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renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart_rail/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>cart_rail</name>
<version>1.0</version>
<sdf version="1.6">cart_rail.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Cart with rail description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box_ramp/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>box_ramp</name>
<version>1.0</version>
<sdf version="1.6">box_ramp.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Box with ramp description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box_ramp/box_ramp.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='box_ramp'>
<link name='box'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>1000</mass>
<inertia>
<ixx>4.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.26</iyy>
<iyz>0</iyz>
<izz>8.235</izz>
</inertia>
<pose frame=''>0 0 0.11 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='box_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.22</size>
</box>
</geometry>
<material>
<script>
<uri>model://box_ramp/materials/scripts</uri>
<uri>model://box_ramp/materials/textures</uri>
<name>box_ramp</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='box_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.22</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<link name='ramp'>
<pose frame=''>1.85 0 0.10 0 0.0665681 0</pose>
<inertial>
<mass>200</mass>
<inertia>
<ixx>4.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.26</iyy>
<iyz>0</iyz>
<izz>8.235</izz>
</inertia>
<pose frame=''>0 0 0.02 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='ramp_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>3.0 0.72 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>model://box_ramp/materials/scripts</uri>
<uri>model://box_ramp/materials/textures</uri>
<name>ramp</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='ramp_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.01 0 -0 0</pose>
<geometry>
<box>
<size>3.0 0.72 0.02</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<joint name="ramp_joint" type="fixed">
<child>ramp</child>
<parent>box</parent>
</joint>
<include>
<name>tag_length_front</name>
<uri>model://tag36_11_00004</uri>
<pose>0 0.362 0.155 0 0 1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_front_joint" type="fixed">
<child>tag_length_front::link</child>
<parent>box</parent>
</joint>
<include>
<name>tag_length_back</name>
<uri>model://tag36_11_00004</uri>
<pose>0 -0.362 0.155 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_back_joint" type="fixed">
<child>tag_length_back::link</child>
<parent>box</parent>
</joint>
<!-- <include>
<name>tag_width_right</name>
<uri>model://tag36_11_00004</uri>
<pose>0.362 0 0.135 0 0 0</pose>
<static>false</static>
</include>
<joint name="tag_width_right_joint" type="fixed">
<child>tag_width_right::link</child>
<parent>box</parent>
</joint> -->
<include>
<name>tag_width_left</name>
<uri>model://tag36_11_00004</uri>
<pose>-0.362 0 0.145 0 0 3.14</pose>
<static>false</static>
</include>
<joint name="tag_width_left_joint" type="fixed">
<child>tag_width_left::link</child>
<parent>box</parent>
</joint>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_cart/caster_cart.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='caster_cart'>
<link name='caster_top'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.0092 0 -0.0248 0 -0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.00082</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00082</iyy>
<iyz>0</iyz>
<izz>0.00051</izz>
</inertia>
</inertial>
<collision name='caster_top_collision'>
<pose frame=''>0 0 -0.02 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.036</length>
<radius>0.028</radius>
</cylinder>
</geometry>
</collision>
<visual name='caster_top_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.4 0.4 0.4</scale>
<uri>model://caster_cart/meshes/caster_top.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<link name='caster_wheel'>
<pose frame=''>-0.032 -0.0056 -0.068 0 -0 0.003</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00017</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0003</iyy>
<iyz>0</iyz>
<izz>0.00017</izz>
</inertia>
</inertial>
<collision name='caster_wheel_collision'>
<pose frame=''>0 0 0 -1.57 0 0</pose>
<geometry>
<cylinder>
<length>0.034</length>
<radius>0.05</radius>
</cylinder>
</geometry>
<max_contacts>1000</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.1</coefficient>
<patch_radius>0.001</patch_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0.1</slip>
</ode>
</torsional>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name='caster_wheel_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.4 0.4 0.4</scale>
<uri>model://caster_cart/meshes/caster_wheel.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='caster_wheel_joint' type='revolute'>
<child>caster_wheel</child>
<parent>caster_top</parent>
<axis>
<xyz>-0.003 0.999996 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<damping>0.02</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_cart/xacro.py | #! /usr/bin/env python
# Copyright (c) 2013, Willow Garage, Inc.
# Copyright (c) 2014, Open Source Robotics Foundation, 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:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * 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.
# * Neither the name of the Open Source Robotics Foundation, Inc.
# nor the names of its contributors may be used to endorse or promote
# products derived from this software without specific prior
# written permission.
#
# 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 OWNER 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.
# Author: Stuart Glaser
# Maintainer: William Woodall <[email protected]>
from __future__ import print_function
import getopt
import glob
import os
import re
import string
import sys
import xml
from xml.dom.minidom import parse
try:
_basestr = basestring
except NameError:
_basestr = str
# Dictionary of subtitution args
substitution_args_context = {}
class XacroException(Exception):
pass
def isnumber(x):
return hasattr(x, '__int__')
# Better pretty printing of xml
# Taken from http://ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/
def fixed_writexml(self, writer, indent="", addindent="", newl=""):
# indent = current indentation
# addindent = indentation to add to higher levels
# newl = newline string
writer.write(indent + "<" + self.tagName)
attrs = self._get_attributes()
a_names = list(attrs.keys())
a_names.sort()
for a_name in a_names:
writer.write(" %s=\"" % a_name)
xml.dom.minidom._write_data(writer, attrs[a_name].value)
writer.write("\"")
if self.childNodes:
if len(self.childNodes) == 1 \
and self.childNodes[0].nodeType == xml.dom.minidom.Node.TEXT_NODE:
writer.write(">")
self.childNodes[0].writexml(writer, "", "", "")
writer.write("</%s>%s" % (self.tagName, newl))
return
writer.write(">%s" % (newl))
for node in self.childNodes:
# skip whitespace-only text nodes
if node.nodeType == xml.dom.minidom.Node.TEXT_NODE and \
not node.data.strip():
continue
node.writexml(writer, indent + addindent, addindent, newl)
writer.write("%s</%s>%s" % (indent, self.tagName, newl))
else:
writer.write("/>%s" % (newl))
# replace minidom's function with ours
xml.dom.minidom.Element.writexml = fixed_writexml
class Table:
def __init__(self, parent=None):
self.parent = parent
self.table = {}
def __getitem__(self, key):
if key in self.table:
return self.table[key]
elif self.parent:
return self.parent[key]
else:
raise KeyError(key)
def __setitem__(self, key, value):
self.table[key] = value
def __contains__(self, key):
return \
key in self.table or \
(self.parent and key in self.parent)
class QuickLexer(object):
def __init__(self, **res):
self.str = ""
self.top = None
self.res = []
for k, v in res.items():
self.__setattr__(k, len(self.res))
self.res.append(v)
def lex(self, str):
self.str = str
self.top = None
self.next()
def peek(self):
return self.top
def next(self):
result = self.top
self.top = None
for i in range(len(self.res)):
m = re.match(self.res[i], self.str)
if m:
self.top = (i, m.group(0))
self.str = self.str[m.end():]
break
return result
def first_child_element(elt):
c = elt.firstChild
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
def next_sibling_element(elt):
c = elt.nextSibling
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
# Pre-order traversal of the elements
def next_element(elt):
child = first_child_element(elt)
if child:
return child
while elt and elt.nodeType == xml.dom.Node.ELEMENT_NODE:
next = next_sibling_element(elt)
if next:
return next
elt = elt.parentNode
return None
# Pre-order traversal of all the nodes
def next_node(node):
if node.firstChild:
return node.firstChild
while node:
if node.nextSibling:
return node.nextSibling
node = node.parentNode
return None
def child_nodes(elt):
c = elt.firstChild
while c:
yield c
c = c.nextSibling
all_includes = []
# Deprecated message for <include> tags that don't have <xacro:include> prepended:
deprecated_include_msg = """DEPRECATED IN HYDRO:
The <include> tag should be prepended with 'xacro' if that is the intended use
of it, such as <xacro:include ...>. Use the following script to fix incorrect
xacro includes:
sed -i 's/<include/<xacro:include/g' `find . -iname *.xacro`"""
include_no_matches_msg = """Include tag filename spec \"{}\" matched no files."""
## @throws XacroException if a parsing error occurs with an included document
def process_includes(doc, base_dir):
namespaces = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
# Xacro should not use plain 'include' tags but only namespaced ones. Causes conflicts with
# other XML elements including Gazebo's <gazebo> extensions
is_include = False
if elt.tagName == 'xacro:include' or elt.tagName == 'include':
is_include = True
# Temporary fix for ROS Hydro and the xacro include scope problem
if elt.tagName == 'include':
# check if there is any element within the <include> tag. mostly we are concerned
# with Gazebo's <uri> element, but it could be anything. also, make sure the child
# nodes aren't just a single Text node, which is still considered a deprecated
# instance
if elt.childNodes and not (len(elt.childNodes) == 1 and
elt.childNodes[0].nodeType == elt.TEXT_NODE):
# this is not intended to be a xacro element, so we can ignore it
is_include = False
else:
# throw a deprecated warning
print(deprecated_include_msg, file=sys.stderr)
# Process current element depending on previous conditions
if is_include:
filename_spec = eval_text(elt.getAttribute('filename'), {})
if not os.path.isabs(filename_spec):
filename_spec = os.path.join(base_dir, filename_spec)
if re.search('[*[?]+', filename_spec):
# Globbing behaviour
filenames = sorted(glob.glob(filename_spec))
if len(filenames) == 0:
print(include_no_matches_msg.format(filename_spec), file=sys.stderr)
else:
# Default behaviour
filenames = [filename_spec]
for filename in filenames:
global all_includes
all_includes.append(filename)
try:
with open(filename) as f:
try:
included = parse(f)
except Exception as e:
raise XacroException(
"included file \"%s\" generated an error during XML parsing: %s"
% (filename, str(e)))
except IOError as e:
raise XacroException("included file \"%s\" could not be opened: %s" % (filename, str(e)))
# Replaces the include tag with the elements of the included file
for c in child_nodes(included.documentElement):
elt.parentNode.insertBefore(c.cloneNode(deep=True), elt)
# Grabs all the declared namespaces of the included document
for name, value in included.documentElement.attributes.items():
if name.startswith('xmlns:'):
namespaces[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
# Makes sure the final document declares all the namespaces of the included documents.
for k, v in namespaces.items():
doc.documentElement.setAttribute(k, v)
# Returns a dictionary: { macro_name => macro_xml_block }
def grab_macros(doc):
macros = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'macro' or elt.tagName == 'xacro:macro':
name = elt.getAttribute('name')
macros[name] = elt
macros['xacro:' + name] = elt
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return macros
# Returns a Table of the properties
def grab_properties(doc):
table = Table()
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'property' or elt.tagName == 'xacro:property':
name = elt.getAttribute('name')
value = None
if elt.hasAttribute('value'):
value = elt.getAttribute('value')
else:
name = '**' + name
value = elt # debug
bad = string.whitespace + "${}"
has_bad = False
for b in bad:
if b in name:
has_bad = True
break
if has_bad:
sys.stderr.write('Property names may not have whitespace, ' +
'"{", "}", or "$" : "' + name + '"')
else:
table[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return table
def eat_ignore(lex):
while lex.peek() and lex.peek()[0] == lex.IGNORE:
lex.next()
def eval_lit(lex, symbols):
eat_ignore(lex)
if lex.peek()[0] == lex.NUMBER:
return float(lex.next()[1])
if lex.peek()[0] == lex.SYMBOL:
try:
key = lex.next()[1]
value = symbols[key]
except KeyError as ex:
raise XacroException("Property wasn't defined: %s" % str(ex))
if not (isnumber(value) or isinstance(value, _basestr)):
if value is None:
raise XacroException("Property %s recursively used" % key)
raise XacroException("WTF2")
try:
return int(value)
except:
try:
return float(value)
except:
# prevent infinite recursion
symbols[key] = None
result = eval_text(value, symbols)
# restore old entry
symbols[key] = value
return result
raise XacroException("Bad literal")
def eval_factor(lex, symbols):
eat_ignore(lex)
neg = 1
if lex.peek()[1] == '-':
lex.next()
neg = -1
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL]:
return neg * eval_lit(lex, symbols)
if lex.peek()[0] == lex.LPAREN:
lex.next()
eat_ignore(lex)
result = eval_expr(lex, symbols)
eat_ignore(lex)
if lex.next()[0] != lex.RPAREN:
raise XacroException("Unmatched left paren")
eat_ignore(lex)
return neg * result
raise XacroException("Misplaced operator")
def eval_term(lex, symbols):
eat_ignore(lex)
result = 0
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL, lex.LPAREN] \
or lex.peek()[1] == '-':
result = eval_factor(lex, symbols)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['*', '/']:
op = lex.next()[1]
n = eval_factor(lex, symbols)
if op == '*':
result = float(result) * float(n)
elif op == '/':
result = float(result) / float(n)
else:
raise XacroException("WTF")
eat_ignore(lex)
return result
def eval_expr(lex, symbols):
eat_ignore(lex)
op = None
if lex.peek()[0] == lex.OP:
op = lex.next()[1]
if not op in ['+', '-']:
raise XacroException("Invalid operation. Must be '+' or '-'")
result = eval_term(lex, symbols)
if op == '-':
result = -float(result)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['+', '-']:
op = lex.next()[1]
n = eval_term(lex, symbols)
if op == '+':
result = float(result) + float(n)
if op == '-':
result = float(result) - float(n)
eat_ignore(lex)
return result
def eval_text(text, symbols):
def handle_expr(s):
lex = QuickLexer(IGNORE=r"\s+",
NUMBER=r"(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?",
SYMBOL=r"[a-zA-Z_]\w*",
OP=r"[\+\-\*/^]",
LPAREN=r"\(",
RPAREN=r"\)")
lex.lex(s)
return eval_expr(lex, symbols)
def handle_extension(s):
return ("$(%s)" % s)
results = []
lex = QuickLexer(DOLLAR_DOLLAR_BRACE=r"\$\$+\{",
EXPR=r"\$\{[^\}]*\}",
EXTENSION=r"\$\([^\)]*\)",
TEXT=r"([^\$]|\$[^{(]|\$$)+")
lex.lex(text)
while lex.peek():
if lex.peek()[0] == lex.EXPR:
results.append(handle_expr(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.EXTENSION:
results.append(handle_extension(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.TEXT:
results.append(lex.next()[1])
elif lex.peek()[0] == lex.DOLLAR_DOLLAR_BRACE:
results.append(lex.next()[1][1:])
return ''.join(map(str, results))
# Expands macros, replaces properties, and evaluates expressions
def eval_all(root, macros, symbols):
# Evaluates the attributes for the root node
for at in root.attributes.items():
result = eval_text(at[1], symbols)
root.setAttribute(at[0], result)
previous = root
node = next_node(previous)
while node:
if node.nodeType == xml.dom.Node.ELEMENT_NODE:
if node.tagName in macros:
body = macros[node.tagName].cloneNode(deep=True)
params = body.getAttribute('params').split()
# Parse default values for any parameters
defaultmap = {}
for param in params[:]:
splitParam = param.split(':=')
if len(splitParam) == 2:
defaultmap[splitParam[0]] = splitParam[1]
params.remove(param)
params.append(splitParam[0])
elif len(splitParam) != 1:
raise XacroException("Invalid parameter definition")
# Expands the macro
scoped = Table(symbols)
for name, value in node.attributes.items():
if not name in params:
raise XacroException("Invalid parameter \"%s\" while expanding macro \"%s\"" %
(str(name), str(node.tagName)))
params.remove(name)
scoped[name] = eval_text(value, symbols)
# Pulls out the block arguments, in order
cloned = node.cloneNode(deep=True)
eval_all(cloned, macros, symbols)
block = cloned.firstChild
for param in params[:]:
if param[0] == '*':
while block and block.nodeType != xml.dom.Node.ELEMENT_NODE:
block = block.nextSibling
if not block:
raise XacroException("Not enough blocks while evaluating macro %s" % str(node.tagName))
params.remove(param)
scoped[param] = block
block = block.nextSibling
# Try to load defaults for any remaining non-block parameters
for param in params[:]:
if param[0] != '*' and param in defaultmap:
scoped[param] = defaultmap[param]
params.remove(param)
if params:
raise XacroException("Parameters [%s] were not set for macro %s" %
(",".join(params), str(node.tagName)))
eval_all(body, macros, scoped)
# Replaces the macro node with the expansion
for e in list(child_nodes(body)): # Ew
node.parentNode.insertBefore(e, node)
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'arg' or node.tagName == 'xacro:arg':
name = node.getAttribute('name')
if not name:
raise XacroException("Argument name missing")
default = node.getAttribute('default')
if default and name not in substitution_args_context['arg']:
substitution_args_context['arg'][name] = default
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'insert_block' or node.tagName == 'xacro:insert_block':
name = node.getAttribute('name')
if ("**" + name) in symbols:
# Multi-block
block = symbols['**' + name]
for e in list(child_nodes(block)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
elif ("*" + name) in symbols:
# Single block
block = symbols['*' + name]
node.parentNode.insertBefore(block.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
raise XacroException("Block \"%s\" was never declared" % name)
node = None
elif node.tagName in ['if', 'xacro:if', 'unless', 'xacro:unless']:
value = eval_text(node.getAttribute('value'), symbols)
try:
if value == 'true': keep = True
elif value == 'false': keep = False
else: keep = float(value)
except ValueError:
raise XacroException("Xacro conditional evaluated to \"%s\". Acceptable evaluations are one of [\"1\",\"true\",\"0\",\"false\"]" % value)
if node.tagName in ['unless', 'xacro:unless']: keep = not keep
if keep:
for e in list(child_nodes(node)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
# Evals the attributes
for at in node.attributes.items():
result = eval_text(at[1], symbols)
node.setAttribute(at[0], result)
previous = node
elif node.nodeType == xml.dom.Node.TEXT_NODE:
node.data = eval_text(node.data, symbols)
previous = node
else:
previous = node
node = next_node(previous)
return macros
# Expands everything except includes
def eval_self_contained(doc):
macros = grab_macros(doc)
symbols = grab_properties(doc)
eval_all(doc.documentElement, macros, symbols)
def print_usage(exit_code=0):
print("Usage: %s [-o <output>] <input>" % 'xacro.py')
print(" %s --deps Prints dependencies" % 'xacro.py')
print(" %s --includes Only evalutes includes" % 'xacro.py')
sys.exit(exit_code)
def set_substitution_args_context(context={}):
substitution_args_context['arg'] = context
def open_output(output_filename):
if output_filename is None:
return sys.stdout
else:
return open(output_filename, 'w')
def main():
try:
opts, args = getopt.gnu_getopt(sys.argv[1:], "ho:", ['deps', 'includes'])
except getopt.GetoptError as err:
print(str(err))
print_usage(2)
just_deps = False
just_includes = False
output_filename = None
for o, a in opts:
if o == '-h':
print_usage(0)
elif o == '-o':
output_filename = a
elif o == '--deps':
just_deps = True
elif o == '--includes':
just_includes = True
if len(args) < 1:
print("No input given")
print_usage(2)
# Process substitution args
# set_substitution_args_context(load_mappings(sys.argv))
set_substitution_args_context((sys.argv))
f = open(args[0])
doc = None
try:
doc = parse(f)
except xml.parsers.expat.ExpatError:
sys.stderr.write("Expat parsing error. Check that:\n")
sys.stderr.write(" - Your XML is correctly formed\n")
sys.stderr.write(" - You have the xacro xmlns declaration: " +
"xmlns:xacro=\"http://www.ros.org/wiki/xacro\"\n")
sys.stderr.write("\n")
raise
finally:
f.close()
process_includes(doc, os.path.dirname(args[0]))
if just_deps:
for inc in all_includes:
sys.stdout.write(inc + " ")
sys.stdout.write("\n")
elif just_includes:
doc.writexml(open_output(output_filename))
print()
else:
eval_self_contained(doc)
banner = [xml.dom.minidom.Comment(c) for c in
[" %s " % ('=' * 83),
" | This document was autogenerated by xacro from %-30s | " % args[0],
" | EDITING THIS FILE BY HAND IS NOT RECOMMENDED %-30s | " % "",
" %s " % ('=' * 83)]]
first = doc.firstChild
for comment in banner:
doc.insertBefore(comment, first)
open_output(output_filename).write(doc.toprettyxml(indent=' '))
print()
if __name__ == '__main__':
main()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_cart/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>caster_cart</name>
<version>1.0</version>
<sdf version="1.6">caster_cart.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Cart caster wheel description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_cart/caster_cart.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from caster_cart.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Description of the caster module for the Innok Heros mobile platform.
Software License Agreement (BSD)
\authors Jonathan Hechtbauer
\maintainer Sabrina Heerklotz <[email protected]>
\copyright Copyright (c) 2015, Innok Robotics GmbH, 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 of source code must retain the above 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="caster_cart" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="caster_top">
<inertial>
<origin rpy="0 0 0" xyz="-0.0092 0 -0.0248"/>
<mass value="0.1"/>
<inertia ixx="8.2e-4" ixy="0" ixz="0" iyy="8.2e-4" iyz="0" izz="5.1e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://caster_cart/meshes/caster_top.STL" scale="0.4 0.4 0.4"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.02"/>
<geometry>
<cylinder length="0.036" radius="0.028"/>
</geometry>
</collision>
</link>
<link name="caster_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="1.7e-4" ixy="0" ixz="0" iyy="3e-4" iyz="0" izz="1.7e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://caster_cart/meshes/caster_wheel.STL" scale="0.4 0.4 0.4"/>
</geometry>
<material name="">
<color rgba="0.25 0.25 0.25 1"/>
</material>
</visual>
<collision>
<origin rpy="-1.57 0 0" xyz="0 0 0 "/>
<geometry>
<cylinder length="0.034" radius="0.05"/>
</geometry>
</collision>
</link>
<gazebo reference="caster_wheel">
<collision>
<max_contacts>1000</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.1</coefficient>
<patch_radius>0.001</patch_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0.1</slip>
</ode>
</torsional>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
<material>Gazebo/Grey</material>
</gazebo>
<joint name="caster_wheel_joint" type="continuous">
<origin rpy="0 0 0.003" xyz="-0.032 -0.0056 -0.068"/>
<parent link="caster_top"/>
<child link="caster_wheel"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.02"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_cart/caster_cart.urdf.xacro | <?xml version="1.0"?>
<!--
Description of the caster module for the Innok Heros mobile platform.
Software License Agreement (BSD)
\authors Jonathan Hechtbauer
\maintainer Sabrina Heerklotz <[email protected]>
\copyright Copyright (c) 2015, Innok Robotics GmbH, 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 of source code must retain the above 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 xmlns:xacro="http://ros.org/wiki/xacro" name="caster_cart">
<link name="caster_top">
<inertial>
<origin xyz="-0.0092 0 -0.0248" rpy="0 0 0" />
<mass value="0.1" />
<inertia ixx="8.2e-4" ixy="0" ixz="0" iyy="8.2e-4" iyz="0" izz="5.1e-4" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="model://caster_cart/meshes/caster_top.STL" scale="0.4 0.4 0.4"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.02" rpy="0 0 0" />
<geometry>
<cylinder radius="0.028" length="0.036" />
</geometry>
</collision>
</link>
<link name="caster_wheel">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.05" />
<inertia ixx="1.7e-4" ixy="0" ixz="0" iyy="3e-4" iyz="0" izz="1.7e-4" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="model://caster_cart/meshes/caster_wheel.STL" scale="0.4 0.4 0.4"/>
</geometry>
<material name="">
<color rgba="0.25 0.25 0.25 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0 " rpy="-1.57 0 0" />
<geometry>
<cylinder radius="0.05" length="0.034" />
</geometry>
</collision>
</link>
<gazebo reference="caster_wheel">
<collision>
<max_contacts>1000</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.1</coefficient>
<patch_radius>0.001</patch_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0.1</slip>
</ode>
</torsional>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
<material>Gazebo/Grey</material>
</gazebo>
<joint name="caster_wheel_joint" type="continuous">
<origin xyz="-0.032 -0.0056 -0.068" rpy="0 0 0.003" />
<parent link="caster_top" />
<child link="caster_wheel" />
<axis xyz="0 1 0"/>
<dynamics damping="0.02"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/bars/bars.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2019 The Tru$tees of the University of Pennsylvania
Authors:
T Topping <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='bars'>
<static>true</static>
<link name='bar1'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>4.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.26</iyy>
<iyz>0</iyz>
<izz>8.235</izz>
</inertia>
<pose frame=''>0 0 0.0 1.571 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='bar1_visual'>
<pose frame=''>0 0 0.0 1.571 -0 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.53</length>
</cylinder>
</geometry>
<material>
<script>
<uri>model://bars/materials/scripts</uri>
<uri>model://bars/materials/textures</uri>
<name>bars</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bar1_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 1.571 -0 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.53</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>30</mu>
<mu2>30</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
</link>
<link name='bar2'>
<pose frame=''>0.5 0 0 0 -0 0</pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>4.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.26</iyy>
<iyz>0</iyz>
<izz>8.235</izz>
</inertia>
<pose frame=''>0.0 0 0.0 1.571 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='bar2_visual'>
<pose frame=''>0.0 0 0.0 1.571 -0 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.53</length>
</cylinder>
</geometry>
<material>
<script>
<uri>model://bars/materials/scripts</uri>
<uri>model://bars/materials/textures</uri>
<name>bars</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bar2_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.0 0 0 1.571 -0 0</pose>
<geometry>
<cylinder>
<radius>0.015</radius>
<length>0.53</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>30</mu>
<mu2>30</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/bars/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Tru$tees of the University of Pennsylvania
Authors:
T Topping <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>bars</name>
<version>1.0</version>
<sdf version="1.6">bars.sdf</sdf>
<author>
<name>T Topping</name>
<email>[email protected]</email>
</author>
<description>Short box description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_11/model.config | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>stool_11</name>
<version>1.0</version>
<sdf version="1.6">stool_11.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Stool description with tag 11</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_11/stool_11.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='stool_11'>
<link name='rim'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.018626</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.018626</iyy>
<iyz>0</iyz>
<izz>0.03725</izz>
</inertia>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='rim_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='rim_round_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_11/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_round_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_11/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='base_seat'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2.7</mass>
<inertia>
<ixx>0.062295</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.062295</iyy>
<iyz>0</iyz>
<izz>0.01159</izz>
</inertia>
<pose frame=''>0 0 0.283 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='seat_visual'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='seat_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="rim_to_base_seat_joint" type="revolute">
<child>base_seat</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<include>
<name>tag_1</name>
<uri>model://tag36_11_00011</uri>
<pose>0 -0.03 0.08 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_1_joint" type="fixed">
<child>tag_1::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_2</name>
<uri>model://tag36_11_00011</uri>
<pose>-0.026 0.015 0.08 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_2_joint" type="fixed">
<child>tag_2::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_3</name>
<uri>model://tag36_11_00011</uri>
<pose>0.026 0.015 0.08 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_3_joint" type="fixed">
<child>tag_3::link</child>
<parent>rim</parent>
</joint>
<include>
<name>caster_1</name>
<uri>model://caster_stool</uri>
<pose>0.18 0 0.08 0 0 3.14</pose>
</include>
<joint name="caster_1_joint" type="revolute">
<child>caster_1::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_2</name>
<uri>model://caster_stool</uri>
<pose>0.0556 -0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_2_joint" type="revolute">
<child>caster_2::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_3</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 -0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_3_joint" type="revolute">
<child>caster_3::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_4</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_4_joint" type="revolute">
<child>caster_4::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_5</name>
<uri>model://caster_stool</uri>
<pose>0.0556 0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_5_joint" type="revolute">
<child>caster_5::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>box</name>
<version>1.0</version>
<sdf version="1.6">box.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Box description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box/box.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='box'>
<link name='box'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>200</mass>
<inertia>
<ixx>4.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.26</iyy>
<iyz>0</iyz>
<izz>8.235</izz>
</inertia>
<pose frame=''>0 0 0.145 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='box_visual'>
<pose frame=''>0 0 0.145 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.29</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='box_collision'>
<laser_retro>0</laser_retro>
<pose frame=''>0 0 0.145 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.29</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box_short/box_short.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='box_short'>
<link name='box'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>1000</mass>
<inertia>
<ixx>4.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.26</iyy>
<iyz>0</iyz>
<izz>8.235</izz>
</inertia>
<pose frame=''>0 0 0.11 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='box_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.22</size>
</box>
</geometry>
<material>
<script>
<uri>model://box_short/materials/scripts</uri>
<uri>model://box_short/materials/textures</uri>
<name>box_short</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='box_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.22</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<include>
<name>tag_length_front</name>
<uri>model://tag36_11_00004</uri>
<pose>0 0.362 0.0675 0 0 1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_front_joint" type="fixed">
<child>tag_length_front::link</child>
<parent>box</parent>
</joint>
<include>
<name>tag_length_back</name>
<uri>model://tag36_11_00004</uri>
<pose>0 -0.362 0.0675 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_back_joint" type="fixed">
<child>tag_length_back::link</child>
<parent>box</parent>
</joint>
<include>
<name>tag_width_right</name>
<uri>model://tag36_11_00004</uri>
<pose>0.362 0 0.0675 0 0 0</pose>
<static>false</static>
</include>
<joint name="tag_width_right_joint" type="fixed">
<child>tag_width_right::link</child>
<parent>box</parent>
</joint>
<include>
<name>tag_width_left</name>
<uri>model://tag36_11_00004</uri>
<pose>-0.362 0 0.0675 0 0 3.14</pose>
<static>false</static>
</include>
<joint name="tag_width_left_joint" type="fixed">
<child>tag_width_left::link</child>
<parent>box</parent>
</joint>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box_short/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>box_short</name>
<version>1.0</version>
<sdf version="1.6">box_short.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Short box description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/round_table/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>round_table</name>
<version>1.0</version>
<sdf version="1.6">round_table.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Round table description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/round_table/round_table.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='round_table'>
<link name='rim'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>20</mass>
<inertia>
<ixx>0.18313</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.18313</iyy>
<iyz>0</iyz>
<izz>0.36625</izz>
</inertia>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='rim_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='rim_round_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_round_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='base_seat'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2.7</mass>
<inertia>
<ixx>0.062295</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.062295</iyy>
<iyz>0</iyz>
<izz>0.01159</izz>
</inertia>
<pose frame=''>0 0 0.283 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='seat_visual'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.45</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>model://round_table/materials/scripts</uri>
<uri>model://round_table/materials/textures</uri>
<name>round_table</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='seat_collision'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.45</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<joint name="rim_to_base_seat_joint" type="fixed">
<child>base_seat</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<include>
<name>tag_1</name>
<uri>model://tag36_11_00008</uri>
<pose>0 -0.03 0.08 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_1_joint" type="fixed">
<child>tag_1::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_2</name>
<uri>model://tag36_11_00008</uri>
<pose>-0.026 0.015 0.08 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_2_joint" type="fixed">
<child>tag_2::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_3</name>
<uri>model://tag36_11_00008</uri>
<pose>0.026 0.015 0.08 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_3_joint" type="fixed">
<child>tag_3::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_4</name>
<uri>model://tag36_11_00008</uri>
<pose>0 -0.03 0.533 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_4_joint" type="fixed">
<child>tag_4::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_5</name>
<uri>model://tag36_11_00008</uri>
<pose>-0.026 0.015 0.533 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_5_joint" type="fixed">
<child>tag_5::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_6</name>
<uri>model://tag36_11_00008</uri>
<pose>0.026 0.015 0.533 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_6_joint" type="fixed">
<child>tag_6::link</child>
<parent>rim</parent>
</joint>
<include>
<name>caster_1</name>
<uri>model://caster_stool</uri>
<pose>0.18 0 0.08 0 0 3.14</pose>
</include>
<joint name="caster_1_joint" type="revolute">
<child>caster_1::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_2</name>
<uri>model://caster_stool</uri>
<pose>0.0556 -0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_2_joint" type="revolute">
<child>caster_2::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_3</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 -0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_3_joint" type="revolute">
<child>caster_3::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_4</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_4_joint" type="revolute">
<child>caster_4::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_5</name>
<uri>model://caster_stool</uri>
<pose>0.0556 0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_5_joint" type="revolute">
<child>caster_5::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00000/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00000">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00000/meshes/tag36_11_00000.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00000/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00000</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00000/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00000">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00000/meshes/tag36_11_00000.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00000/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00000">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00000/meshes/tag36_11_00000.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00001/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00001">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00001/meshes/tag36_11_00001.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00001/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00001</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00001/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00001">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00001/meshes/tag36_11_00001.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00001/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00001">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00001/meshes/tag36_11_00001.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00010/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00010">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00010/meshes/tag36_11_00010.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00010/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00010</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00010/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00010">
<static>true</static>
<link name="link">
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<scale>0.17 0.17 0.17</scale></mesh>
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renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00010/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00010">
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<visual name="visual">
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<scale>0.17 0.17 0.17</scale></mesh>
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</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00003/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00003">
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<visual name="visual">
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<scale>0.17 0.17 0.17</scale></mesh>
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</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00003/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00003</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00003/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00003">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00003/meshes/tag36_11_00003.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00003/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00003">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00003/meshes/tag36_11_00003.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00008/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00008">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00008/meshes/tag36_11_00008.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00008/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00008</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00008/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00008">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00008/meshes/tag36_11_00008.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00008/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00008">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00008/meshes/tag36_11_00008.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00006/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00006">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00006/meshes/tag36_11_00006.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00006/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00006</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00006/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00006">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00006/meshes/tag36_11_00006.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00006/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00006">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00006/meshes/tag36_11_00006.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00007/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00007">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00007/meshes/tag36_11_00007.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00007/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00007</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00007/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00007">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00007/meshes/tag36_11_00007.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00007/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00007">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00007/meshes/tag36_11_00007.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00004/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00004">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00004/meshes/tag36_11_00004.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00004/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00004</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00004/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00004">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00004/meshes/tag36_11_00004.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00004/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00004">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00004/meshes/tag36_11_00004.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00009/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00009">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00009/meshes/tag36_11_00009.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00009/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00009</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00009/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00009">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00009/meshes/tag36_11_00009.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00009/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00009">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00009/meshes/tag36_11_00009.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00011/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00011">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00011/meshes/tag36_11_00011.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00011/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00011</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00011/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00011">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00011/meshes/tag36_11_00011.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00011/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00011">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00011/meshes/tag36_11_00011.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00002/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00002">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00002/meshes/tag36_11_00002.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00002/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00002</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00002/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00002">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00002/meshes/tag36_11_00002.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00002/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00002">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00002/meshes/tag36_11_00002.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00005/model-1_4.sdf | <?xml version="1.0" ?><sdf version="1.4">
<model name="tag36_11_00005">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00005/meshes/tag36_11_00005.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00005/model.config | <?xml version="1.0" ?><model>
<name>tag36_11_00005</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.5">model-1_5.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<author>
<name>Mikael Arguedas</name>
<email>[email protected]</email>
</author>
<description>
A model of AR marker
</description>
</model> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00005/model.sdf | <?xml version="1.0" ?><sdf version="1.6">
<model name="tag36_11_00005">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00005/meshes/tag36_11_00005.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/apriltags_description/tag36_11_00005/model-1_5.sdf | <?xml version="1.0" ?><sdf version="1.5">
<model name="tag36_11_00005">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<mesh>
<uri>model://tag36_11_00005/meshes/tag36_11_00005.dae</uri>
<scale>0.17 0.17 0.17</scale></mesh>
</geometry>
</visual>
</link>
</model>
</sdf> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/CMakeLists.txt | # MIT License (modified)
# Copyright (c) 2018 The Trustees of the University of Pennsylvania
# Authors:
# Vasileios Vasilopoulos <[email protected]>
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this **file** (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
cmake_minimum_required(VERSION 2.8.3)
project(vision60_description)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES minitaur_description
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/minitaur_description.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/minitaur_description_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_minitaur_description.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>vision60_description</name>
<version>0.0.0</version>
<description>The vision60_description package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">vasilisvasilop</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/vision60_description</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/launch/vision60.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 565
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: body
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.45080876
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398006
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 65
Y: 60
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/launch/vision60_rviz.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<arg name="minitaur" />
<param name="robot_description" textfile="$(find vision60_description)/urdf/vision60.urdf" />
<param name="use_gui" value="true"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find vision60_description)/launch/vision60.rviz" required="true" />
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/sdf/vision60.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='vision60'>
<link name='body'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>12</mass>
<inertia>
<ixx>0.0986</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.8105</iyy>
<iyz>0</iyz>
<izz>0.8369</izz>
</inertia>
</inertial>
<collision name='body_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.05 0.25 0.19</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='body_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.88 0.25 0.19</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/BlackTransparent</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='hip2'>
<pose frame=''>0.325 -0.1575 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>2.75</mass>
<inertia>
<ixx>0.00891458</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0100573</iyy>
<iyz>0</iyz>
<izz>0.015337</izz>
</inertia>
</inertial>
<collision name='hip2_collision'>
<pose frame=''>0 0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip2_visual'>
<pose frame=''>0 0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='10' type='revolute'>
<child>hip2</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.43</lower>
<upper>0.43</upper>
<effort>375</effort>
<velocity>8.6</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper2'>
<pose frame=''>0.325 -0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.625</mass>
<inertia>
<ixx>0.0003125</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0040625</iyy>
<iyz>0</iyz>
<izz>0.0040625</izz>
</inertia>
</inertial>
<collision name='upper2_collision'>
<pose frame=''>-0.125 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper2_visual'>
<pose frame=''>-0.125 -0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='4' type='revolute'>
<child>upper2</child>
<parent>hip2</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower2'>
<pose frame=''>0.075 -0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.12 0 -0.019757 0 -0 0</pose>
<mass>0.35</mass>
<inertia>
<ixx>0.00151791</ixx>
<ixy>0</ixy>
<ixz>0.0011064</ixz>
<iyy>0.00823791</iyy>
<iyz>0</iyz>
<izz>0.006845</izz>
</inertia>
</inertial>
<collision name='lower2_collision'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe2_collision'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20</mu>
<mu2>10</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe2_contact" type="contact">
<plugin name="toe2_plugin" filename="libcontact.so"/>
<contact>
<collision>toe2_collision</collision>
</contact>
</sensor>
<visual name='lower2_visual'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower2_fixed_joint_lump__toe2_visual_1'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/DarkGray</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='5' type='revolute'>
<child>lower2</child>
<parent>upper2</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='hip3'>
<pose frame=''>-0.325 -0.1575 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>2.75</mass>
<inertia>
<ixx>0.00891458</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0100573</iyy>
<iyz>0</iyz>
<izz>0.015337</izz>
</inertia>
</inertial>
<collision name='hip3_collision'>
<pose frame=''>0 0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip3_visual'>
<pose frame=''>0 0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Purple</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='11' type='revolute'>
<child>hip3</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.43</lower>
<upper>0.43</upper>
<effort>375</effort>
<velocity>8.6</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper3'>
<pose frame=''>-0.325 -0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.625</mass>
<inertia>
<ixx>0.0003125</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0040625</iyy>
<iyz>0</iyz>
<izz>0.0040625</izz>
</inertia>
</inertial>
<collision name='upper3_collision'>
<pose frame=''>-0.125 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper3_visual'>
<pose frame=''>-0.125 -0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='6' type='revolute'>
<child>upper3</child>
<parent>hip3</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower3'>
<pose frame=''>-0.575 -0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.12 0 -0.019757 0 -0 0</pose>
<mass>0.35</mass>
<inertia>
<ixx>0.00151791</ixx>
<ixy>0</ixy>
<ixz>0.0011064</ixz>
<iyy>0.00823791</iyy>
<iyz>0</iyz>
<izz>0.006845</izz>
</inertia>
</inertial>
<collision name='lower3_collision'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe3_collision'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20</mu>
<mu2>10</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe3_contact" type="contact">
<plugin name="toe3_plugin" filename="libcontact.so"/>
<contact>
<collision>toe3_collision</collision>
</contact>
</sensor>
<visual name='lower3_visual'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower3_fixed_joint_lump__toe3_visual_1'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/DarkGray</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='7' type='revolute'>
<child>lower3</child>
<parent>upper3</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='hip0'>
<pose frame=''>0.325 0.1575 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>2.75</mass>
<inertia>
<ixx>0.00891458</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0100573</iyy>
<iyz>0</iyz>
<izz>0.015337</izz>
</inertia>
</inertial>
<collision name='hip0_collision'>
<pose frame=''>0 -0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip0_visual'>
<pose frame=''>0 -0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='8' type='revolute'>
<child>hip0</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.43</lower>
<upper>0.43</upper>
<effort>375</effort>
<velocity>8.6</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper0'>
<pose frame=''>0.325 0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.625</mass>
<inertia>
<ixx>0.0003125</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0040625</iyy>
<iyz>0</iyz>
<izz>0.0040625</izz>
</inertia>
</inertial>
<collision name='upper0_collision'>
<pose frame=''>-0.125 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper0_visual'>
<pose frame=''>-0.125 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='0' type='revolute'>
<child>upper0</child>
<parent>hip0</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower0'>
<pose frame=''>0.075 0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.12 0 -0.019757 0 -0 0</pose>
<mass>0.35</mass>
<inertia>
<ixx>0.00151791</ixx>
<ixy>0</ixy>
<ixz>0.0011064</ixz>
<iyy>0.00823791</iyy>
<iyz>0</iyz>
<izz>0.006845</izz>
</inertia>
</inertial>
<collision name='lower0_collision'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe0_collision'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20</mu>
<mu2>10</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe0_contact" type="contact">
<plugin name="toe0_plugin" filename="libcontact.so"/>
<contact>
<collision>toe0_collision</collision>
</contact>
</sensor>
<visual name='lower0_visual'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower0_fixed_joint_lump__toe0_visual_1'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/DarkGray</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='1' type='revolute'>
<child>lower0</child>
<parent>upper0</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='hip1'>
<pose frame=''>-0.325 0.1575 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>2.75</mass>
<inertia>
<ixx>0.00891458</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0100573</iyy>
<iyz>0</iyz>
<izz>0.015337</izz>
</inertia>
</inertial>
<collision name='hip1_collision'>
<pose frame=''>0 -0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip1_visual'>
<pose frame=''>0 -0.039 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.195 0.1 0.17</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Purple</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='9' type='revolute'>
<child>hip1</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.43</lower>
<upper>0.43</upper>
<effort>375</effort>
<velocity>8.6</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper1'>
<pose frame=''>-0.325 0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.625</mass>
<inertia>
<ixx>0.0003125</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0040625</iyy>
<iyz>0</iyz>
<izz>0.0040625</izz>
</inertia>
</inertial>
<collision name='upper1_collision'>
<pose frame=''>-0.125 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper1_visual'>
<pose frame=''>-0.125 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.044 0.06</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='2' type='revolute'>
<child>upper1</child>
<parent>hip1</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower1'>
<pose frame=''>-0.575 0.2255 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.12 0 -0.019757 0 -0 0</pose>
<mass>0.35</mass>
<inertia>
<ixx>0.00151791</ixx>
<ixy>0</ixy>
<ixz>0.0011064</ixz>
<iyy>0.00823791</iyy>
<iyz>0</iyz>
<izz>0.006845</izz>
</inertia>
</inertial>
<collision name='lower1_collision'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe1_collision'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20</mu>
<mu2>10</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe1_contact" type="contact">
<plugin name="toe1_plugin" filename="libcontact.so"/>
<contact>
<collision>toe1_collision</collision>
</contact>
</sensor>
<visual name='lower1_visual'>
<pose frame=''>0.14 0 -0.0355 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.28</length>
<radius>0.011</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower1_fixed_joint_lump__toe1_visual_1'>
<pose frame=''>0.28 0 -0.0461 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.03</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/DarkGray</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='3' type='revolute'>
<child>lower1</child>
<parent>upper1</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>87.5</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<static>0</static>
<plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/vision60</robotNamespace>
</plugin>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/sdf/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0"?>
<model>
<name>vision60</name>
<version>1.0</version>
<sdf>vision60.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>
Model of the Vision60 body
</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/urdf/vision60.urdf.xacro | <?xml version="1.0"?>
<!--
MIT License (modified)
Copyright (c) 2018 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ngr">
<!-- Define parameters -->
<xacro:property name="pi" value="3.14159265359"/>
<xacro:property name="bodyLength" value="0.88"/>
<xacro:property name="bodyWidth" value="0.25"/>
<xacro:property name="bodyHeight" value="0.19"/>
<xacro:property name="bodyMass" value="12"/>
<xacro:property name="upperLegMass" value="0.625"/>
<xacro:property name="lowerLegMass" value="0.2"/>
<xacro:property name="toeMass" value="0.15"/>
<xacro:property name="upperLegLength" value="0.25"/>
<xacro:property name="upperLegWidth" value="0.044"/>
<xacro:property name="upperLegHeight" value="0.060"/>
<xacro:property name="lowerLegLength" value="0.28"/>
<xacro:property name="lowerLegRadius" value="0.011"/>
<xacro:property name="lowerLegAttachLinkLength" value="0.0355"/>
<xacro:property name="podMass" value="2.75"/>
<xacro:property name="podLength" value="0.195"/>
<xacro:property name="podWidth" value="0.170"/>
<xacro:property name="podHeight" value="0.1"/>
<xacro:property name="dPodAxisToEdge" value="0.046"/>
<xacro:property name="dx" value="0.325"/>
<xacro:property name="dy" value="0.1575"/>
<xacro:property name="toeRadius" value="0.03"/>
<xacro:property name="toeOffset" value="0.0106"/>
<xacro:property name="toeStiffness" value="30000.0"/>
<xacro:property name="toeDamping" value="1000.0"/>
<xacro:property name="toeSpinningFriction" value="0.3"/>
<xacro:property name="toeLateralFriction" value="3.0"/>
<xacro:property name="abKinLimit" value="0.43"/>
<xacro:property name="abSpeedLimit" value="8.6"/>
<xacro:property name="abEffortLimit" value="375"/>
<xacro:property name="jointSpeedLimit" value="30"/>
<xacro:property name="jointEffortLimit" value="87.5"/>
<!-- Define materials -->
<material name="gray">
<color rgba="0.5 0.5 0.5 0.7"/>
</material>
<material name="darkgray">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="purple">
<color rgba="0.5 0.0 0.5 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.2 1.0"/>
</material>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="${bodyMass}"/>
<!-- Uniform box -->
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369" />
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<geometry>
<box size="0.05 ${bodyWidth} ${bodyHeight}"/>
</geometry>
</collision>
</link>
<!-- Define our leg macro -->
<xacro:macro name="leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2) + left*0.15*0.0} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
<material name="purple"/>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2)} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698" />
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${left*0.2*0.0} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} 0 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625" />
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 ${left * (dPodAxisToEdge + upperLegWidth/2)} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${-pi}" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001" />
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe${suffix}">
<contact>
<friction_anchor/>
<stiffness value="${toeStiffness}"/>
<damping value="${toeDamping}"/>
<spinning_friction value="${toeSpinningFriction}"/>
<lateral_friction value="${toeLateralFriction}"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
</inertial>
</link>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${lowerLegAttachLinkLength + toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- red new legs -->
<!-- TODO: clean this, it should be part of main leg macro -->
<!-- Define our leg macro -->
<xacro:macro name="red_leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2) + left*0.15*0.0} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2)} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698" />
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${left*0.2*0.0} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} 0 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625" />
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 ${left * (dPodAxisToEdge + upperLegWidth/2)} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${-pi}" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001" />
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe${suffix}">
<contact>
<friction_anchor/>
<stiffness value="${toeStiffness}"/>
<damping value="${toeDamping}"/>
<spinning_friction value="${toeSpinningFriction}"/>
<lateral_friction value="${toeLateralFriction}"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
</inertial>
</link>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${lowerLegAttachLinkLength + toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- Our four legs -->
<xacro:red_leg suffix="0" hipJointName="0" kneeJointName="1" abductionJointName="8" front="1" left="1" hipJointLowerLimit="${-pi/2}" hipJointUpperLimit="${3*pi/2}"/>
<xacro:leg suffix="1" hipJointName="2" kneeJointName="3" abductionJointName="9" front="-1" left="1" hipJointLowerLimit="${-pi}" hipJointUpperLimit="${pi}"/>
<xacro:red_leg suffix="2" hipJointName="4" kneeJointName="5" abductionJointName="10" front="1" left="-1" hipJointLowerLimit="${-pi/2}" hipJointUpperLimit="${3*pi/2}"/>
<xacro:leg suffix="3" hipJointName="6" kneeJointName="7" abductionJointName="11" front="-1" left="-1" hipJointLowerLimit="${-pi}" hipJointUpperLimit="${pi}"/>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/urdf/xacro.py | #! /usr/bin/env python
# Copyright (c) 2013, Willow Garage, Inc.
# Copyright (c) 2014, Open Source Robotics Foundation, 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:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * 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.
# * Neither the name of the Open Source Robotics Foundation, Inc.
# nor the names of its contributors may be used to endorse or promote
# products derived from this software without specific prior
# written permission.
#
# 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 OWNER 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.
# Author: Stuart Glaser
# Maintainer: William Woodall <[email protected]>
from __future__ import print_function
import getopt
import glob
import os
import re
import string
import sys
import xml
from xml.dom.minidom import parse
try:
_basestr = basestring
except NameError:
_basestr = str
# Dictionary of subtitution args
substitution_args_context = {}
class XacroException(Exception):
pass
def isnumber(x):
return hasattr(x, '__int__')
# Better pretty printing of xml
# Taken from http://ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/
def fixed_writexml(self, writer, indent="", addindent="", newl=""):
# indent = current indentation
# addindent = indentation to add to higher levels
# newl = newline string
writer.write(indent + "<" + self.tagName)
attrs = self._get_attributes()
a_names = list(attrs.keys())
a_names.sort()
for a_name in a_names:
writer.write(" %s=\"" % a_name)
xml.dom.minidom._write_data(writer, attrs[a_name].value)
writer.write("\"")
if self.childNodes:
if len(self.childNodes) == 1 \
and self.childNodes[0].nodeType == xml.dom.minidom.Node.TEXT_NODE:
writer.write(">")
self.childNodes[0].writexml(writer, "", "", "")
writer.write("</%s>%s" % (self.tagName, newl))
return
writer.write(">%s" % (newl))
for node in self.childNodes:
# skip whitespace-only text nodes
if node.nodeType == xml.dom.minidom.Node.TEXT_NODE and \
not node.data.strip():
continue
node.writexml(writer, indent + addindent, addindent, newl)
writer.write("%s</%s>%s" % (indent, self.tagName, newl))
else:
writer.write("/>%s" % (newl))
# replace minidom's function with ours
xml.dom.minidom.Element.writexml = fixed_writexml
class Table:
def __init__(self, parent=None):
self.parent = parent
self.table = {}
def __getitem__(self, key):
if key in self.table:
return self.table[key]
elif self.parent:
return self.parent[key]
else:
raise KeyError(key)
def __setitem__(self, key, value):
self.table[key] = value
def __contains__(self, key):
return \
key in self.table or \
(self.parent and key in self.parent)
class QuickLexer(object):
def __init__(self, **res):
self.str = ""
self.top = None
self.res = []
for k, v in res.items():
self.__setattr__(k, len(self.res))
self.res.append(v)
def lex(self, str):
self.str = str
self.top = None
self.next()
def peek(self):
return self.top
def next(self):
result = self.top
self.top = None
for i in range(len(self.res)):
m = re.match(self.res[i], self.str)
if m:
self.top = (i, m.group(0))
self.str = self.str[m.end():]
break
return result
def first_child_element(elt):
c = elt.firstChild
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
def next_sibling_element(elt):
c = elt.nextSibling
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
# Pre-order traversal of the elements
def next_element(elt):
child = first_child_element(elt)
if child:
return child
while elt and elt.nodeType == xml.dom.Node.ELEMENT_NODE:
next = next_sibling_element(elt)
if next:
return next
elt = elt.parentNode
return None
# Pre-order traversal of all the nodes
def next_node(node):
if node.firstChild:
return node.firstChild
while node:
if node.nextSibling:
return node.nextSibling
node = node.parentNode
return None
def child_nodes(elt):
c = elt.firstChild
while c:
yield c
c = c.nextSibling
all_includes = []
# Deprecated message for <include> tags that don't have <xacro:include> prepended:
deprecated_include_msg = """DEPRECATED IN HYDRO:
The <include> tag should be prepended with 'xacro' if that is the intended use
of it, such as <xacro:include ...>. Use the following script to fix incorrect
xacro includes:
sed -i 's/<include/<xacro:include/g' `find . -iname *.xacro`"""
include_no_matches_msg = """Include tag filename spec \"{}\" matched no files."""
## @throws XacroException if a parsing error occurs with an included document
def process_includes(doc, base_dir):
namespaces = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
# Xacro should not use plain 'include' tags but only namespaced ones. Causes conflicts with
# other XML elements including Gazebo's <gazebo> extensions
is_include = False
if elt.tagName == 'xacro:include' or elt.tagName == 'include':
is_include = True
# Temporary fix for ROS Hydro and the xacro include scope problem
if elt.tagName == 'include':
# check if there is any element within the <include> tag. mostly we are concerned
# with Gazebo's <uri> element, but it could be anything. also, make sure the child
# nodes aren't just a single Text node, which is still considered a deprecated
# instance
if elt.childNodes and not (len(elt.childNodes) == 1 and
elt.childNodes[0].nodeType == elt.TEXT_NODE):
# this is not intended to be a xacro element, so we can ignore it
is_include = False
else:
# throw a deprecated warning
print(deprecated_include_msg, file=sys.stderr)
# Process current element depending on previous conditions
if is_include:
filename_spec = eval_text(elt.getAttribute('filename'), {})
if not os.path.isabs(filename_spec):
filename_spec = os.path.join(base_dir, filename_spec)
if re.search('[*[?]+', filename_spec):
# Globbing behaviour
filenames = sorted(glob.glob(filename_spec))
if len(filenames) == 0:
print(include_no_matches_msg.format(filename_spec), file=sys.stderr)
else:
# Default behaviour
filenames = [filename_spec]
for filename in filenames:
global all_includes
all_includes.append(filename)
try:
with open(filename) as f:
try:
included = parse(f)
except Exception as e:
raise XacroException(
"included file \"%s\" generated an error during XML parsing: %s"
% (filename, str(e)))
except IOError as e:
raise XacroException("included file \"%s\" could not be opened: %s" % (filename, str(e)))
# Replaces the include tag with the elements of the included file
for c in child_nodes(included.documentElement):
elt.parentNode.insertBefore(c.cloneNode(deep=True), elt)
# Grabs all the declared namespaces of the included document
for name, value in included.documentElement.attributes.items():
if name.startswith('xmlns:'):
namespaces[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
# Makes sure the final document declares all the namespaces of the included documents.
for k, v in namespaces.items():
doc.documentElement.setAttribute(k, v)
# Returns a dictionary: { macro_name => macro_xml_block }
def grab_macros(doc):
macros = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'macro' or elt.tagName == 'xacro:macro':
name = elt.getAttribute('name')
macros[name] = elt
macros['xacro:' + name] = elt
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return macros
# Returns a Table of the properties
def grab_properties(doc):
table = Table()
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'property' or elt.tagName == 'xacro:property':
name = elt.getAttribute('name')
value = None
if elt.hasAttribute('value'):
value = elt.getAttribute('value')
else:
name = '**' + name
value = elt # debug
bad = string.whitespace + "${}"
has_bad = False
for b in bad:
if b in name:
has_bad = True
break
if has_bad:
sys.stderr.write('Property names may not have whitespace, ' +
'"{", "}", or "$" : "' + name + '"')
else:
table[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return table
def eat_ignore(lex):
while lex.peek() and lex.peek()[0] == lex.IGNORE:
lex.next()
def eval_lit(lex, symbols):
eat_ignore(lex)
if lex.peek()[0] == lex.NUMBER:
return float(lex.next()[1])
if lex.peek()[0] == lex.SYMBOL:
try:
key = lex.next()[1]
value = symbols[key]
except KeyError as ex:
raise XacroException("Property wasn't defined: %s" % str(ex))
if not (isnumber(value) or isinstance(value, _basestr)):
if value is None:
raise XacroException("Property %s recursively used" % key)
raise XacroException("WTF2")
try:
return int(value)
except:
try:
return float(value)
except:
# prevent infinite recursion
symbols[key] = None
result = eval_text(value, symbols)
# restore old entry
symbols[key] = value
return result
raise XacroException("Bad literal")
def eval_factor(lex, symbols):
eat_ignore(lex)
neg = 1
if lex.peek()[1] == '-':
lex.next()
neg = -1
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL]:
return neg * eval_lit(lex, symbols)
if lex.peek()[0] == lex.LPAREN:
lex.next()
eat_ignore(lex)
result = eval_expr(lex, symbols)
eat_ignore(lex)
if lex.next()[0] != lex.RPAREN:
raise XacroException("Unmatched left paren")
eat_ignore(lex)
return neg * result
raise XacroException("Misplaced operator")
def eval_term(lex, symbols):
eat_ignore(lex)
result = 0
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL, lex.LPAREN] \
or lex.peek()[1] == '-':
result = eval_factor(lex, symbols)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['*', '/']:
op = lex.next()[1]
n = eval_factor(lex, symbols)
if op == '*':
result = float(result) * float(n)
elif op == '/':
result = float(result) / float(n)
else:
raise XacroException("WTF")
eat_ignore(lex)
return result
def eval_expr(lex, symbols):
eat_ignore(lex)
op = None
if lex.peek()[0] == lex.OP:
op = lex.next()[1]
if not op in ['+', '-']:
raise XacroException("Invalid operation. Must be '+' or '-'")
result = eval_term(lex, symbols)
if op == '-':
result = -float(result)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['+', '-']:
op = lex.next()[1]
n = eval_term(lex, symbols)
if op == '+':
result = float(result) + float(n)
if op == '-':
result = float(result) - float(n)
eat_ignore(lex)
return result
def eval_text(text, symbols):
def handle_expr(s):
lex = QuickLexer(IGNORE=r"\s+",
NUMBER=r"(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?",
SYMBOL=r"[a-zA-Z_]\w*",
OP=r"[\+\-\*/^]",
LPAREN=r"\(",
RPAREN=r"\)")
lex.lex(s)
return eval_expr(lex, symbols)
def handle_extension(s):
return ("$(%s)" % s)
results = []
lex = QuickLexer(DOLLAR_DOLLAR_BRACE=r"\$\$+\{",
EXPR=r"\$\{[^\}]*\}",
EXTENSION=r"\$\([^\)]*\)",
TEXT=r"([^\$]|\$[^{(]|\$$)+")
lex.lex(text)
while lex.peek():
if lex.peek()[0] == lex.EXPR:
results.append(handle_expr(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.EXTENSION:
results.append(handle_extension(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.TEXT:
results.append(lex.next()[1])
elif lex.peek()[0] == lex.DOLLAR_DOLLAR_BRACE:
results.append(lex.next()[1][1:])
return ''.join(map(str, results))
# Expands macros, replaces properties, and evaluates expressions
def eval_all(root, macros, symbols):
# Evaluates the attributes for the root node
for at in root.attributes.items():
result = eval_text(at[1], symbols)
root.setAttribute(at[0], result)
previous = root
node = next_node(previous)
while node:
if node.nodeType == xml.dom.Node.ELEMENT_NODE:
if node.tagName in macros:
body = macros[node.tagName].cloneNode(deep=True)
params = body.getAttribute('params').split()
# Parse default values for any parameters
defaultmap = {}
for param in params[:]:
splitParam = param.split(':=')
if len(splitParam) == 2:
defaultmap[splitParam[0]] = splitParam[1]
params.remove(param)
params.append(splitParam[0])
elif len(splitParam) != 1:
raise XacroException("Invalid parameter definition")
# Expands the macro
scoped = Table(symbols)
for name, value in node.attributes.items():
if not name in params:
raise XacroException("Invalid parameter \"%s\" while expanding macro \"%s\"" %
(str(name), str(node.tagName)))
params.remove(name)
scoped[name] = eval_text(value, symbols)
# Pulls out the block arguments, in order
cloned = node.cloneNode(deep=True)
eval_all(cloned, macros, symbols)
block = cloned.firstChild
for param in params[:]:
if param[0] == '*':
while block and block.nodeType != xml.dom.Node.ELEMENT_NODE:
block = block.nextSibling
if not block:
raise XacroException("Not enough blocks while evaluating macro %s" % str(node.tagName))
params.remove(param)
scoped[param] = block
block = block.nextSibling
# Try to load defaults for any remaining non-block parameters
for param in params[:]:
if param[0] != '*' and param in defaultmap:
scoped[param] = defaultmap[param]
params.remove(param)
if params:
raise XacroException("Parameters [%s] were not set for macro %s" %
(",".join(params), str(node.tagName)))
eval_all(body, macros, scoped)
# Replaces the macro node with the expansion
for e in list(child_nodes(body)): # Ew
node.parentNode.insertBefore(e, node)
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'arg' or node.tagName == 'xacro:arg':
name = node.getAttribute('name')
if not name:
raise XacroException("Argument name missing")
default = node.getAttribute('default')
if default and name not in substitution_args_context['arg']:
substitution_args_context['arg'][name] = default
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'insert_block' or node.tagName == 'xacro:insert_block':
name = node.getAttribute('name')
if ("**" + name) in symbols:
# Multi-block
block = symbols['**' + name]
for e in list(child_nodes(block)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
elif ("*" + name) in symbols:
# Single block
block = symbols['*' + name]
node.parentNode.insertBefore(block.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
raise XacroException("Block \"%s\" was never declared" % name)
node = None
elif node.tagName in ['if', 'xacro:if', 'unless', 'xacro:unless']:
value = eval_text(node.getAttribute('value'), symbols)
try:
if value == 'true': keep = True
elif value == 'false': keep = False
else: keep = float(value)
except ValueError:
raise XacroException("Xacro conditional evaluated to \"%s\". Acceptable evaluations are one of [\"1\",\"true\",\"0\",\"false\"]" % value)
if node.tagName in ['unless', 'xacro:unless']: keep = not keep
if keep:
for e in list(child_nodes(node)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
# Evals the attributes
for at in node.attributes.items():
result = eval_text(at[1], symbols)
node.setAttribute(at[0], result)
previous = node
elif node.nodeType == xml.dom.Node.TEXT_NODE:
node.data = eval_text(node.data, symbols)
previous = node
else:
previous = node
node = next_node(previous)
return macros
# Expands everything except includes
def eval_self_contained(doc):
macros = grab_macros(doc)
symbols = grab_properties(doc)
eval_all(doc.documentElement, macros, symbols)
def print_usage(exit_code=0):
print("Usage: %s [-o <output>] <input>" % 'xacro.py')
print(" %s --deps Prints dependencies" % 'xacro.py')
print(" %s --includes Only evalutes includes" % 'xacro.py')
sys.exit(exit_code)
def set_substitution_args_context(context={}):
substitution_args_context['arg'] = context
def open_output(output_filename):
if output_filename is None:
return sys.stdout
else:
return open(output_filename, 'w')
def main():
try:
opts, args = getopt.gnu_getopt(sys.argv[1:], "ho:", ['deps', 'includes'])
except getopt.GetoptError as err:
print(str(err))
print_usage(2)
just_deps = False
just_includes = False
output_filename = None
for o, a in opts:
if o == '-h':
print_usage(0)
elif o == '-o':
output_filename = a
elif o == '--deps':
just_deps = True
elif o == '--includes':
just_includes = True
if len(args) < 1:
print("No input given")
print_usage(2)
# Process substitution args
# set_substitution_args_context(load_mappings(sys.argv))
set_substitution_args_context((sys.argv))
f = open(args[0])
doc = None
try:
doc = parse(f)
except xml.parsers.expat.ExpatError:
sys.stderr.write("Expat parsing error. Check that:\n")
sys.stderr.write(" - Your XML is correctly formed\n")
sys.stderr.write(" - You have the xacro xmlns declaration: " +
"xmlns:xacro=\"http://www.ros.org/wiki/xacro\"\n")
sys.stderr.write("\n")
raise
finally:
f.close()
process_includes(doc, os.path.dirname(args[0]))
if just_deps:
for inc in all_includes:
sys.stdout.write(inc + " ")
sys.stdout.write("\n")
elif just_includes:
doc.writexml(open_output(output_filename))
print()
else:
eval_self_contained(doc)
banner = [xml.dom.minidom.Comment(c) for c in
[" %s " % ('=' * 83),
" | This document was autogenerated by xacro from %-30s | " % args[0],
" | EDITING THIS FILE BY HAND IS NOT RECOMMENDED %-30s | " % "",
" %s " % ('=' * 83)]]
first = doc.firstChild
for comment in banner:
doc.insertBefore(comment, first)
open_output(output_filename).write(doc.toprettyxml(indent=' '))
print()
if __name__ == '__main__':
main()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/urdf/vision60_gazebo.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from vision60_gazebo.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
MIT License (modified)
Copyright (c) 2018 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot name="vision60" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Define parameters -->
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.88 0.25 0.19"/>
</geometry>
</visual>
<inertial>
<mass value="12"/>
<!-- Uniform box -->
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369"/>
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<geometry>
<box size="0.05 0.25 0.19"/>
</geometry>
</collision>
</link>
<gazebo reference="body">
<material>Gazebo/BlackTransparent</material>
</gazebo>
<!-- Define our leg macro -->
<!-- red new legs -->
<!-- TODO: clean this, it should be part of main leg macro -->
<!-- Define our leg macro -->
<!-- Our four legs -->
<!-- Hip motor -->
<link name="hip0">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<gazebo reference="hip0">
<material>Gazebo/Red</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="8" type="revolute">
<parent link="body"/>
<child link="hip0"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_8">
<type>transmission_interface/SimpleTransmission</type>
<joint name="8">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_8">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper0">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<gazebo reference="upper0">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="0" type="revolute">
<parent link="hip0"/>
<child link="upper0"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_0">
<type>transmission_interface/SimpleTransmission</type>
<joint name="0">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower0">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower0">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="1" type="revolute">
<parent link="upper0"/>
<child link="lower0"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="toe0">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20.0</mu>
<mu2>10.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe0" type="fixed">
<parent link="lower0"/>
<child link="toe0"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip1">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<gazebo reference="hip1">
<material>Gazebo/Purple</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="9" type="revolute">
<parent link="body"/>
<child link="hip1"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_9">
<type>transmission_interface/SimpleTransmission</type>
<joint name="9">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_9">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper1">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<gazebo reference="upper1">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="2" type="revolute">
<parent link="hip1"/>
<child link="upper1"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower1">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower1">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="3" type="revolute">
<parent link="upper1"/>
<child link="lower1"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="toe1">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20.0</mu>
<mu2>10.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe1" type="fixed">
<parent link="lower1"/>
<child link="toe1"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip2">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<gazebo reference="hip2">
<material>Gazebo/Red</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="10" type="revolute">
<parent link="body"/>
<child link="hip2"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_10">
<type>transmission_interface/SimpleTransmission</type>
<joint name="10">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_10">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper2">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<gazebo reference="upper2">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="4" type="revolute">
<parent link="hip2"/>
<child link="upper2"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower2">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower2">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="5" type="revolute">
<parent link="upper2"/>
<child link="lower2"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_5">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe2">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="toe2">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20.0</mu>
<mu2>10.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe2" type="fixed">
<parent link="lower2"/>
<child link="toe2"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip3">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<gazebo reference="hip3">
<material>Gazebo/Purple</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="11" type="revolute">
<parent link="body"/>
<child link="hip3"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_11">
<type>transmission_interface/SimpleTransmission</type>
<joint name="11">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_11">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper3">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<gazebo reference="upper3">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="6" type="revolute">
<parent link="hip3"/>
<child link="upper3"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_6">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower3">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower3">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="7" type="revolute">
<parent link="upper3"/>
<child link="lower3"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="7">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_7">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<gazebo reference="toe3">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>20.0</mu>
<mu2>10.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>10.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe3" type="fixed">
<parent link="lower3"/>
<child link="toe3"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Add ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/vision60</robotNamespace>
</plugin>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/urdf/vision60.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from vision60.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
MIT License (modified)
Copyright (c) 2018 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Define parameters -->
<!-- Define materials -->
<material name="gray">
<color rgba="0.5 0.5 0.5 0.7"/>
</material>
<material name="darkgray">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="purple">
<color rgba="0.5 0.0 0.5 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.2 1.0"/>
</material>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.88 0.25 0.19"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="12"/>
<!-- Uniform box -->
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369"/>
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<geometry>
<box size="0.05 0.25 0.19"/>
</geometry>
</collision>
</link>
<!-- Define our leg macro -->
<!-- red new legs -->
<!-- TODO: clean this, it should be part of main leg macro -->
<!-- Define our leg macro -->
<!-- Our four legs -->
<!-- Hip motor -->
<link name="hip0">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="8" type="revolute">
<parent link="body"/>
<child link="hip0"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper0">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="0" type="revolute">
<parent link="hip0"/>
<child link="upper0"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower0">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="1" type="revolute">
<parent link="upper0"/>
<child link="lower0"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe0">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe0" type="fixed">
<parent link="lower0"/>
<child link="toe0"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip1">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="purple"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="9" type="revolute">
<parent link="body"/>
<child link="hip1"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper1">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="2" type="revolute">
<parent link="hip1"/>
<child link="upper1"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower1">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="3" type="revolute">
<parent link="upper1"/>
<child link="lower1"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe1">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe1" type="fixed">
<parent link="lower1"/>
<child link="toe1"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip2">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="10" type="revolute">
<parent link="body"/>
<child link="hip2"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper2">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="4" type="revolute">
<parent link="hip2"/>
<child link="upper2"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower2">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="5" type="revolute">
<parent link="upper2"/>
<child link="lower2"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe2">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe2" type="fixed">
<parent link="lower2"/>
<child link="toe2"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip3">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="purple"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="11" type="revolute">
<parent link="body"/>
<child link="hip3"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper3">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="6" type="revolute">
<parent link="hip3"/>
<child link="upper3"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower3">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="7" type="revolute">
<parent link="upper3"/>
<child link="lower3"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe3">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe3" type="fixed">
<parent link="lower3"/>
<child link="toe3"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/vision60_description/urdf/vision60_gazebo.urdf.xacro | <?xml version="1.0"?>
<!--
MIT License (modified)
Copyright (c) 2018 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="vision60">
<!-- Define parameters -->
<xacro:property name="pi" value="3.14159265359"/>
<xacro:property name="bodyLength" value="0.88"/>
<xacro:property name="bodyWidth" value="0.25"/>
<xacro:property name="bodyHeight" value="0.19"/>
<xacro:property name="bodyMass" value="12"/>
<xacro:property name="upperLegMass" value="0.625"/>
<xacro:property name="lowerLegMass" value="0.2"/>
<xacro:property name="toeMass" value="0.15"/>
<xacro:property name="upperLegLength" value="0.25"/>
<xacro:property name="upperLegWidth" value="0.044"/>
<xacro:property name="upperLegHeight" value="0.060"/>
<xacro:property name="lowerLegLength" value="0.28"/>
<xacro:property name="lowerLegRadius" value="0.011"/>
<xacro:property name="lowerLegAttachLinkLength" value="0.0355"/>
<xacro:property name="podMass" value="2.75"/>
<xacro:property name="podLength" value="0.195"/>
<xacro:property name="podWidth" value="0.170"/>
<xacro:property name="podHeight" value="0.1"/>
<xacro:property name="dPodAxisToEdge" value="0.046"/>
<xacro:property name="dx" value="0.325"/>
<xacro:property name="dy" value="0.1575"/>
<xacro:property name="toeRadius" value="0.03"/>
<xacro:property name="toeOffset" value="0.0106"/>
<xacro:property name="toeStiffness" value="30000.0"/>
<xacro:property name="toeDamping" value="1000.0"/>
<xacro:property name="toeSpinningFriction" value="0.3"/>
<xacro:property name="toeFriction" value="20.0"/>
<xacro:property name="toeLateralFriction" value="10.0"/>
<xacro:property name="abKinLimit" value="0.43"/>
<xacro:property name="abSpeedLimit" value="8.6"/>
<xacro:property name="abEffortLimit" value="375"/>
<xacro:property name="jointSpeedLimit" value="30"/>
<xacro:property name="jointEffortLimit" value="87.5"/>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</visual>
<inertial>
<mass value="${bodyMass}"/>
<!-- Uniform box -->
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369" />
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<geometry>
<box size="0.05 ${bodyWidth} ${bodyHeight}"/>
</geometry>
</collision>
</link>
<gazebo reference="body">
<material>Gazebo/BlackTransparent</material>
</gazebo>
<!-- Define our leg macro -->
<xacro:macro name="leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2) + left*0.15*0.0} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2)} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698" />
</inertial>
</link>
<gazebo reference="hip${suffix}">
<material>Gazebo/Purple</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${abductionJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${abductionJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${abductionJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${left*0.2*0.0} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} 0 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625" />
</inertial>
</link>
<gazebo reference="upper${suffix}">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 ${left * (dPodAxisToEdge + upperLegWidth/2)} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${-pi}" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${hipJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${hipJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${hipJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001" />
</inertial>
</link>
<gazebo reference="lower${suffix}">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${kneeJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${kneeJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${kneeJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe${suffix}">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
</inertial>
</link>
<gazebo reference="toe${suffix}">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>${toeSpinningFriction}</coefficient>
</torsional>
<ode>
<mu>${toeFriction}</mu>
<mu2>${toeLateralFriction}</mu2>
</ode>
<bullet>
<rolling_friction>${toeSpinningFriction}</rolling_friction>
<friction2>${toeLateralFriction}</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</bullet>
<ode>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${lowerLegAttachLinkLength + toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- red new legs -->
<!-- TODO: clean this, it should be part of main leg macro -->
<!-- Define our leg macro -->
<xacro:macro name="red_leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2) + left*0.15*0.0} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2)} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698" />
</inertial>
</link>
<gazebo reference="hip${suffix}">
<material>Gazebo/Red</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${abductionJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${abductionJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${abductionJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${left*0.2*0.0} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} 0 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625" />
</inertial>
</link>
<gazebo reference="upper${suffix}">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 ${left * (dPodAxisToEdge + upperLegWidth/2)} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${-pi}" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${hipJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${hipJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${hipJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001" />
</inertial>
</link>
<gazebo reference="lower${suffix}">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${kneeJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${kneeJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${kneeJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe${suffix}">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
</inertial>
</link>
<gazebo reference="toe${suffix}">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>${toeSpinningFriction}</coefficient>
</torsional>
<ode>
<mu>${toeFriction}</mu>
<mu2>${toeLateralFriction}</mu2>
</ode>
<bullet>
<rolling_friction>${toeSpinningFriction}</rolling_friction>
<friction2>${toeLateralFriction}</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</bullet>
<ode>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${lowerLegAttachLinkLength + toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- Our four legs -->
<xacro:red_leg suffix="0" hipJointName="0" kneeJointName="1" abductionJointName="8" front="1" left="1" hipJointLowerLimit="${-pi/2}" hipJointUpperLimit="${3*pi/2}"/>
<xacro:leg suffix="1" hipJointName="2" kneeJointName="3" abductionJointName="9" front="-1" left="1" hipJointLowerLimit="${-pi}" hipJointUpperLimit="${pi}"/>
<xacro:red_leg suffix="2" hipJointName="4" kneeJointName="5" abductionJointName="10" front="1" left="-1" hipJointLowerLimit="${-pi/2}" hipJointUpperLimit="${3*pi/2}"/>
<xacro:leg suffix="3" hipJointName="6" kneeJointName="7" abductionJointName="11" front="-1" left="-1" hipJointLowerLimit="${-pi}" hipJointUpperLimit="${pi}"/>
<!-- Add ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/vision60</robotNamespace>
</plugin>
</gazebo>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/CMakeLists.txt | # MIT License (modified)
# Copyright (c) 2020 The Trustees of the University of Pennsylvania
# Authors:
# Vasileios Vasilopoulos <[email protected]>
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this **file** (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
cmake_minimum_required(VERSION 2.8.3)
project(spirit_description)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES minitaur_description
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/minitaur_description.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/minitaur_description_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_minitaur_description.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>spirit_description</name>
<version>0.0.0</version>
<description>The spirit_description package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">vasilisvasilop</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/spirit_description</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/launch/spirit.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 565
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hip3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: body
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.45080876
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398006
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 65
Y: 60
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/launch/spirit_rviz.launch | <!--
MIT License (modified)
Copyright (c) 2020 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<param name="robot_description" textfile="$(find spirit_description)/urdf/spirit.urdf" />
<param name="use_gui" value="true"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find spirit_description)/launch/spirit.rviz" required="true" />
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/sdf/spirit.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2020 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='spirit'>
<link name='body'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>5.75</mass>
<inertia>
<ixx>0.05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='body_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.335 0.24 0.104</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='body_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.335 0.24 0.104</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<link name='hip2'>
<pose frame=''>0.2263 -0.07 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.575</mass>
<inertia>
<ixx>0.000669635</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000669635</iyy>
<iyz>0</iyz>
<izz>0.000869688</izz>
</inertia>
</inertial>
<collision name='hip2_collision'>
<pose frame=''>0 -0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip2_visual'>
<pose frame=''>0 -0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='10' type='revolute'>
<child>hip2</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.707</lower>
<upper>0.707</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper2'>
<pose frame=''>0.2263 -0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.775</mass>
<inertia>
<ixx>5e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name='upper2_collision'>
<pose frame=''>-0.103 0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper2_visual'>
<pose frame=''>-0.103 0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='4' type='revolute'>
<child>upper2</child>
<parent>hip2</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower2'>
<pose frame=''>0.0203 -0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.034333 0 0 0 -0 0</pose>
<mass>0.09</mass>
<inertia>
<ixx>3e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00065545</iyy>
<iyz>0</iyz>
<izz>0.00065545</izz>
</inertia>
</inertial>
<collision name='lower2_collision'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe2_collision'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe2_contact" type="contact">
<plugin name="toe2_plugin" filename="libcontact.so"/>
<contact>
<collision>toe2_collision</collision>
</contact>
</sensor>
<visual name='lower2_visual'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower2_fixed_joint_lump__toe2_visual_1'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='5' type='revolute'>
<child>lower2</child>
<parent>upper2</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='hip3'>
<pose frame=''>-0.2263 -0.07 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.575</mass>
<inertia>
<ixx>0.000669635</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000669635</iyy>
<iyz>0</iyz>
<izz>0.000869688</izz>
</inertia>
</inertial>
<collision name='hip3_collision'>
<pose frame=''>0 -0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip3_visual'>
<pose frame=''>-0 -0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='11' type='revolute'>
<child>hip3</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.707</lower>
<upper>0.707</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper3'>
<pose frame=''>-0.2263 -0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.775</mass>
<inertia>
<ixx>5e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name='upper3_collision'>
<pose frame=''>-0.103 0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper3_visual'>
<pose frame=''>-0.103 0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='6' type='revolute'>
<child>upper3</child>
<parent>hip3</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower3'>
<pose frame=''>-0.4323 -0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.034333 0 0 0 -0 0</pose>
<mass>0.09</mass>
<inertia>
<ixx>3e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00065545</iyy>
<iyz>0</iyz>
<izz>0.00065545</izz>
</inertia>
</inertial>
<collision name='lower3_collision'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe3_collision'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe3_contact" type="contact">
<plugin name="toe3_plugin" filename="libcontact.so"/>
<contact>
<collision>toe3_collision</collision>
</contact>
</sensor>
<visual name='lower3_visual'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower3_fixed_joint_lump__toe3_visual_1'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='7' type='revolute'>
<child>lower3</child>
<parent>upper3</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='hip0'>
<pose frame=''>0.2263 0.07 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.575</mass>
<inertia>
<ixx>0.000669635</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000669635</iyy>
<iyz>0</iyz>
<izz>0.000869688</izz>
</inertia>
</inertial>
<collision name='hip0_collision'>
<pose frame=''>0 0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip0_visual'>
<pose frame=''>0 0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='8' type='revolute'>
<child>hip0</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.707</lower>
<upper>0.707</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper0'>
<pose frame=''>0.2263 0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.775</mass>
<inertia>
<ixx>5e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name='upper0_collision'>
<pose frame=''>-0.103 -0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper0_visual'>
<pose frame=''>-0.103 -0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='0' type='revolute'>
<child>upper0</child>
<parent>hip0</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower0'>
<pose frame=''>0.0203 0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.034333 0 0 0 -0 0</pose>
<mass>0.09</mass>
<inertia>
<ixx>3e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00065545</iyy>
<iyz>0</iyz>
<izz>0.00065545</izz>
</inertia>
</inertial>
<collision name='lower0_collision'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe0_collision'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe0_contact" type="contact">
<plugin name="toe0_plugin" filename="libcontact.so"/>
<contact>
<collision>toe0_collision</collision>
</contact>
</sensor>
<visual name='lower0_visual'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower0_fixed_joint_lump__toe0_visual_1'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='1' type='revolute'>
<child>lower0</child>
<parent>upper0</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='hip1'>
<pose frame=''>-0.2263 0.07 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.575</mass>
<inertia>
<ixx>0.000669635</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000669635</iyy>
<iyz>0</iyz>
<izz>0.000869688</izz>
</inertia>
</inertial>
<collision name='hip1_collision'>
<pose frame=''>0 0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='hip1_visual'>
<pose frame=''>-0 0.028 0 1.5708 -0 0</pose>
<geometry>
<cylinder>
<length>0.08</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='9' type='revolute'>
<child>hip1</child>
<parent>body</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.707</lower>
<upper>0.707</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='upper1'>
<pose frame=''>-0.2263 0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.775</mass>
<inertia>
<ixx>5e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name='upper1_collision'>
<pose frame=''>-0.103 -0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='upper1_visual'>
<pose frame=''>-0.103 -0.022 0 0 -0 0</pose>
<geometry>
<box>
<size>0.206 0.022 0.055</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='2' type='revolute'>
<child>upper1</child>
<parent>hip1</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower1'>
<pose frame=''>-0.4323 0.17098 0 0 -0 0</pose>
<inertial>
<pose frame=''>0.034333 0 0 0 -0 0</pose>
<mass>0.09</mass>
<inertia>
<ixx>3e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00065545</iyy>
<iyz>0</iyz>
<izz>0.00065545</izz>
</inertia>
</inertial>
<collision name='lower1_collision'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='toe1_collision'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
</contact>
</surface>
</collision>
<sensor name="toe1_contact" type="contact">
<plugin name="toe1_plugin" filename="libcontact.so"/>
<contact>
<collision>toe1_collision</collision>
</contact>
</sensor>
<visual name='lower1_visual'>
<pose frame=''>0.103 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<length>0.206</length>
<radius>0.013</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower1_fixed_joint_lump__toe1_visual_1'>
<pose frame=''>0.206 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='3' type='revolute'>
<child>lower1</child>
<parent>upper1</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>3.14159</upper>
<effort>40</effort>
<velocity>30</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<static>0</static>
<plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/spirit</robotNamespace>
</plugin>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/sdf/model.config | <!--
MIT License (modified)
Copyright (c) 2020 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0"?>
<model>
<name>spirit</name>
<version>1.0</version>
<sdf>spirit.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>
Model of the Spirit body
</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/urdf/spirit.urdf.xacro | <?xml version="1.0"?>
<!--
MIT License (modified)
Copyright (c) 2020 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ngr">
<!-- Define parameters -->
<!-- bodyLength + hipdx should be equal to front to back hip distance -->
<!-- dy + dPodAxisToEdge + upperLegWidth should be equal to the center to toe distance along y axis-->
<xacro:property name="pi" value="3.14159265359"/>
<xacro:property name="bodyLength" value="0.335"/>
<xacro:property name="bodyWidth" value="0.24"/>
<xacro:property name="bodyHeight" value="0.104"/>
<xacro:property name="bodyMass" value="5.75"/>
<xacro:property name="podMass" value="0.575"/>
<xacro:property name="upperLegMass" value="0.775"/>
<xacro:property name="upperLegIxx" value="0.00005"/> <!-- guess -->
<xacro:property name="upperLegIyy" value="0.001"/> <!-- guess -->
<xacro:property name="upperLegIzz" value="0.001"/> <!-- guess -->
<xacro:property name="lowerLegMass" value="0.075"/>
<xacro:property name="lowerLegIxx" value="0.000005"/> <!-- guess -->
<xacro:property name="lowerLegIyy" value="0.0001"/> <!-- guess -->
<xacro:property name="lowerLegIzz" value="0.0001"/> <!-- guess -->
<xacro:property name="toeMass" value="0.015"/>
<xacro:property name="upperLegLength" value="0.206"/>
<xacro:property name="upperLegWidth" value="0.022"/>
<xacro:property name="upperLegHeight" value="0.055"/>
<xacro:property name="lowerLegLength" value="0.206"/>
<xacro:property name="lowerLegRadius" value="0.013"/> <!--visual only-->
<xacro:property name="podLength" value="0.08"/>
<xacro:property name="podRadius" value="0.055"/>
<xacro:property name="dPodAxisToEdge" value="0.028"/> <!--center of pod cylinder to the ab axis-->
<xacro:property name="abOffs" value="0.10098"/>
<xacro:property name="dx" value="0.2263"/>
<xacro:property name="dy" value="0.07"/>
<xacro:property name="toeRadius" value="0.02"/>
<xacro:property name="toeOffset" value="0.0"/>
<xacro:property name="toeStiffness" value="30000.0"/>
<xacro:property name="toeDamping" value="1000.0"/>
<xacro:property name="toeSpinningFriction" value="0.3"/>
<xacro:property name="toeLateralFriction" value="3.0"/>
<xacro:property name="abKinLimit" value="0.707"/>
<xacro:property name="abSpeedLimit" value="30"/>
<xacro:property name="abEffortLimit" value="40"/>
<xacro:property name="jointSpeedLimit" value="30"/>
<xacro:property name="jointEffortLimit" value="40"/>
<!-- Define materials -->
<material name="darkgray">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<material name="silver">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.2 1.0"/>
</material>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
<material name="darkgray"/>
</visual>
<inertial>
<mass value="${bodyMass}"/>
<!-- Uniform box -->
<!-- <inertia ixx="1/12*${bodyMass}*(${bodyWidth}*${bodyWidth} + ${bodyHeight}*${bodyHeight})" ixy="0" ixz="0" iyy="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyHeight}*${bodyHeight})" iyz="0" izz="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyWidth}*${bodyWidth})"/> -->
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</collision>
</link>
<!-- Define our leg macro -->
<xacro:macro name="leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit color">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="${front * 0} ${left * (dPodAxisToEdge)} 0"/>
<geometry>
<cylinder length="${podLength}" radius="${podRadius}"/>
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0 ${left * (dPodAxisToEdge)} 0"/>
<geometry>
<cylinder length="${podLength}" radius="${podRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875" />
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${-left*upperLegWidth} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${-left*upperLegWidth} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="${upperLegIxx}" ixy="0" ixz="0" iyy="${upperLegIyy}" iyz="0" izz="${upperLegIzz}"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="${front * 0} ${left * abOffs} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${hipJointLowerLimit}" upper="${hipJointUpperLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 0"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 0"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="${lowerLegIxx}" ixy="0" ixz="0" iyy="${lowerLegIyy}" iyz="0" izz="${lowerLegIzz}"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe${suffix}">
<contact>
<friction_anchor/>
<stiffness value="${toeStiffness}"/>
<damping value="${toeDamping}"/>
<spinning_friction value="${toeSpinningFriction}"/>
<lateral_friction value="${toeLateralFriction}"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- Our four legs -->
<xacro:leg suffix="0" hipJointName="0" kneeJointName="1" abductionJointName="8" front="1" left="1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="darkgray"/>
<xacro:leg suffix="1" hipJointName="2" kneeJointName="3" abductionJointName="9" front="-1" left="1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="darkgray"/>
<xacro:leg suffix="2" hipJointName="4" kneeJointName="5" abductionJointName="10" front="1" left="-1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="red"/>
<xacro:leg suffix="3" hipJointName="6" kneeJointName="7" abductionJointName="11" front="-1" left="-1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="darkgray"/>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/urdf/xacro.py | #! /usr/bin/env python
# Copyright (c) 2013, Willow Garage, Inc.
# Copyright (c) 2014, Open Source Robotics Foundation, 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:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * 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.
# * Neither the name of the Open Source Robotics Foundation, Inc.
# nor the names of its contributors may be used to endorse or promote
# products derived from this software without specific prior
# written permission.
#
# 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 OWNER 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.
# Author: Stuart Glaser
# Maintainer: William Woodall <[email protected]>
from __future__ import print_function
import getopt
import glob
import os
import re
import string
import sys
import xml
from xml.dom.minidom import parse
try:
_basestr = basestring
except NameError:
_basestr = str
# Dictionary of subtitution args
substitution_args_context = {}
class XacroException(Exception):
pass
def isnumber(x):
return hasattr(x, '__int__')
# Better pretty printing of xml
# Taken from http://ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/
def fixed_writexml(self, writer, indent="", addindent="", newl=""):
# indent = current indentation
# addindent = indentation to add to higher levels
# newl = newline string
writer.write(indent + "<" + self.tagName)
attrs = self._get_attributes()
a_names = list(attrs.keys())
a_names.sort()
for a_name in a_names:
writer.write(" %s=\"" % a_name)
xml.dom.minidom._write_data(writer, attrs[a_name].value)
writer.write("\"")
if self.childNodes:
if len(self.childNodes) == 1 \
and self.childNodes[0].nodeType == xml.dom.minidom.Node.TEXT_NODE:
writer.write(">")
self.childNodes[0].writexml(writer, "", "", "")
writer.write("</%s>%s" % (self.tagName, newl))
return
writer.write(">%s" % (newl))
for node in self.childNodes:
# skip whitespace-only text nodes
if node.nodeType == xml.dom.minidom.Node.TEXT_NODE and \
not node.data.strip():
continue
node.writexml(writer, indent + addindent, addindent, newl)
writer.write("%s</%s>%s" % (indent, self.tagName, newl))
else:
writer.write("/>%s" % (newl))
# replace minidom's function with ours
xml.dom.minidom.Element.writexml = fixed_writexml
class Table:
def __init__(self, parent=None):
self.parent = parent
self.table = {}
def __getitem__(self, key):
if key in self.table:
return self.table[key]
elif self.parent:
return self.parent[key]
else:
raise KeyError(key)
def __setitem__(self, key, value):
self.table[key] = value
def __contains__(self, key):
return \
key in self.table or \
(self.parent and key in self.parent)
class QuickLexer(object):
def __init__(self, **res):
self.str = ""
self.top = None
self.res = []
for k, v in res.items():
self.__setattr__(k, len(self.res))
self.res.append(v)
def lex(self, str):
self.str = str
self.top = None
self.next()
def peek(self):
return self.top
def next(self):
result = self.top
self.top = None
for i in range(len(self.res)):
m = re.match(self.res[i], self.str)
if m:
self.top = (i, m.group(0))
self.str = self.str[m.end():]
break
return result
def first_child_element(elt):
c = elt.firstChild
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
def next_sibling_element(elt):
c = elt.nextSibling
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
# Pre-order traversal of the elements
def next_element(elt):
child = first_child_element(elt)
if child:
return child
while elt and elt.nodeType == xml.dom.Node.ELEMENT_NODE:
next = next_sibling_element(elt)
if next:
return next
elt = elt.parentNode
return None
# Pre-order traversal of all the nodes
def next_node(node):
if node.firstChild:
return node.firstChild
while node:
if node.nextSibling:
return node.nextSibling
node = node.parentNode
return None
def child_nodes(elt):
c = elt.firstChild
while c:
yield c
c = c.nextSibling
all_includes = []
# Deprecated message for <include> tags that don't have <xacro:include> prepended:
deprecated_include_msg = """DEPRECATED IN HYDRO:
The <include> tag should be prepended with 'xacro' if that is the intended use
of it, such as <xacro:include ...>. Use the following script to fix incorrect
xacro includes:
sed -i 's/<include/<xacro:include/g' `find . -iname *.xacro`"""
include_no_matches_msg = """Include tag filename spec \"{}\" matched no files."""
## @throws XacroException if a parsing error occurs with an included document
def process_includes(doc, base_dir):
namespaces = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
# Xacro should not use plain 'include' tags but only namespaced ones. Causes conflicts with
# other XML elements including Gazebo's <gazebo> extensions
is_include = False
if elt.tagName == 'xacro:include' or elt.tagName == 'include':
is_include = True
# Temporary fix for ROS Hydro and the xacro include scope problem
if elt.tagName == 'include':
# check if there is any element within the <include> tag. mostly we are concerned
# with Gazebo's <uri> element, but it could be anything. also, make sure the child
# nodes aren't just a single Text node, which is still considered a deprecated
# instance
if elt.childNodes and not (len(elt.childNodes) == 1 and
elt.childNodes[0].nodeType == elt.TEXT_NODE):
# this is not intended to be a xacro element, so we can ignore it
is_include = False
else:
# throw a deprecated warning
print(deprecated_include_msg, file=sys.stderr)
# Process current element depending on previous conditions
if is_include:
filename_spec = eval_text(elt.getAttribute('filename'), {})
if not os.path.isabs(filename_spec):
filename_spec = os.path.join(base_dir, filename_spec)
if re.search('[*[?]+', filename_spec):
# Globbing behaviour
filenames = sorted(glob.glob(filename_spec))
if len(filenames) == 0:
print(include_no_matches_msg.format(filename_spec), file=sys.stderr)
else:
# Default behaviour
filenames = [filename_spec]
for filename in filenames:
global all_includes
all_includes.append(filename)
try:
with open(filename) as f:
try:
included = parse(f)
except Exception as e:
raise XacroException(
"included file \"%s\" generated an error during XML parsing: %s"
% (filename, str(e)))
except IOError as e:
raise XacroException("included file \"%s\" could not be opened: %s" % (filename, str(e)))
# Replaces the include tag with the elements of the included file
for c in child_nodes(included.documentElement):
elt.parentNode.insertBefore(c.cloneNode(deep=True), elt)
# Grabs all the declared namespaces of the included document
for name, value in included.documentElement.attributes.items():
if name.startswith('xmlns:'):
namespaces[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
# Makes sure the final document declares all the namespaces of the included documents.
for k, v in namespaces.items():
doc.documentElement.setAttribute(k, v)
# Returns a dictionary: { macro_name => macro_xml_block }
def grab_macros(doc):
macros = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'macro' or elt.tagName == 'xacro:macro':
name = elt.getAttribute('name')
macros[name] = elt
macros['xacro:' + name] = elt
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return macros
# Returns a Table of the properties
def grab_properties(doc):
table = Table()
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'property' or elt.tagName == 'xacro:property':
name = elt.getAttribute('name')
value = None
if elt.hasAttribute('value'):
value = elt.getAttribute('value')
else:
name = '**' + name
value = elt # debug
bad = string.whitespace + "${}"
has_bad = False
for b in bad:
if b in name:
has_bad = True
break
if has_bad:
sys.stderr.write('Property names may not have whitespace, ' +
'"{", "}", or "$" : "' + name + '"')
else:
table[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return table
def eat_ignore(lex):
while lex.peek() and lex.peek()[0] == lex.IGNORE:
lex.next()
def eval_lit(lex, symbols):
eat_ignore(lex)
if lex.peek()[0] == lex.NUMBER:
return float(lex.next()[1])
if lex.peek()[0] == lex.SYMBOL:
try:
key = lex.next()[1]
value = symbols[key]
except KeyError as ex:
raise XacroException("Property wasn't defined: %s" % str(ex))
if not (isnumber(value) or isinstance(value, _basestr)):
if value is None:
raise XacroException("Property %s recursively used" % key)
raise XacroException("WTF2")
try:
return int(value)
except:
try:
return float(value)
except:
# prevent infinite recursion
symbols[key] = None
result = eval_text(value, symbols)
# restore old entry
symbols[key] = value
return result
raise XacroException("Bad literal")
def eval_factor(lex, symbols):
eat_ignore(lex)
neg = 1
if lex.peek()[1] == '-':
lex.next()
neg = -1
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL]:
return neg * eval_lit(lex, symbols)
if lex.peek()[0] == lex.LPAREN:
lex.next()
eat_ignore(lex)
result = eval_expr(lex, symbols)
eat_ignore(lex)
if lex.next()[0] != lex.RPAREN:
raise XacroException("Unmatched left paren")
eat_ignore(lex)
return neg * result
raise XacroException("Misplaced operator")
def eval_term(lex, symbols):
eat_ignore(lex)
result = 0
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL, lex.LPAREN] \
or lex.peek()[1] == '-':
result = eval_factor(lex, symbols)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['*', '/']:
op = lex.next()[1]
n = eval_factor(lex, symbols)
if op == '*':
result = float(result) * float(n)
elif op == '/':
result = float(result) / float(n)
else:
raise XacroException("WTF")
eat_ignore(lex)
return result
def eval_expr(lex, symbols):
eat_ignore(lex)
op = None
if lex.peek()[0] == lex.OP:
op = lex.next()[1]
if not op in ['+', '-']:
raise XacroException("Invalid operation. Must be '+' or '-'")
result = eval_term(lex, symbols)
if op == '-':
result = -float(result)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['+', '-']:
op = lex.next()[1]
n = eval_term(lex, symbols)
if op == '+':
result = float(result) + float(n)
if op == '-':
result = float(result) - float(n)
eat_ignore(lex)
return result
def eval_text(text, symbols):
def handle_expr(s):
lex = QuickLexer(IGNORE=r"\s+",
NUMBER=r"(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?",
SYMBOL=r"[a-zA-Z_]\w*",
OP=r"[\+\-\*/^]",
LPAREN=r"\(",
RPAREN=r"\)")
lex.lex(s)
return eval_expr(lex, symbols)
def handle_extension(s):
return ("$(%s)" % s)
results = []
lex = QuickLexer(DOLLAR_DOLLAR_BRACE=r"\$\$+\{",
EXPR=r"\$\{[^\}]*\}",
EXTENSION=r"\$\([^\)]*\)",
TEXT=r"([^\$]|\$[^{(]|\$$)+")
lex.lex(text)
while lex.peek():
if lex.peek()[0] == lex.EXPR:
results.append(handle_expr(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.EXTENSION:
results.append(handle_extension(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.TEXT:
results.append(lex.next()[1])
elif lex.peek()[0] == lex.DOLLAR_DOLLAR_BRACE:
results.append(lex.next()[1][1:])
return ''.join(map(str, results))
# Expands macros, replaces properties, and evaluates expressions
def eval_all(root, macros, symbols):
# Evaluates the attributes for the root node
for at in root.attributes.items():
result = eval_text(at[1], symbols)
root.setAttribute(at[0], result)
previous = root
node = next_node(previous)
while node:
if node.nodeType == xml.dom.Node.ELEMENT_NODE:
if node.tagName in macros:
body = macros[node.tagName].cloneNode(deep=True)
params = body.getAttribute('params').split()
# Parse default values for any parameters
defaultmap = {}
for param in params[:]:
splitParam = param.split(':=')
if len(splitParam) == 2:
defaultmap[splitParam[0]] = splitParam[1]
params.remove(param)
params.append(splitParam[0])
elif len(splitParam) != 1:
raise XacroException("Invalid parameter definition")
# Expands the macro
scoped = Table(symbols)
for name, value in node.attributes.items():
if not name in params:
raise XacroException("Invalid parameter \"%s\" while expanding macro \"%s\"" %
(str(name), str(node.tagName)))
params.remove(name)
scoped[name] = eval_text(value, symbols)
# Pulls out the block arguments, in order
cloned = node.cloneNode(deep=True)
eval_all(cloned, macros, symbols)
block = cloned.firstChild
for param in params[:]:
if param[0] == '*':
while block and block.nodeType != xml.dom.Node.ELEMENT_NODE:
block = block.nextSibling
if not block:
raise XacroException("Not enough blocks while evaluating macro %s" % str(node.tagName))
params.remove(param)
scoped[param] = block
block = block.nextSibling
# Try to load defaults for any remaining non-block parameters
for param in params[:]:
if param[0] != '*' and param in defaultmap:
scoped[param] = defaultmap[param]
params.remove(param)
if params:
raise XacroException("Parameters [%s] were not set for macro %s" %
(",".join(params), str(node.tagName)))
eval_all(body, macros, scoped)
# Replaces the macro node with the expansion
for e in list(child_nodes(body)): # Ew
node.parentNode.insertBefore(e, node)
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'arg' or node.tagName == 'xacro:arg':
name = node.getAttribute('name')
if not name:
raise XacroException("Argument name missing")
default = node.getAttribute('default')
if default and name not in substitution_args_context['arg']:
substitution_args_context['arg'][name] = default
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'insert_block' or node.tagName == 'xacro:insert_block':
name = node.getAttribute('name')
if ("**" + name) in symbols:
# Multi-block
block = symbols['**' + name]
for e in list(child_nodes(block)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
elif ("*" + name) in symbols:
# Single block
block = symbols['*' + name]
node.parentNode.insertBefore(block.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
raise XacroException("Block \"%s\" was never declared" % name)
node = None
elif node.tagName in ['if', 'xacro:if', 'unless', 'xacro:unless']:
value = eval_text(node.getAttribute('value'), symbols)
try:
if value == 'true': keep = True
elif value == 'false': keep = False
else: keep = float(value)
except ValueError:
raise XacroException("Xacro conditional evaluated to \"%s\". Acceptable evaluations are one of [\"1\",\"true\",\"0\",\"false\"]" % value)
if node.tagName in ['unless', 'xacro:unless']: keep = not keep
if keep:
for e in list(child_nodes(node)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
# Evals the attributes
for at in node.attributes.items():
result = eval_text(at[1], symbols)
node.setAttribute(at[0], result)
previous = node
elif node.nodeType == xml.dom.Node.TEXT_NODE:
node.data = eval_text(node.data, symbols)
previous = node
else:
previous = node
node = next_node(previous)
return macros
# Expands everything except includes
def eval_self_contained(doc):
macros = grab_macros(doc)
symbols = grab_properties(doc)
eval_all(doc.documentElement, macros, symbols)
def print_usage(exit_code=0):
print("Usage: %s [-o <output>] <input>" % 'xacro.py')
print(" %s --deps Prints dependencies" % 'xacro.py')
print(" %s --includes Only evalutes includes" % 'xacro.py')
sys.exit(exit_code)
def set_substitution_args_context(context={}):
substitution_args_context['arg'] = context
def open_output(output_filename):
if output_filename is None:
return sys.stdout
else:
return open(output_filename, 'w')
def main():
try:
opts, args = getopt.gnu_getopt(sys.argv[1:], "ho:", ['deps', 'includes'])
except getopt.GetoptError as err:
print(str(err))
print_usage(2)
just_deps = False
just_includes = False
output_filename = None
for o, a in opts:
if o == '-h':
print_usage(0)
elif o == '-o':
output_filename = a
elif o == '--deps':
just_deps = True
elif o == '--includes':
just_includes = True
if len(args) < 1:
print("No input given")
print_usage(2)
# Process substitution args
# set_substitution_args_context(load_mappings(sys.argv))
set_substitution_args_context((sys.argv))
f = open(args[0])
doc = None
try:
doc = parse(f)
except xml.parsers.expat.ExpatError:
sys.stderr.write("Expat parsing error. Check that:\n")
sys.stderr.write(" - Your XML is correctly formed\n")
sys.stderr.write(" - You have the xacro xmlns declaration: " +
"xmlns:xacro=\"http://www.ros.org/wiki/xacro\"\n")
sys.stderr.write("\n")
raise
finally:
f.close()
process_includes(doc, os.path.dirname(args[0]))
if just_deps:
for inc in all_includes:
sys.stdout.write(inc + " ")
sys.stdout.write("\n")
elif just_includes:
doc.writexml(open_output(output_filename))
print()
else:
eval_self_contained(doc)
banner = [xml.dom.minidom.Comment(c) for c in
[" %s " % ('=' * 83),
" | This document was autogenerated by xacro from %-30s | " % args[0],
" | EDITING THIS FILE BY HAND IS NOT RECOMMENDED %-30s | " % "",
" %s " % ('=' * 83)]]
first = doc.firstChild
for comment in banner:
doc.insertBefore(comment, first)
open_output(output_filename).write(doc.toprettyxml(indent=' '))
print()
if __name__ == '__main__':
main()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/urdf/spirit_gazebo.urdf.xacro | <?xml version="1.0"?>
<!--
MIT License (modified)
Copyright (c) 2020 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="spirit">
<!-- Define parameters -->
<!-- bodyLength + hipdx should be equal to front to back hip distance -->
<!-- dy + dPodAxisToEdge + upperLegWidth should be equal to the center to toe distance along y axis-->
<xacro:property name="pi" value="3.14159265359"/>
<xacro:property name="bodyLength" value="0.335"/>
<xacro:property name="bodyWidth" value="0.24"/>
<xacro:property name="bodyHeight" value="0.104"/>
<xacro:property name="bodyMass" value="5.75"/>
<xacro:property name="podMass" value="0.575"/>
<xacro:property name="upperLegMass" value="0.775"/>
<xacro:property name="upperLegIxx" value="0.00005"/> <!-- guess -->
<xacro:property name="upperLegIyy" value="0.001"/> <!-- guess -->
<xacro:property name="upperLegIzz" value="0.001"/> <!-- guess -->
<xacro:property name="lowerLegMass" value="0.075"/>
<xacro:property name="lowerLegIxx" value="0.000005"/> <!-- guess -->
<xacro:property name="lowerLegIyy" value="0.0001"/> <!-- guess -->
<xacro:property name="lowerLegIzz" value="0.0001"/> <!-- guess -->
<xacro:property name="toeMass" value="0.015"/>
<xacro:property name="upperLegLength" value="0.206"/>
<xacro:property name="upperLegWidth" value="0.022"/>
<xacro:property name="upperLegHeight" value="0.055"/>
<xacro:property name="lowerLegLength" value="0.206"/>
<xacro:property name="lowerLegRadius" value="0.013"/> <!--visual only-->
<xacro:property name="podLength" value="0.08"/>
<xacro:property name="podRadius" value="0.055"/>
<xacro:property name="dPodAxisToEdge" value="0.028"/> <!--center of pod cylinder to the ab axis-->
<xacro:property name="abOffs" value="0.10098"/>
<xacro:property name="dx" value="0.2263"/>
<xacro:property name="dy" value="0.07"/>
<xacro:property name="toeRadius" value="0.02"/>
<xacro:property name="toeOffset" value="0.0"/>
<xacro:property name="toeStiffness" value="30000.0"/>
<xacro:property name="toeDamping" value="1000.0"/>
<xacro:property name="toeSpinningFriction" value="0.3"/>
<xacro:property name="toeFriction" value="100.0"/>
<xacro:property name="toeLateralFriction" value="50.0"/>
<xacro:property name="abKinLimit" value="0.707"/>
<xacro:property name="abSpeedLimit" value="30"/>
<xacro:property name="abEffortLimit" value="40"/>
<xacro:property name="jointSpeedLimit" value="30"/>
<xacro:property name="jointEffortLimit" value="40"/>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
<material name="darkgray"/>
</visual>
<inertial>
<mass value="${bodyMass}"/>
<!-- Uniform box -->
<!-- <inertia ixx="1/12*${bodyMass}*(${bodyWidth}*${bodyWidth} + ${bodyHeight}*${bodyHeight})" ixy="0" ixz="0" iyy="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyHeight}*${bodyHeight})" iyz="0" izz="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyWidth}*${bodyWidth})"/> -->
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</collision>
</link>
<gazebo reference="body">
<material>Gazebo/Black</material>
</gazebo>
<!-- Define our leg macro -->
<xacro:macro name="leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit color">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="${front * 0} ${left * (dPodAxisToEdge)} 0"/>
<geometry>
<cylinder length="${podLength}" radius="${podRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0 ${left * (dPodAxisToEdge)} 0"/>
<geometry>
<cylinder length="${podLength}" radius="${podRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875" />
</inertial>
</link>
<gazebo reference="hip${suffix}">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${abductionJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${abductionJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${abductionJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${-left*upperLegWidth} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${-left*upperLegWidth} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="${upperLegIxx}" ixy="0" ixz="0" iyy="${upperLegIyy}" iyz="0" izz="${upperLegIzz}"/>
</inertial>
</link>
<gazebo reference="upper${suffix}">
<material>Gazebo/DarkGrey</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="${front * 0} ${left * abOffs} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${hipJointLowerLimit}" upper="${hipJointUpperLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${hipJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${hipJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${hipJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 0"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 0"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="${lowerLegIxx}" ixy="0" ixz="0" iyy="${lowerLegIyy}" iyz="0" izz="${lowerLegIzz}"/>
</inertial>
</link>
<gazebo reference="lower${suffix}">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${kneeJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${kneeJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${kneeJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe${suffix}">
<contact>
<friction_anchor/>
<stiffness value="${toeStiffness}"/>
<damping value="${toeDamping}"/>
<spinning_friction value="${toeSpinningFriction}"/>
<lateral_friction value="${toeLateralFriction}"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<gazebo reference="toe${suffix}">
<material>Gazebo/Black</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>${toeSpinningFriction}</coefficient>
</torsional>
<ode>
<mu>${toeFriction}</mu>
<mu2>${toeLateralFriction}</mu2>
</ode>
<bullet>
<rolling_friction>${toeSpinningFriction}</rolling_friction>
<friction2>${toeLateralFriction}</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</bullet>
<ode>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- Our four legs -->
<xacro:leg suffix="0" hipJointName="0" kneeJointName="1" abductionJointName="8" front="1" left="1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="darkgray"/>
<xacro:leg suffix="1" hipJointName="2" kneeJointName="3" abductionJointName="9" front="-1" left="1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="darkgray"/>
<xacro:leg suffix="2" hipJointName="4" kneeJointName="5" abductionJointName="10" front="1" left="-1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="red"/>
<xacro:leg suffix="3" hipJointName="6" kneeJointName="7" abductionJointName="11" front="-1" left="-1" hipJointLowerLimit="${-2*pi}" hipJointUpperLimit="${2*pi}" color="darkgray"/>
<!-- Add ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/spirit</robotNamespace>
</plugin>
</gazebo>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/urdf/spirit.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spirit.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
MIT License (modified)
Copyright (c) 2020 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Define parameters -->
<!-- bodyLength + hipdx should be equal to front to back hip distance -->
<!-- dy + dPodAxisToEdge + upperLegWidth should be equal to the center to toe distance along y axis-->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!--visual only-->
<!--center of pod cylinder to the ab axis-->
<!-- Define materials -->
<material name="darkgray">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<material name="silver">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.2 1.0"/>
</material>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.335 0.24 0.104"/>
</geometry>
<material name="darkgray"/>
</visual>
<inertial>
<mass value="5.75"/>
<!-- Uniform box -->
<!-- <inertia ixx="1/12*${bodyMass}*(${bodyWidth}*${bodyWidth} + ${bodyHeight}*${bodyHeight})" ixy="0" ixz="0" iyy="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyHeight}*${bodyHeight})" iyz="0" izz="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyWidth}*${bodyWidth})"/> -->
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.335 0.24 0.104"/>
</geometry>
</collision>
</link>
<!-- Define our leg macro -->
<!-- Our four legs -->
<!-- Hip motor -->
<link name="hip0">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="8" type="revolute">
<parent link="body"/>
<child link="hip0"/>
<axis xyz="1 0 0"/>
<origin xyz="0.2263 0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper0">
<visual>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="0" type="revolute">
<parent link="hip0"/>
<child link="upper0"/>
<axis xyz="0 -1 0"/>
<origin xyz="0.0 0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower0">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="1" type="revolute">
<parent link="upper0"/>
<child link="lower0"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe0">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<joint name="jtoe0" type="fixed">
<parent link="lower0"/>
<child link="toe0"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip1">
<visual>
<origin rpy="1.5707963268 0 0" xyz="-0.0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="9" type="revolute">
<parent link="body"/>
<child link="hip1"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.2263 0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper1">
<visual>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="2" type="revolute">
<parent link="hip1"/>
<child link="upper1"/>
<axis xyz="0 -1 0"/>
<origin xyz="-0.0 0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower1">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="3" type="revolute">
<parent link="upper1"/>
<child link="lower1"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe1">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<joint name="jtoe1" type="fixed">
<parent link="lower1"/>
<child link="toe1"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip2">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="10" type="revolute">
<parent link="body"/>
<child link="hip2"/>
<axis xyz="1 0 0"/>
<origin xyz="0.2263 -0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper2">
<visual>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="4" type="revolute">
<parent link="hip2"/>
<child link="upper2"/>
<axis xyz="0 -1 0"/>
<origin xyz="0.0 -0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower2">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="5" type="revolute">
<parent link="upper2"/>
<child link="lower2"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe2">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<joint name="jtoe2" type="fixed">
<parent link="lower2"/>
<child link="toe2"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip3">
<visual>
<origin rpy="1.5707963268 0 0" xyz="-0.0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="11" type="revolute">
<parent link="body"/>
<child link="hip3"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.2263 -0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper3">
<visual>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="6" type="revolute">
<parent link="hip3"/>
<child link="upper3"/>
<axis xyz="0 -1 0"/>
<origin xyz="-0.0 -0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower3">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="7" type="revolute">
<parent link="upper3"/>
<child link="lower3"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe3">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<joint name="jtoe3" type="fixed">
<parent link="lower3"/>
<child link="toe3"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/spirit_description/urdf/spirit_gazebo.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spirit_gazebo.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
MIT License (modified)
Copyright (c) 2020 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot name="spirit" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Define parameters -->
<!-- bodyLength + hipdx should be equal to front to back hip distance -->
<!-- dy + dPodAxisToEdge + upperLegWidth should be equal to the center to toe distance along y axis-->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!-- guess -->
<!--visual only-->
<!--center of pod cylinder to the ab axis-->
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.335 0.24 0.104"/>
</geometry>
<material name="darkgray"/>
</visual>
<inertial>
<mass value="5.75"/>
<!-- Uniform box -->
<!-- <inertia ixx="1/12*${bodyMass}*(${bodyWidth}*${bodyWidth} + ${bodyHeight}*${bodyHeight})" ixy="0" ixz="0" iyy="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyHeight}*${bodyHeight})" iyz="0" izz="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyWidth}*${bodyWidth})"/> -->
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.335 0.24 0.104"/>
</geometry>
</collision>
</link>
<gazebo reference="body">
<material>Gazebo/Black</material>
</gazebo>
<!-- Define our leg macro -->
<!-- Our four legs -->
<!-- Hip motor -->
<link name="hip0">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<gazebo reference="hip0">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="8" type="revolute">
<parent link="body"/>
<child link="hip0"/>
<axis xyz="1 0 0"/>
<origin xyz="0.2263 0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_8">
<type>transmission_interface/SimpleTransmission</type>
<joint name="8">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_8">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper0">
<visual>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<gazebo reference="upper0">
<material>Gazebo/DarkGrey</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="0" type="revolute">
<parent link="hip0"/>
<child link="upper0"/>
<axis xyz="0 -1 0"/>
<origin xyz="0.0 0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_0">
<type>transmission_interface/SimpleTransmission</type>
<joint name="0">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower0">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower0">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="1" type="revolute">
<parent link="upper0"/>
<child link="lower0"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe0">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="50.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<gazebo reference="toe0">
<material>Gazebo/Black</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100.0</mu>
<mu2>50.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe0" type="fixed">
<parent link="lower0"/>
<child link="toe0"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip1">
<visual>
<origin rpy="1.5707963268 0 0" xyz="-0.0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<gazebo reference="hip1">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="9" type="revolute">
<parent link="body"/>
<child link="hip1"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.2263 0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_9">
<type>transmission_interface/SimpleTransmission</type>
<joint name="9">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_9">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper1">
<visual>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<gazebo reference="upper1">
<material>Gazebo/DarkGrey</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="2" type="revolute">
<parent link="hip1"/>
<child link="upper1"/>
<axis xyz="0 -1 0"/>
<origin xyz="-0.0 0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower1">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower1">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="3" type="revolute">
<parent link="upper1"/>
<child link="lower1"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe1">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="50.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<gazebo reference="toe1">
<material>Gazebo/Black</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100.0</mu>
<mu2>50.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe1" type="fixed">
<parent link="lower1"/>
<child link="toe1"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip2">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<gazebo reference="hip2">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="10" type="revolute">
<parent link="body"/>
<child link="hip2"/>
<axis xyz="1 0 0"/>
<origin xyz="0.2263 -0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_10">
<type>transmission_interface/SimpleTransmission</type>
<joint name="10">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_10">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper2">
<visual>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<gazebo reference="upper2">
<material>Gazebo/DarkGrey</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="4" type="revolute">
<parent link="hip2"/>
<child link="upper2"/>
<axis xyz="0 -1 0"/>
<origin xyz="0.0 -0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower2">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower2">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="5" type="revolute">
<parent link="upper2"/>
<child link="lower2"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_5">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe2">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="50.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<gazebo reference="toe2">
<material>Gazebo/Black</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100.0</mu>
<mu2>50.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe2" type="fixed">
<parent link="lower2"/>
<child link="toe2"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip3">
<visual>
<origin rpy="1.5707963268 0 0" xyz="-0.0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
<geometry>
<cylinder length="0.08" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.575"/>
<!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" ixy="0" ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
{podRadius}" /> -->
<inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
</inertial>
</link>
<gazebo reference="hip3">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="11" type="revolute">
<parent link="body"/>
<child link="hip3"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.2263 -0.07 0"/>
<limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_11">
<type>transmission_interface/SimpleTransmission</type>
<joint name="11">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_11">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper3">
<visual>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
<geometry>
<box size="0.206 0.022 0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.775"/>
<inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<gazebo reference="upper3">
<material>Gazebo/DarkGrey</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="6" type="revolute">
<parent link="hip3"/>
<child link="upper3"/>
<axis xyz="0 -1 0"/>
<origin xyz="-0.0 -0.10098 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_6">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower3">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
<geometry>
<cylinder length="0.206" radius="0.013"/>
</geometry>
</collision>
<inertial>
<mass value="0.075"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="lower3">
<material>Gazebo/Grey</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="7" type="revolute">
<parent link="upper3"/>
<child link="lower3"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.206 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="7">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_7">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe3">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="50.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.015"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
<!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}" ixy="0" ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
</inertial>
</link>
<gazebo reference="toe3">
<material>Gazebo/Black</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu>100.0</mu>
<mu2>50.0</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>50.0</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>30000.0</kp>
<kd>1000.0</kd>
</bullet>
<ode>
<kp>30000.0</kp>
<kd>1000.0</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe3" type="fixed">
<parent link="lower3"/>
<child link="toe3"/>
<origin xyz="0.206 0 -0.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Add ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/spirit</robotNamespace>
</plugin>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/CMakeLists.txt | # MIT License (modified)
# Copyright (c) 2018 The Trustees of the University of Pennsylvania
# Authors:
# Vasileios Vasilopoulos <[email protected]>
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this **file** (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
cmake_minimum_required(VERSION 2.8.3)
project(minitaur_description)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES minitaur_description
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/minitaur_description.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/minitaur_description_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_minitaur_description.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>minitaur_description</name>
<version>0.0.0</version>
<description>The minitaur_description package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">vasilisvasilop</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/minitaur_description</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/launch/minitaur.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 565
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chassis_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
chassis_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
frame1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
frame2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
frame3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
frame4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_back_leftL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_back_leftR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_back_rightL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_back_rightR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_front_leftL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_front_leftR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_front_rightL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_leg_front_rightR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_back_leftL_bracket_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_back_leftL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_back_leftR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_back_rightL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_back_rightR_bracket_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_back_rightR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_front_leftL_bracket_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_front_leftL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_front_leftR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_front_rightL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_front_rightR_bracket_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
motor_front_rightR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
toe7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_back_leftL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_back_leftR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_back_rightL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_back_rightR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_front_leftL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_front_leftR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_front_rightL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_leg_front_rightR_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_chassis_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.91523099
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398006
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 65
Y: 60
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/launch/minitaur_rviz.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<arg name="minitaur" />
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur.urdf" />
<param name="use_gui" value="true"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find minitaur_description)/launch/minitaur.rviz" required="true" />
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/sensor_head/sensor_head.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='sensor_head'>
<!-- Sensor head base -->
<link name='base'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>0.18</mass>
<inertia>
<ixx>2.94e-4</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.21e-3</iyy>
<iyz>0</iyz>
<izz>1.5e-3</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.284 0.14 0.006</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.284 0.14 0.006</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<!-- LIDAR -->
<link name="hokuyo_link">
<collision name="hokuyo_collision">
<pose>0.079 0 0.038 0 0 0</pose>
<geometry>
<box>
<size>0.06 0.06 0.09</size>
</box>
</geometry>
</collision>
<visual name="hokuyo_visual">
<pose>0.079 0 0.038 0 0 0</pose>
<geometry>
<mesh>
<uri>model://minitaur_constrained/../../meshes/hokuyo.dae</uri>
</mesh>
</geometry>
</visual>
<inertial>
<mass>0.4</mass>
<inertia>
<ixx>3.9e-4</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3.9e-4</iyy>
<iyz>0</iyz>
<izz>2.4e-4</izz>
</inertia>
<pose frame=''>0.079 0 0.038 0 -0 0</pose>
</inertial>
<sensor type="ray" name="head_hokuyo_sensor">
<pose>0.079 0 0.07 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>/laser</frameName>
</plugin>
</sensor>
</link>
<joint name="hokuyo_joint" type="fixed">
<child>hokuyo_link</child>
<parent>base</parent>
</joint>
<!-- RGB Camera -->
<link name="camera_link">
<collision name="camera_collision">
<pose>0.125 0 0.015 0 0 0</pose>
<geometry>
<box>
<size>0.029 0.094 0.024</size>
</box>
</geometry>
</collision>
<visual name="camera_visual">
<pose>0.125 0.039 0 0 0 -1.57</pose>
<geometry>
<mesh>
<uri>model://minitaur_constrained/../../meshes/camera.stl</uri>
<scale>0.02 0.02 0.02</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
</visual>
<inertial>
<mass>0.16</mass>
<inertia>
<ixx>1.2e-4</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.9e-5</iyy>
<iyz>0</iyz>
<izz>1.2e-4</izz>
</inertia>
<pose frame=''>0.125 0 0.015 0 -0 0</pose>
</inertial>
<sensor type="camera" name="camera1">
<pose>0.135 0 0.03 0 0 0</pose>
<update_rate>30.0</update_rate>
<camera name="head">
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<!-- Input camera parameters - the camera calibration yaml file gives width, height etc. -->
<!-- For distortion model plumb_bob, the 5 parameters are (k1, k2, t1, t2, k3) -->
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>usb_cam</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>rgb_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</link>
<joint name="camera_joint" type="fixed">
<child>camera_link</child>
<parent>base</parent>
</joint>
<!-- Stereo camera -->
<link name="stereo_camera_link">
<collision name="stereo_camera_collision">
<pose>-0.115 0 0.01625 0 0 0</pose>
<geometry>
<box>
<size>0.0305 0.1245 0.0265</size>
</box>
</geometry>
</collision>
<visual name="stereo_camera_visual">
<pose>-0.115 0 0.01625 0 0 3.14</pose>
<geometry>
<mesh>
<uri>model://minitaur_constrained/../../meshes/ZEDM.stl</uri>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
</visual>
<inertial>
<mass>0.0629</mass>
<inertia>
<ixx>8.5e-5</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.6e-6</iyy>
<iyz>0</iyz>
<izz>8.6e-5</izz>
</inertia>
<pose frame=''>-0.115 0 0.01625 0 -0 0</pose>
</inertial>
</link>
<joint name="stereo_camera_joint" type="fixed">
<child>stereo_camera_link</child>
<parent>base</parent>
</joint>
<!-- Computer -->
<link name="computer_link">
<collision name="computer_collision">
<pose>0 0 0.023 0 0 0</pose>
<geometry>
<box>
<size>0.090 0.057 0.04</size>
</box>
</geometry>
</collision>
<visual name="computer_visual">
<pose>0 0 0.023 0 0 0</pose>
<geometry>
<box>
<size>0.090 0.057 0.04</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
</visual>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>8e-5</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.6e-4</iyy>
<iyz>0</iyz>
<izz>1.8e-4</izz>
</inertia>
<pose frame=''>0 0 0.023 0 -0 0</pose>
</inertial>
</link>
<joint name="computer_joint" type="fixed">
<child>computer_link</child>
<parent>base</parent>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/sensor_head/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>sensor_head</name>
<version>1.0</version>
<sdf version="1.6">sensor_head.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Sensor head for Minitaur</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/minitaur_hooks/minitaur_hooks.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2019 The Tru$tees of the University of Pennsylvania
Authors:
T Topping <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='minitaur_constrained'>
<link name='base_chassis_link_dummy'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.001049 -0.005375 0 -0 0</pose>
<mass>4.956</mass>
<inertia>
<ixx>0.0612569</ixx>
<ixy>-2.18416e-20</ixy>
<ixz>-5.76859e-20</ixz>
<iyy>0.175533</iyy>
<iyz>-6.82484e-05</iyz>
<izz>0.225818</izz>
</inertia>
</inertial>
<collision name='base_chassis_link_dummy_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.33 0.1855 0.08</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_collision_1'>
<pose frame=''>0 0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_collision_2'>
<pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_3'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.33 0.1855 0.08</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_4'>
<pose frame=''>0 0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_5'>
<pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_collision_6'>
<pose frame=''>0.2375 0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_collision_7'>
<pose frame=''>-0.2375 0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_collision_8'>
<pose frame=''>0.2375 -0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_collision_9'>
<pose frame=''>-0.2375 -0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__frame1_collision_10'>
<pose frame=''>0.0175 -0.154 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__frame2_collision_11'>
<pose frame=''>0.0175 0.154 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__frame3_collision_12'>
<pose frame=''>-0.0175 -0.099 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__frame4_collision_13'>
<pose frame=''>-0.0175 0.099 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<surface>
<contact>
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<friction>
<ode/>
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<visual name='base_chassis_link_dummy_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
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<material>
<script>
<name>Gazebo/FlatBlack</name>
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<visual name='base_chassis_link_dummy_visual_1'>
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<box>
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</box>
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<material>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<visual name='base_chassis_link_dummy_visual_2'>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_3'>
<pose frame=''>0 0 0 0 -0 0</pose>
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<box>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_4'>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_5'>
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<box>
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<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_visual_6'>
<pose frame=''>0.2375 0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
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<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_visual_7'>
<pose frame=''>-0.2375 0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
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</box>
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<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_visual_8'>
<pose frame=''>0.2375 -0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
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<material>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_visual_9'>
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<box>
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<material>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__frame1_visual_10'>
<pose frame=''>0.0175 -0.154 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__frame2_visual_11'>
<pose frame=''>0.0175 0.154 -0.0185 0 -0 0</pose>
<geometry>
<box>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__frame3_visual_12'>
<pose frame=''>-0.0175 -0.099 -0.0185 0 -0 0</pose>
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<box>
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<material>
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<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
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</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__frame4_visual_13'>
<pose frame=''>-0.0175 0.099 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
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<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_back_leftL_bracket_link_visual_14'>
<pose frame=''>-0.2375 0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_back_rightR_bracket_link_visual_15'>
<pose frame=''>-0.2375 -0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_front_leftL_bracket_link_visual_16'>
<pose frame=''>0.2375 0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_front_rightR_bracket_link_visual_17'>
<pose frame=''>0.2375 -0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='motor_front_leftR_link'>
<pose frame=''>0.2375 0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_leftR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_leftR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='1' type='revolute'>
<child>motor_front_leftR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_leftR_link'>
<pose frame=''>0.332499 0.122002 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_leftR_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_leftR_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='9' type='universal'>
<child>lower_leg_front_leftR_link</child>
<parent>motor_front_leftR_link</parent>
<axis>
<xyz>-0 1 -0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_leftR_link'>
<pose frame=''>-0.2375 0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_leftR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_leftR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='3' type='revolute'>
<child>motor_back_leftR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_leftR_link'>
<pose frame=''>-0.142501 0.122002 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_leftR_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_leftR_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='11' type='universal'>
<child>lower_leg_back_leftR_link</child>
<parent>motor_back_leftR_link</parent>
<axis>
<xyz>-0 1 -0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_front_rightL_link'>
<pose frame=''>0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_rightL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_rightL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='4' type='revolute'>
<child>motor_front_rightL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_rightL_link'>
<pose frame=''>0.332501 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_rightL_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_rightL_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='12' type='universal'>
<child>lower_leg_front_rightL_link</child>
<parent>motor_front_rightL_link</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_rightL_link'>
<pose frame=''>-0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_rightL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_rightL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='6' type='revolute'>
<child>motor_back_rightL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_rightL_link'>
<pose frame=''>-0.142499 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_rightL_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_rightL_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='14' type='universal'>
<child>lower_leg_back_rightL_link</child>
<parent>motor_back_rightL_link</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_leftL_link'>
<pose frame=''>-0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_leftL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_leftL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='2' type='revolute'>
<child>motor_back_leftL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_leftL_link'>
<pose frame=''>-0.332501 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_leftL_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe1_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<sensor name="toe1_contact" type="contact">
<plugin name="toe1_plugin" filename="libcontact.so"/>
<contact>
<collision>toe1_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_back_leftL_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_back_leftL_link_fixed_joint_lump__toe2_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='10' type='universal'>
<child>lower_leg_back_leftL_link</child>
<parent>motor_back_leftL_link</parent>
<axis>
<xyz>-0 -1 0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_rightR_link'>
<pose frame=''>-0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_rightR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_rightR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='7' type='revolute'>
<child>motor_back_rightR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_rightR_link'>
<pose frame=''>-0.332499 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_rightR_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe3_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<sensor name="toe3_contact" type="contact">
<plugin name="toe3_plugin" filename="libcontact.so"/>
<contact>
<collision>toe3_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_back_rightR_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_back_rightR_link_fixed_joint_lump__toe7_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='15' type='universal'>
<child>lower_leg_back_rightR_link</child>
<parent>motor_back_rightR_link</parent>
<axis>
<xyz>0 1 -0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_front_leftL_link'>
<pose frame=''>0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_leftL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_leftL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='0' type='revolute'>
<child>motor_front_leftL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_leftL_link'>
<pose frame=''>0.142499 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_leftL_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe0_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='hook_L_collision'>
<pose frame=''>0.025 0 0.18 0 -0.785 0</pose>
<geometry>
<box>
<size>0.009 0.009 0.06</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<sensor name="toe0_contact" type="contact">
<plugin name="toe0_plugin" filename="libcontact.so"/>
<contact>
<collision>toe0_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_front_leftL_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_front_leftL_link_fixed_joint_lump__toe0_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='hook_L_visual'>
<pose frame=''>0.025 0 0.18 0 -0.785 0</pose>
<geometry>
<box>
<size>0.009 0.009 0.06</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='8' type='universal'>
<child>lower_leg_front_leftL_link</child>
<parent>motor_front_leftL_link</parent>
<axis>
<xyz>-0 -1 0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_front_rightR_link'>
<pose frame=''>0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_rightR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_rightR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='5' type='revolute'>
<child>motor_front_rightR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_rightR_link'>
<pose frame=''>0.142501 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_rightR_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe2_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='hook_R_collision'>
<pose frame=''>0.025 0 0.18 0 -0.785 0</pose>
<geometry>
<box>
<size>0.009 0.009 0.06</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<sensor name="toe2_contact" type="contact">
<plugin name="toe2_plugin" filename="libcontact.so"/>
<contact>
<collision>toe2_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_front_rightR_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_front_rightR_link_fixed_joint_lump__toe5_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='hook_R_visual'>
<pose frame=''>0.025 0 0.18 0 -0.785 0</pose>
<geometry>
<box>
<size>0.009 0.009 0.06</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='13' type='universal'>
<child>lower_leg_front_rightR_link</child>
<parent>motor_front_rightR_link</parent>
<axis>
<xyz>0 1 -0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<joint name='constraint_back_left' type='revolute'>
<parent>lower_leg_back_leftL_link</parent>
<child>lower_leg_back_leftR_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_back_right' type='revolute'>
<parent>lower_leg_back_rightR_link</parent>
<child>lower_leg_back_rightL_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>-0 -1 -0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_front_left' type='revolute'>
<parent>lower_leg_front_leftL_link</parent>
<child>lower_leg_front_leftR_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_front_right' type='revolute'>
<parent>lower_leg_front_rightR_link</parent>
<child>lower_leg_front_rightL_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>-0 -1 -0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<static>0</static>
<plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/minitaur_constrained</robotNamespace>
</plugin>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/minitaur_hooks/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Tru$tees of the University of Pennsylvania
Authors:
T Topping <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0"?>
<model>
<name>minitaur_constrained</name>
<version>1.0</version>
<sdf>minitaur_hooks.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>
Model of the Minitaur body with the 4-bar mechanism constraints and some cool hooks
</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/minitaur_constrained/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0"?>
<model>
<name>minitaur_constrained</name>
<version>1.0</version>
<sdf>minitaur_constrained.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>
Model of the Minitaur body with the 4-bar mechanism constraints
</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/minitaur_constrained/minitaur_constrained.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='minitaur_constrained'>
<link name='base_chassis_link_dummy'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.001049 -0.005375 0 -0 0</pose>
<mass>4.956</mass>
<inertia>
<ixx>0.0612569</ixx>
<ixy>-2.18416e-20</ixy>
<ixz>-5.76859e-20</ixz>
<iyy>0.175533</iyy>
<iyz>-6.82484e-05</iyz>
<izz>0.225818</izz>
</inertia>
</inertial>
<collision name='base_chassis_link_dummy_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.33 0.1855 0.08</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_collision_1'>
<pose frame=''>0 0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_collision_2'>
<pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_3'>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_back_rightR_bracket_link_visual_15'>
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<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_front_rightR_bracket_link_visual_17'>
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<velocity_decay/>
<velocity_decay/>
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<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='motor_front_leftR_link'>
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<ixx>0.000245875</ixx>
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<ixz>0</ixz>
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<iyz>2.71857e-05</iyz>
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</inertial>
<collision name='motor_front_leftR_link_collision'>
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<geometry>
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<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_leftR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
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</mesh>
</geometry>
</visual>
<visual name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_visual_1'>
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<box>
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</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
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</link>
<joint name='1' type='revolute'>
<child>motor_front_leftR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_leftR_link'>
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<pose frame=''>0 0 0.1 0 -0 0</pose>
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<iyz>0</iyz>
<izz>2.178e-06</izz>
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</inertial>
<collision name='lower_leg_front_leftR_link_collision'>
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<geometry>
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</box>
</geometry>
<surface>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<friction>
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</torsional>
<bullet>
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</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_leftR_link_visual'>
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<box>
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</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
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</link>
<joint name='9' type='universal'>
<child>lower_leg_front_leftR_link</child>
<parent>motor_front_leftR_link</parent>
<axis>
<xyz>-0 1 -0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
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<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_leftR_link'>
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<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_leftR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
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<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_collision_1'>
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<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
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<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_leftR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>100 100 100</scale>
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</geometry>
</visual>
<visual name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_visual_1'>
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<material>
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</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='3' type='revolute'>
<child>motor_back_leftR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_leftR_link'>
<pose frame=''>-0.142501 0.122002 -0.018496 -3.14159 -0.523343 -3.14159</pose>
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<pose frame=''>0 0 0.1 0 -0 0</pose>
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<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_leftR_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
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</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_leftR_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='11' type='universal'>
<child>lower_leg_back_leftR_link</child>
<parent>motor_back_leftR_link</parent>
<axis>
<xyz>-0 1 -0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_front_rightL_link'>
<pose frame=''>0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_rightL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_rightL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='4' type='revolute'>
<child>motor_front_rightL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_rightL_link'>
<pose frame=''>0.332501 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_rightL_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_rightL_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='12' type='universal'>
<child>lower_leg_front_rightL_link</child>
<parent>motor_front_rightL_link</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_rightL_link'>
<pose frame=''>-0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_rightL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_rightL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='6' type='revolute'>
<child>motor_back_rightL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_rightL_link'>
<pose frame=''>-0.142499 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_rightL_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_rightL_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='14' type='universal'>
<child>lower_leg_back_rightL_link</child>
<parent>motor_back_rightL_link</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_leftL_link'>
<pose frame=''>-0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_leftL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_leftL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='2' type='revolute'>
<child>motor_back_leftL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_leftL_link'>
<pose frame=''>-0.332501 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_leftL_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe1_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<sensor name="toe1_contact" type="contact">
<plugin name="toe1_plugin" filename="libcontact.so"/>
<contact>
<collision>toe1_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_back_leftL_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_back_leftL_link_fixed_joint_lump__toe2_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='10' type='universal'>
<child>lower_leg_back_leftL_link</child>
<parent>motor_back_leftL_link</parent>
<axis>
<xyz>-0 -1 0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_back_rightR_link'>
<pose frame=''>-0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_rightR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_rightR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='7' type='revolute'>
<child>motor_back_rightR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_rightR_link'>
<pose frame=''>-0.332499 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_rightR_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe3_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<sensor name="toe3_contact" type="contact">
<plugin name="toe3_plugin" filename="libcontact.so"/>
<contact>
<collision>toe3_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_back_rightR_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_back_rightR_link_fixed_joint_lump__toe7_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='15' type='universal'>
<child>lower_leg_back_rightR_link</child>
<parent>motor_back_rightR_link</parent>
<axis>
<xyz>0 1 -0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_front_leftL_link'>
<pose frame=''>0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_leftL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_leftL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='0' type='revolute'>
<child>motor_front_leftL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_leftL_link'>
<pose frame=''>0.142499 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_leftL_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe0_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<sensor name="toe0_contact" type="contact">
<plugin name="toe0_plugin" filename="libcontact.so"/>
<contact>
<collision>toe0_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_front_leftL_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_front_leftL_link_fixed_joint_lump__toe0_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='8' type='universal'>
<child>lower_leg_front_leftL_link</child>
<parent>motor_front_leftL_link</parent>
<axis>
<xyz>-0 -1 0</xyz>
<limit>
<lower>-2.000</lower>
<upper>1.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<link name='motor_front_rightR_link'>
<pose frame=''>0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_rightR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_rightR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='5' type='revolute'>
<child>motor_front_rightR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_rightR_link'>
<pose frame=''>0.142501 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_rightR_link_collision'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='toe2_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>1.0</coefficient>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<bullet>
<rolling_friction>1.0</rolling_friction>
<friction2>1.0</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>300000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>300000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<sensor name="toe2_contact" type="contact">
<plugin name="toe2_plugin" filename="libcontact.so"/>
<contact>
<collision>toe2_collision</collision>
</contact>
</sensor>
<visual name='lower_leg_front_rightR_link_visual'>
<pose frame=''>0 0 0.11 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.22</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_front_rightR_link_fixed_joint_lump__toe5_visual_1'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='13' type='universal'>
<child>lower_leg_front_rightR_link</child>
<parent>motor_front_rightR_link</parent>
<axis>
<xyz>0 1 -0</xyz>
<limit>
<lower>-1.000</lower>
<upper>2.000</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
<joint name='constraint_back_left' type='revolute'>
<parent>lower_leg_back_leftL_link</parent>
<child>lower_leg_back_leftR_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_back_right' type='revolute'>
<parent>lower_leg_back_rightR_link</parent>
<child>lower_leg_back_rightL_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>-0 -1 -0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_front_left' type='revolute'>
<parent>lower_leg_front_leftL_link</parent>
<child>lower_leg_front_leftR_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_front_right' type='revolute'>
<parent>lower_leg_front_rightR_link</parent>
<child>lower_leg_front_rightL_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>-0 -1 -0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<static>0</static>
<plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/minitaur_constrained</robotNamespace>
</plugin>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/minitaur_original/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0"?>
<model>
<name>minitaur_original</name>
<version>1.0</version>
<sdf>minitaur_original.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>
Model of the original Minitaur body without constraints (URDF output)
</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/minitaur_description/sdf/minitaur_original/minitaur_original.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='minitaur_original'>
<link name='base_chassis_link_dummy'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.001049 -0.005375 0 -0 0</pose>
<mass>4.956</mass>
<inertia>
<ixx>0.0612569</ixx>
<ixy>-2.18416e-20</ixy>
<ixz>-5.76859e-20</ixz>
<iyy>0.175533</iyy>
<iyz>-6.82484e-05</iyz>
<izz>0.225818</izz>
</inertia>
</inertial>
<collision name='base_chassis_link_dummy_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.33 0.1855 0.08</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_collision_1'>
<pose frame=''>0 0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_collision_2'>
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<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_3'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
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<collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_4'>
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</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
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<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_collision_6'>
<pose frame=''>0.2375 0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
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<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_collision_7'>
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<geometry>
<box>
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</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
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</surface>
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<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_collision_8'>
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<geometry>
<box>
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</box>
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</surface>
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<collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_collision_9'>
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<geometry>
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</box>
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<surface>
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</box>
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<ode/>
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</surface>
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<box>
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</box>
</geometry>
<surface>
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<ode/>
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<collision name='base_chassis_link_dummy_fixed_joint_lump__frame4_collision_13'>
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<geometry>
<box>
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</box>
</geometry>
<surface>
<contact>
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</contact>
<friction>
<ode/>
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</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__motor_back_leftL_bracket_link_collision_14'>
<pose frame=''>-0.2375 0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<surface>
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</contact>
<friction>
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</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__motor_back_rightR_bracket_link_collision_15'>
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<geometry>
<box>
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</box>
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</contact>
<friction>
<ode/>
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</surface>
</collision>
<collision name='base_chassis_link_dummy_fixed_joint_lump__motor_front_leftL_bracket_link_collision_16'>
<pose frame=''>0.2375 0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<surface>
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</contact>
<friction>
<ode/>
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</surface>
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<collision name='base_chassis_link_dummy_fixed_joint_lump__motor_front_rightR_bracket_link_collision_17'>
<pose frame=''>0.2375 -0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_chassis_link_dummy_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.33 0.1855 0.08</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_visual_1'>
<pose frame=''>0 0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_visual_2'>
<pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
<size>0.17 0.1 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_3'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.33 0.1855 0.08</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_4'>
<pose frame=''>0 0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_5'>
<pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_visual_6'>
<pose frame=''>0.2375 0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_visual_7'>
<pose frame=''>-0.2375 0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_visual_8'>
<pose frame=''>0.2375 -0.0775 -0.0185 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
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</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_visual_9'>
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<geometry>
<box>
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</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__frame1_visual_10'>
<pose frame=''>0.0175 -0.154 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__frame2_visual_11'>
<pose frame=''>0.0175 0.154 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__frame3_visual_12'>
<pose frame=''>-0.0175 -0.099 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__frame4_visual_13'>
<pose frame=''>-0.0175 0.099 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.468 0.012 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_back_leftL_bracket_link_visual_14'>
<pose frame=''>-0.2375 0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_back_rightR_bracket_link_visual_15'>
<pose frame=''>-0.2375 -0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_front_leftL_bracket_link_visual_16'>
<pose frame=''>0.2375 0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_chassis_link_dummy_fixed_joint_lump__motor_front_rightR_bracket_link_visual_17'>
<pose frame=''>0.2375 -0.174 -0.0185 0 -0 0</pose>
<geometry>
<box>
<size>0.068 0.032 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='motor_front_leftR_link'>
<pose frame=''>0.2375 0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_leftR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_leftR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='1' type='revolute'>
<child>motor_front_leftR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_leftR_link'>
<pose frame=''>0.332499 0.122002 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_leftR_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_leftR_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='9' type='revolute'>
<child>lower_leg_front_leftR_link</child>
<parent>motor_front_leftR_link</parent>
<axis>
<xyz>-0 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_back_leftR_link'>
<pose frame=''>-0.2375 0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_leftR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_leftR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='3' type='revolute'>
<child>motor_back_leftR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_leftR_link'>
<pose frame=''>-0.142501 0.122002 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_leftR_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_leftR_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='11' type='revolute'>
<child>lower_leg_back_leftR_link</child>
<parent>motor_back_leftR_link</parent>
<axis>
<xyz>-0 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_front_rightL_link'>
<pose frame=''>0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_rightL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_rightL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='4' type='revolute'>
<child>motor_front_rightL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_rightL_link'>
<pose frame=''>0.332501 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_rightL_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_rightL_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='12' type='revolute'>
<child>lower_leg_front_rightL_link</child>
<parent>motor_front_rightL_link</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_back_rightL_link'>
<pose frame=''>-0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_rightL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_rightL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='6' type='revolute'>
<child>motor_back_rightL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_rightL_link'>
<pose frame=''>-0.142499 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.00032459</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00032637</iyy>
<iyz>0</iyz>
<izz>2.178e-06</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_rightL_link_collision'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_rightL_link_visual'>
<pose frame=''>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='14' type='revolute'>
<child>lower_leg_back_rightL_link</child>
<parent>motor_back_rightL_link</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_back_leftL_link'>
<pose frame=''>-0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_leftL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_leftL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='2' type='revolute'>
<child>motor_back_leftL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_leftL_link'>
<pose frame=''>-0.332501 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_leftL_link_collision'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='lower_leg_back_leftL_link_fixed_joint_lump__toe2_collision_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu2>0.7</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>0.7</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_leftL_link_visual'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_back_leftL_link_fixed_joint_lump__toe2_visual_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='10' type='revolute'>
<child>lower_leg_back_leftL_link</child>
<parent>motor_back_leftL_link</parent>
<axis>
<xyz>-0 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_back_rightR_link'>
<pose frame=''>-0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_back_rightR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_back_rightR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='7' type='revolute'>
<child>motor_back_rightR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_back_rightR_link'>
<pose frame=''>-0.332499 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_back_rightR_link_collision'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='lower_leg_back_rightR_link_fixed_joint_lump__toe7_collision_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu2>0.7</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>0.7</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_back_rightR_link_visual'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_back_rightR_link_fixed_joint_lump__toe7_visual_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='15' type='revolute'>
<child>lower_leg_back_rightR_link</child>
<parent>motor_back_rightR_link</parent>
<axis>
<xyz>0 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_front_leftL_link'>
<pose frame=''>0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>-2.71893e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_leftL_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_collision_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_leftL_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_visual_1'>
<pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='0' type='revolute'>
<child>motor_front_leftL_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>4.6e-05 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_leftL_link'>
<pose frame=''>0.142499 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_leftL_link_collision'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='lower_leg_front_leftL_link_fixed_joint_lump__toe0_collision_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu2>0.7</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>0.7</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_leftL_link_visual'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_front_leftL_link_fixed_joint_lump__toe0_visual_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='8' type='revolute'>
<child>lower_leg_front_leftL_link</child>
<parent>motor_front_leftL_link</parent>
<axis>
<xyz>-0 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_front_rightR_link'>
<pose frame=''>0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
<inertial>
<pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.000245875</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000126333</iyy>
<iyz>2.71857e-05</iyz>
<izz>0.000344223</izz>
</inertia>
</inertial>
<collision name='motor_front_rightR_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.021</length>
<radius>0.0425</radius>
</cylinder>
</geometry>
</collision>
<collision name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_collision_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_front_rightR_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>100 100 100</scale>
<uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_visual_1'>
<pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
<geometry>
<box>
<size>0.039 0.008 0.1</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='5' type='revolute'>
<child>motor_front_rightR_link</child>
<parent>base_chassis_link_dummy</parent>
<axis>
<xyz>-4.6e-05 -1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lower_leg_front_rightR_link'>
<pose frame=''>0.142501 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.144667 0 -0 0</pose>
<mass>0.06</mass>
<inertia>
<ixx>0.000477723</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000479503</iyy>
<iyz>0</iyz>
<izz>2.7178e-05</izz>
</inertia>
</inertial>
<collision name='lower_leg_front_rightR_link_collision'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
<ode/>
</friction>
<contact>
<ode>
<kp>3000</kp>
<kd>100</kd>
</ode>
<bullet>
<kp>3000</kp>
<kd>100</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<collision name='lower_leg_front_rightR_link_fixed_joint_lump__toe5_collision_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.3</coefficient>
</torsional>
<ode>
<mu2>0.7</mu2>
</ode>
<bullet>
<rolling_friction>0.3</rolling_friction>
<friction2>0.7</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>30000</kp>
<kd>1000</kd>
</ode>
<bullet>
<kp>30000</kp>
<kd>1000</kd>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
</bullet>
</contact>
</surface>
</collision>
<visual name='lower_leg_front_rightR_link_visual'>
<pose frame=''>0 0 0.124 0 -0 0</pose>
<geometry>
<box>
<size>0.017 0.009 0.248</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='lower_leg_front_rightR_link_fixed_joint_lump__toe5_visual_1'>
<pose frame=''>0 0 0.248 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.015</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='13' type='revolute'>
<child>lower_leg_front_rightR_link</child>
<parent>motor_front_rightR_link</parent>
<axis>
<xyz>0 1 -0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<static>0</static>
<plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/minitaur_original</robotNamespace>
</plugin>
</model>
</sdf>
|
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