diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf')
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf | 632 |
1 files changed, 632 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf new file mode 100644 index 000000000..dfab74701 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf @@ -0,0 +1,632 @@ +<?xml version="1.0" ?> +<!-- =================================================================================== --> +<!-- | This document was autogenerated by xacro from robot.xacro | --> +<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> +<!-- =================================================================================== --> +<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro"> + <material name="black"> + <color rgba="0.0 0.0 0.0 1.0"/> + </material> + <material name="blue"> + <color rgba="0.0 0.0 0.8 1.0"/> + </material> + <material name="green"> + <color rgba="0.0 0.8 0.0 1.0"/> + </material> + <material name="grey"> + <color rgba="0.2 0.2 0.2 1.0"/> + </material> + <material name="silver"> + <color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/> + </material> + <material name="orange"> + <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> + </material> + <material name="brown"> + <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/> + </material> + <material name="red"> + <color rgba="0.8 0.0 0.0 1.0"/> + </material> + <material name="white"> + <color rgba="1.0 1.0 1.0 1.0"/> + </material> + <link name="trunk"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/trunk.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.647 0.15 0.112"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/> + <mass value="9.041"/> + <inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/> + </inertial> + </link> + <joint name="imu_joint" type="fixed"> + <parent link="trunk"/> + <child link="imu_link"/> + <origin rpy="0 0 0" xyz="0 0 0"/> + </joint> + <link name="imu_link"> + <inertial> + <mass value="0.001"/> + <origin rpy="0 0 0" xyz="0 0 0"/> + <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size="0.001 0.001 0.001"/> + </geometry> + <material name="red"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size=".001 .001 .001"/> + </geometry> + </collision> + </link> + <joint name="FR_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0.2399 -0.051 0"/> + <parent link="trunk"/> + <child link="FR_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="FR_hip"> + <visual> + <origin rpy="3.14159265359 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="FR_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 -0.083 0"/> + <parent link="FR_hip"/> + <child link="FR_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="FR_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="FR_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FR_upper"/> + <child link="FR_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="FR_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="FR_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FR_lower"/> + <child link="FR_toe"/> + </joint> + <link name="FR_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="FR_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FR_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FR_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FR_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FR_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FR_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FR_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FR_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FR_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <joint name="FL_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0.2399 0.051 0"/> + <parent link="trunk"/> + <child link="FL_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="FL_hip"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="FL_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 0.083 0"/> + <parent link="FL_hip"/> + <child link="FL_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="FL_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="FL_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FL_upper"/> + <child link="FL_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="FL_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="FL_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="FL_lower"/> + <child link="FL_toe"/> + </joint> + <link name="FL_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="FL_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FL_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FL_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FL_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FL_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FL_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="FL_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="FL_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="FL_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <joint name="RR_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/> + <parent link="trunk"/> + <child link="RR_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="RR_hip"> + <visual> + <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="RR_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 -0.083 0"/> + <parent link="RR_hip"/> + <child link="RR_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="RR_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="RR_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RR_upper"/> + <child link="RR_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="RR_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="RR_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RR_lower"/> + <child link="RR_toe"/> + </joint> + <link name="RR_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="RR_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RR_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RR_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RR_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RR_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RR_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RR_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RR_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RR_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <joint name="RL_hip_joint" type="revolute"> + <origin rpy="0 0 0" xyz="-0.2399 0.051 0"/> + <parent link="trunk"/> + <child link="RL_hip"/> + <axis xyz="1 0 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/> + </joint> + <link name="RL_hip"> + <visual> + <origin rpy="0 3.14159265359 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/hip.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/> + <geometry> + <cylinder length="0.0418" radius="0.046"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/> + <mass value="1.993"/> + <inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/> + </inertial> + </link> + <joint name="RL_upper_joint" type="continuous"> + <origin rpy="0 0 0" xyz="0 0.083 0"/> + <parent link="RL_hip"/> + <child link="RL_upper"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" velocity="40"/> + </joint> + <link name="RL_upper"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/thigh.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0374 0.043"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/> + <mass value="0.639"/> + <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/> + </inertial> + </link> + <joint name="RL_lower_joint" type="revolute"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RL_upper"/> + <child link="RL_lower"/> + <axis xyz="0 1 0"/> + <dynamics damping="0" friction="0"/> + <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/> + </joint> + <link name="RL_lower"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="meshes/calf.stl" scale="1 1 1"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/> + <geometry> + <box size="0.25 0.0208 0.016"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/> + <mass value="0.207"/> + <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/> + </inertial> + </link> + <joint name="RL_toe_fixed" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 -0.25"/> + <parent link="RL_lower"/> + <child link="RL_toe"/> + </joint> + <link name="RL_toe"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0165"/> + </geometry> + <material name="green"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.0265"/> + </geometry> + </collision> + <inertial> + <mass value="0.06"/> + <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/> + </inertial> + </link> + <transmission name="RL_hip_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RL_hip_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RL_hip_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RL_upper_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RL_upper_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RL_upper_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + <transmission name="RL_lower_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RL_lower_joint"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RL_lower_motor"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> +</robot> + |