diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf')
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf | 36 |
1 files changed, 36 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf b/examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf new file mode 100644 index 000000000..a3ee524f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf @@ -0,0 +1,36 @@ +<robot name="dumpUrdf"> + <link name="chest" > + <inertial> + <origin rpy = "0 0 0" xyz = "0.000000 0.00000 0.000000" /> + <mass value = "4.000000" /> + <inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" /> + </inertial> + <collision> + <origin rpy = "0 0 0" xyz = "0.000000 0.00000 0.000000" /> + <geometry> + <box size="0.6 0.6 0.6"/> + </geometry> + </collision> + </link> + <link name="neck" > + <inertial> + <origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.30000" /> + <mass value = "1.00000" /> + <inertia ixx = "0.01" ixy = "0" ixz = "0" iyy = "0.001" iyz = "0" izz = "0.001" /> + </inertial> + <collision> + <origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.30000" /> + <geometry> + <box size="0.1 0.2 0.6"/> + </geometry> + </collision> + </link> + <joint name="neck" type="spherical" > + <parent link="chest" /> + <limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/> + <child link="neck" /> + <origin rpy = "0 0 0" xyz = "0.000000 0.0 1.000000" /> + <axis xyz="0 0 1"/> + </joint> + +</robot> |