diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_data')
5 files changed, 3203 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf new file mode 100644 index 000000000..a5fbcf033 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf @@ -0,0 +1,1073 @@ +<?xml version="0.0" ?> +<!-- ======================================================================= --> +<!--LICENSE: --> +<!--Copyright (c) 2017, 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="quadruped"> + <link name="base_chassis_link"> + <visual> + <geometry> + <box size=".295 0.142 .078"/> + </geometry> + <material name="black"> + <color rgba="0.3 0.3 0.3 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".295 0.142 .078"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0.05 0 0"/> + <mass value="1.81246"/> + <inertia ixx="0.00474833" ixy="0.0" ixz="0.0" iyy="0.01386899" iyz="0.0" izz="0.01577876"/> + </inertial> + </link> + + <link name="chassis_right"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size=".156 0.091 .050"/> + </geometry> + <material name="black"> + <color rgba="0.3 0.3 0.3 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0 0.0455 0"/> + <geometry> + <box size=".356 0.009 .050"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0 -0.0455 0"/> + <geometry> + <box size=".356 0.009 .050"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/> + <geometry> + <box size=".068 0.0373 .060"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0.212 0.05915 0"/> + <geometry> + <box size=".068 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size=".068 0.0373 .060"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="0.212 0.05915 0"/> + <geometry> + <box size=".068 0.0373 .060"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/> + <geometry> + <box size=".068 0.0373 .060"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/> + <geometry> + <box size=".068 0.0373 .060"/> + </geometry> + </collision> + + <inertial> + <mass value="1.3668"/> + <inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/> + </inertial> + </link> + + <joint name="chassis_right_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="chassis_right"/> + <origin rpy="-0.0872665 0 0" xyz="0.0 -0.1165 -0.011"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="chassis_left"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <box size=".156 0.091 .050"/> + </geometry> + <material name="black"> + <color rgba="0.3 0.3 0.3 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0 0.0455 0"/> + <geometry> + <box size=".356 0.009 .050"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0 -0.0455 0"/> + <geometry> + <box size=".356 0.009 .050"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/> + <geometry> + <box size=".068 0.0373 .060"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0.212 0.05915 0"/> + <geometry> + <box size=".068 0.0373 .060"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="-0.212 -0.05915 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<child link="motor_back_leftL_link"/> + <origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="motor_back_leftR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length="0.0165" radius="0.0425"/> + </geometry> + </collision> + <inertial> + <mass value="0.241"/> + <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/> + </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="-0.20268 -0.03275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link 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name="hip_front_leftL_joint" 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 0.045 -0.01725"/> + <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" xyz="0 0 0.120"/> + <geometry> + <box size="0.017 0.0064 0.240"/> + </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 0.120"/> + <geometry> + <box size="0.017 0.0064 0.240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 0.120"/> + <mass value="0.066"/> + <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/> + </inertial> + </link> + <joint name="knee_front_leftL_joint" 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 .056"/> + <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=".039 0.0064 .129"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 0.0064 .129"/> + </geometry> + </collision> + <inertial> + <mass value="0.026"/> + <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0" + izz="0.0000036030"/> + </inertial> + </link> + <joint name="hip_back_rightR_joint" 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 0.045 -0.01725"/> + <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 0.120"/> + <geometry> + <box size="0.017 0.0064 0.240"/> + </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 0.120"/> + <geometry> + <box size="0.017 0.0064 0.240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 0.120"/> + <mass value="0.066"/> + <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/> + </inertial> + </link> + <joint name="knee_back_rightR_joint" 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 .056"/> + <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=".039 0.0064 .129"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 0.0064 .129"/> + </geometry> + </collision> + <inertial> + <mass value="0.026"/> + <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0" + izz="0.0000036030"/> + </inertial> + </link> + <joint name="hip_back_rightL_joint" 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 0.045 -0.01725"/> + <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 .108"/> + <geometry> + <box size="0.017 0.0064 0.216"/> + </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 .108"/> + <geometry> + <box size="0.017 0.0064 0.216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.055"/> + <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/> + </inertial> + </link> + <joint name="knee_back_rightL_joint" 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 .056"/> + <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=".039 0.0064 .129"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 0.0064 .129"/> + </geometry> + </collision> + <inertial> + <mass value="0.026"/> + <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0" + izz="0.0000036030"/> + </inertial> + </link> + <joint name="hip_back_leftR_joint" 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 0.045 -0.01725"/> + <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 .108"/> + <geometry> + <box size="0.017 0.0064 0.216"/> + </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 .108"/> + <geometry> + <box size="0.017 0.0064 0.216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 .1"/> + <mass value="0.055"/> + <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/> + </inertial> + </link> + <joint name="knee_back_leftR_joint" 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 .056"/> + <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=".039 0.0064 .129"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 0.0064 .129"/> + </geometry> + </collision> + <inertial> + <mass value="0.026"/> + <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0" + izz="0.0000036030"/> + </inertial> + </link> + <joint name="hip_back_leftL_joint" 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 0.045 -0.01725"/> + <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 0.120"/> + <geometry> + <box size="0.017 0.0064 0.240"/> + </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 0.120"/> + <geometry> + <box size="0.017 0.0064 0.240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0 0" xyz="0 0 0.120"/> + <mass value="0.066"/> + <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/> + </inertial> + </link> + <joint name="knee_back_leftL_joint" 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 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +</robot> diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf new file mode 100644 index 000000000..744f086a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf @@ -0,0 +1,914 @@ +<?xml version="1.0"?> +<robot name="quadruped"> + <link name="base_chassis_link"> + <visual> + <geometry> + <box size=".3 .13 .087"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz=".10 0 .08"/> + <geometry> + <box size=".08 .08 .08"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".3 .13 .087"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz=".10 0 .08"/> + <geometry> + <box size=".08 .08 .08"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz=".05 0 0"/> + <mass value="3.353"/> + <inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/> + </inertial> + </link> + <link name="chassis_right"> + <visual> + <origin rpy="0 0 0" xyz=".2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz=".2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="-.2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="-.2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz=".2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz=".2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="-.2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="-.2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <inertial> + <mass value="1.32"/> + <inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/> + </inertial> + </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 -.1265 -.0185"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="chassis_left"> + <visual> + <origin rpy="0 0 0" xyz=".2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz=".2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="-.2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="-.2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz=".2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz=".2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="-.2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="-.2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <inertial> + <mass value="1.32"/> + <inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/> + </inertial> + </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 .1265 -.0185"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_front_rightR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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=".2375 -.0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_front_rightL_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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=".2375 .0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_front_leftL_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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=".2375 .0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_front_leftR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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=".2375 -.0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_back_rightR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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="-.2375 -.0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_back_rightL_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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="-.2375 .0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_back_leftL_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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="-.2375 .0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_back_leftR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".072"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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="-.2375 -.0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_front_rightR_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_front_rightR_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_front_rightR_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <mass value=".086"/> + <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/> + </inertial> + </link> + <joint name="knee_front_rightR_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_front_rightL_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_front_rightL_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_front_rightL_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .1"/> + <mass value=".072"/> + <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/> + </inertial> + </link> + <joint name="knee_front_rightL_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_front_leftR_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_front_leftR_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_front_leftR_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .1"/> + <mass value=".072"/> + <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/> + </inertial> + </link> + <joint name="knee_front_leftR_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_front_leftL_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_front_leftL_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_front_leftL_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <mass value=".086"/> + <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/> + </inertial> + </link> + <joint name="knee_front_leftL_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_back_rightR_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_back_rightR_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_back_rightR_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <mass value=".086"/> + <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/> + </inertial> + </link> + <joint name="knee_back_rightR_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_back_rightL_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_back_rightL_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_back_rightL_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .1"/> + <mass value=".072"/> + <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/> + </inertial> + </link> + <joint name="knee_back_rightL_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_back_leftR_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_back_leftR_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_back_leftR_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .1"/> + <mass value=".072"/> + <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/> + </inertial> + </link> + <joint name="knee_back_leftR_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_back_leftL_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_back_leftL_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_back_leftL_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".3"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <mass value=".086"/> + <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/> + </inertial> + </link> + <joint name="knee_back_leftL_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> +</robot> diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf new file mode 100644 index 000000000..c69a224dc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf @@ -0,0 +1,980 @@ +<?xml version="1.0"?> +<robot name="quadruped"> + + <link name="base_chassis_link"> + <visual> + <geometry> + <box size=".3 .13 .087"/> + </geometry> + <material name="black"> + <color rgba=".3 .3 .3 1"/> + </material> + </visual> + + <collision> + <geometry> + <box size=".3 .13 .087"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz=".05 0 0"/> + <mass value="3.353"/> + <inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/> + </inertial> + </link> + + + <link name="chassis_right"> + + <visual> + <origin rpy="0 0 0" xyz=".2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="blue"> + <color rgba="0 0 1 1"/> + </material> + </visual> + + <visual> + <origin rpy="0 0 0" xyz="-.2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="yellow"> + <color rgba="1 1 0 1"/> + </material> + </visual> + + <collision> + <origin rpy="0 0 0" xyz=".2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="-.2375 .054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + <inertial> + <mass value="0.322"/> + <inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/> + </inertial> + </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 -.1265 -.0185"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="chassis_left"> + <visual> + <origin rpy="0 0 0" xyz=".2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="green"> + <color rgba="0 1 0 1"/> + </material> + </visual> + + <visual> + <origin rpy="0 0 0" xyz="-.2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="green"/> + </visual> + + <collision> + <origin rpy="0 0 0" xyz=".2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + + <collision> + <origin rpy="0 0 0" xyz="-.2375 -.054 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + + <inertial> + <mass value="0.322"/> + <inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/> + </inertial> + </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 .1265 -.0185"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_front_rightR_bracket_link"> + <visual> + <origin rpy="0 0 0" xyz="0 -0.02 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="red"> + <color rgba="1 0 0 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 -0.02 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + + <inertial> + <origin rpy="0 0 0" xyz="0 -0.03 0"/> + <mass value=".16"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </inertial> + </link> + <joint name="motor_front_rightR_bracket_joint" type="prismatic"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="motor_front_rightR_bracket_link"/> + <origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/> + <limit effort="100" lower="-0.02" upper="0.02" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_front_rightR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".241"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </inertial> + </link> + <joint name="motor_front_rightR_joint" type="continuous"> + <axis xyz="0 0 1"/> + <parent link="motor_front_rightR_bracket_link"/> + <child link="motor_front_rightR_link"/> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_front_rightL_link"> + + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".241"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </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=".2375 .0275 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + + <link name="motor_front_leftL_bracket_link"> + <visual> + <origin rpy="0 0 0" xyz="0 0.02 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + <material name="red"> + <color rgba="1 0 0 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0.02 0"/> + <geometry> + <box size=".068 .032 .050"/> + </geometry> + </collision> + + <inertial> + <origin rpy="0 0 0" xyz="0 0.02 0"/> + <mass value=".16"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </inertial> + </link> + <joint name="motor_front_leftL_bracket_joint" type="prismatic"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="motor_front_leftL_bracket_link"/> + 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damping=".0" friction=".0"/> + </joint> + + + <link name="motor_back_leftL_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length=".021" radius=".0425"/> + </geometry> + </collision> + <inertial> + <mass value=".241"/> + <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> + </inertial> + </link> + <joint name="motor_back_leftL_joint" type="continuous"> + <axis xyz="0 0 1"/> + <parent link="motor_back_leftL_bracket_link"/> + <child link="motor_back_leftL_link"/> + <origin rpy="1.57075 0 3.141592" xyz="0 0 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="motor_back_leftR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + 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<damping value="100.0"/> + <spinning_friction value=".05"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .1"/> + <mass value=".072"/> + <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/> + </inertial> + </link> + <joint name="knee_front_leftR_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_front_leftL_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_front_leftL_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_front_leftL_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".05"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + 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friction=".0"/> + </joint> + <link name="lower_leg_back_leftR_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".05"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .108"/> + <geometry> + <box size=".017 .009 .216"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .1"/> + <mass value=".072"/> + <inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/> + </inertial> + </link> + <joint name="knee_back_leftR_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="upper_leg_back_leftL_link"> + <visual> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <geometry> + <box size=".039 .008 .129"/> + </geometry> + </collision> + <inertial> + <mass value=".034"/> + <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> + </inertial> + </link> + <joint name="hip_back_leftL_joint" 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 .045 -.0145"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> + <link name="lower_leg_back_leftL_link"> + <contact> + <friction_anchor/> + <stiffness value="3000.0"/> + <damping value="100.0"/> + <spinning_friction value=".05"/> + <lateral_friction value="1"/> + </contact> + <visual> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + <material name="grey"> + <color rgba=".65 .65 .75 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <geometry> + <box size=".017 .009 .240"/> + </geometry> + </collision> + <inertial> + <origin rpy="0 0 0" xyz="0 0 .120"/> + <mass value=".086"/> + <inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/> + </inertial> + </link> + <joint name="knee_back_leftL_joint" 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 .0085 .056"/> + <limit effort="100" velocity="100"/> + <joint_properties damping=".0" friction=".0"/> + </joint> +</robot> diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf new file mode 100644 index 000000000..7911c6555 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf @@ -0,0 +1,203 @@ +<?xml version="0.0" ?> +<!-- ======================================================================= --> +<!--LICENSE: --> +<!--Copyright (c) 2017, 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="quadruped"> + <link name="base_chassis_link"> + <visual> + <geometry> + <box size=".33 0.10 .07"/> + </geometry> + <material name="black"> + <color rgba="0.3 0.3 0.3 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0 0.10 0"/> + <geometry> + <box size=".17 0.10 .05"/> + </geometry> + <material name="black"> + <color rgba="0.3 0.3 0.3 1"/> + </material> + </visual> + <visual> + <origin rpy="0 0 0" xyz="0 -0.10 0"/> + <geometry> + <box size=".17 0.10 .05"/> + </geometry> + <material name="black"> + <color rgba="0.3 0.3 0.3 1"/> + </material> + </visual> + + <collision> + <geometry> + <box size=".33 0.10 .07"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="0 0.10 0"/> + <geometry> + <box size=".17 0.10 .05"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="0 -0.10 0"/> + <geometry> + <box size=".17 0.10 .05"/> + </geometry> + </collision> + + <inertial> + <mass value="3"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + + <link name="chassis_right"> + <visual> + <origin rpy="0 0 0" xyz="0 0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> </visual> + <visual> + <origin rpy="0 0 0" xyz="0 -0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="0 -0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + </collision> + <inertial> + <mass value=".1"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + + <joint name="chassis_right_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="chassis_right"/> + <origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="chassis_left"> + <visual> + <origin rpy="0 0 0" xyz="0 0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> </visual> + <visual> + <origin rpy="0 0 0" xyz="0 -0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + <material name="grey"> + <color rgba="0.65 0.65 0.75 1"/> + </material> </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + </collision> + <collision> + <origin rpy="0 0 0" xyz="0 -0.035 0"/> + <geometry> + <box size=".34 0.01 .04"/> + </geometry> + </collision> + <inertial> + <mass value=".1"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + + <joint name="chassis_left_center" type="fixed"> + <axis xyz="0 0 1"/> + <parent link="base_chassis_link"/> + <child link="chassis_left"/> + <origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + + <link name="motor_front_rightR_link"> + <visual> + <geometry> + <mesh filename="tmotor3.obj" scale="1 1 1"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <cylinder length="0.026" radius="0.0434"/> + </geometry> + </collision> + <inertial> + <mass value="0.25"/> + <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="0.21 -0.025 0"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + +</robot> + diff --git a/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf b/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf new file mode 100644 index 000000000..63a6682a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf @@ -0,0 +1,33 @@ +<?xml version="0.0" ?> +<robot name="urdf_robot"> + <link name="baseLink"> + <contact> + <restitution value="0.5" /> + <rolling_friction value="0.001"/> + <spinning_friction value="0.001"/> + + </contact> + + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="10.0"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.5"/> + </geometry> + </collision> + </link> +</robot> + |