent link="chassis_left"/> + <child link="motor_front_leftR_link"/> + <origin rpy="1.57075 0 0" xyz="0.1335 -0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_back_rightR_link"> + <collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_back_rightR_joint" type="continuous"> + <axis xyz="0 0 1"/> + <parent link="chassis_right"/> + <child link="motor_back_rightR_link"/> + <origin rpy="1.57075 0 0" xyz="-0.1335 -0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_back_rightL_link"> + <collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="-0.1335 0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_back_leftL_link"> + <collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_back_leftL_joint" type="continuous"> + <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 0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_back_leftR_link"> + <collision> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="-0.1335 -0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="upper_leg_front_rightR_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_front_rightR_link" 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 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="lower_leg_front_rightR_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_rightR_link" 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="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="upper_leg_front_rightL_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_front_rightL_link" type="fixed"> + <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="0.0 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + + + <link name="lower_leg_front_rightL_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .198"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .198"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_rightL_link" type="continuous"> + <axis xyz="0 1 0"/> + <parent link="upper_leg_front_rightL_link"/> + <child link="lower_leg_front_rightL_link"/> + <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="upper_leg_front_leftR_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_front_leftR_link" type="fixed"> + <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="0.0 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="lower_leg_front_leftR_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_leftR_link" type="continuous"> + <axis xyz="0 1 0"/> + <parent link="upper_leg_front_leftR_link"/> + <child link="lower_leg_front_leftR_link"/> + <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + + <link name="upper_leg_front_leftL_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_front_leftL_link" 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="0.0 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="lower_leg_front_leftL_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .198"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .198"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_leftL_link" 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="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="upper_leg_back_rightR_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_rightR_link" 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="0.0 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="lower_leg_back_rightR_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2032"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2032"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_rightR_link" 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="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="upper_leg_back_rightL_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_back_rightL_link" type="fixed"> + <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="0.0 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + + + <link name="lower_leg_back_rightL_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_rightL_link" type="continuous"> + <axis xyz="0 1 0"/> + <parent link="upper_leg_back_rightL_link"/> + <child link="lower_leg_back_rightL_link"/> + <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + + <link name="upper_leg_back_leftR_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_leftR_link" type="fixed"> + <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="0.0 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +<link name="lower_leg_back_leftR_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2032"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2032"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_leftR_link" type="continuous"> + <axis xyz="0 1 0"/> + <parent link="upper_leg_back_leftR_link"/> + <child link="lower_leg_back_leftR_link"/> + <origin rpy="0 0 0" xyz="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="upper_leg_back_leftL_link"> + <visual> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".01 0.01 .11"/> + </geometry> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="motor_back_leftL_link" 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="0.0 0.06 -0.015"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="lower_leg_back_leftL_link"> + <contact> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + + <visual> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <geometry> + <box size=".01 0.01 .2"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_leftL_link" 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="0.0 0.01 .055"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +</robot> + |