2542 lines
68 KiB
XML
2542 lines
68 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<gui fullscreen="0">
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<camera name="user_camera">
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<pose>-25 -15 12.0539 7.08002e-18 0.2 0.352194</pose>
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</camera>
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</gui>
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<scene>
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<ambient>0.5 0.5 0.5 1</ambient>
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<background>0.5 0.5 0.5 1</background>
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<shadows>0</shadows>
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</scene>
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<include>
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<uri>model://sun</uri>
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</include>
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<physics type="ode">
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<gravity>0 0 -9.81</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>50</iters>
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<sor>1.4</sor>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>1</erp>
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<contact_max_correcting_vel>0</contact_max_correcting_vel>
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<contact_surface_layer>0</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<!-- A copy of atlas robot with all visual and
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collision geoms replaced by spheres.
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-->
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<model name="sphere_atlas">
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<link name="pelvis">
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0.0113715 0 0.0268706 0 -0 0</pose>
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<mass>17.982</mass>
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<inertia>
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<ixx>0.125569</ixx>
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<ixy>0.0008</ixy>
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<ixz>-0.000499757</ixz>
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<iyy>0.0972062</iyy>
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<iyz>-0.0005</iyz>
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<izz>0.117937</izz>
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</inertia>
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</inertial>
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<collision name="pelvis_collision">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>0.9</mu>
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<mu2>0.9</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="pelvis_visual">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name="pelvis_visual_imu_link">
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<pose>0.0599153 0 -0.01415 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<gravity>1</gravity>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>1000</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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<pose>0.0599153 0 -0.01415 0 -0 0</pose>
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</sensor>
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</link>
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<link name="ltorso">
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<pose>-0.0125 0 0 0 -0 0</pose>
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<inertial>
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<pose>-0.0112984 -3.15366e-06 0.0746835 0 -0 0</pose>
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<mass>2.409</mass>
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<inertia>
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<ixx>0.0039092</ixx>
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<ixy>-5.04491e-08</ixy>
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<ixz>-0.000342157</ixz>
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<iyy>0.00341694</iyy>
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<iyz>4.87119e-07</iyz>
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<izz>0.00174492</izz>
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</inertia>
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</inertial>
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<collision name="ltorso_collision">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>0.9</mu>
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<mu2>0.9</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="ltorso_visual">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</visual>
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<gravity>1</gravity>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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</link>
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<joint name="back_bkz" type="revolute">
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<child>ltorso</child>
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<parent>pelvis</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-0.663225</lower>
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<upper>0.663225</upper>
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<effort>124.016</effort>
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<velocity>12</velocity>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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<limit>
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<cfm>0</cfm>
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<erp>0.2</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<link name="mtorso">
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<pose>-0.0125 0 0.16197 0 -0 0</pose>
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<inertial>
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<pose>-0.00816266 -0.0131245 0.0305974 0 -0 0</pose>
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<mass>0.69</mass>
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<inertia>
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<ixx>0.000454181</ixx>
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<ixy>-6.10764e-05</ixy>
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<ixz>3.94009e-05</ixz>
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<iyy>0.000483282</iyy>
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<iyz>5.27463e-05</iyz>
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<izz>0.000444215</izz>
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</inertia>
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</inertial>
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<collision name="mtorso_collision">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>0.9</mu>
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<mu2>0.9</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="mtorso_visual">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</visual>
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<gravity>1</gravity>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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</link>
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<joint name="back_bky" type="revolute">
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<child>mtorso</child>
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<parent>ltorso</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-0.610691</lower>
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<upper>0.438427</upper>
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<effort>206.843</effort>
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<velocity>12</velocity>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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<limit>
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<cfm>0</cfm>
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<erp>0.2</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<link name="utorso">
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<pose>-0.0125 0 0.21197 0 -0 0</pose>
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<inertial>
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<pose>-0.0911174 0 0.300409 0 -0 0</pose>
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<mass>52.207</mass>
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<inertia>
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<ixx>1.47126</ixx>
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<ixy>0.00362</ixy>
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<ixz>0.329434</ixz>
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<iyy>1.53128</iyy>
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<iyz>0.001</iyz>
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<izz>1.32197</izz>
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</inertia>
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</inertial>
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<collision name="utorso_collision">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>0.9</mu>
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<mu2>0.9</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<collision name="utorso_collision_utorso_1">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>0.9</mu>
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<mu2>0.9</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="utorso_visual">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name="utorso_visual_utorso_1">
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name="utorso_visual_l_situational_awareness_camera_link">
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<pose>0.216409 0.121799 0.406759 -1.5708 5.55112e-17 1.309</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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</visual>
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<visual name="utorso_visual_r_situational_awareness_camera_link">
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<pose>0.216409 -0.121799 0.406759 1.5708 5.55112e-17 -1.309</pose>
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<geometry>
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<box>
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<size>0.01 0.01 0.01</size>
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</box>
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</geometry>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<gravity>1</gravity>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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</link>
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<joint name="back_bkx" type="revolute">
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<child>utorso</child>
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<parent>mtorso</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-0.698132</lower>
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<upper>0.698132</upper>
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<effort>200</effort>
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<velocity>12</velocity>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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<limit>
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<cfm>0</cfm>
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<erp>0.2</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<link name="l_clav">
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<pose>0.05191 0.13866 0.31915 0 -0 0</pose>
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<inertial>
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<pose>0 0.048 0.084 0 -0 0</pose>
|
|
<mass>3.45</mass>
|
|
<inertia>
|
|
<ixx>0.011</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.009</iyy>
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|
<iyz>-0.004</iyz>
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<izz>0.004</izz>
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</inertia>
|
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</inertial>
|
|
<collision name="l_clav_collision">
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|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_clav_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_arm_shy" type="revolute">
|
|
<child>l_clav</child>
|
|
<parent>utorso</parent>
|
|
<axis>
|
|
<xyz>0 0.5 0.866025</xyz>
|
|
<limit>
|
|
<lower>-1.5708</lower>
|
|
<upper>0.785398</upper>
|
|
<effort>212</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
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</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_scap">
|
|
<pose>0.05191 0.27901 0.51524 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>3.012</mass>
|
|
<inertia>
|
|
<ixx>0.00319</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00583</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00583</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_scap_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_scap_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_arm_shx" type="revolute">
|
|
<child>l_scap</child>
|
|
<parent>l_clav</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-1.5708</lower>
|
|
<upper>1.5708</upper>
|
|
<effort>170</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_uarm">
|
|
<pose>0.05191 0.46601 0.53124 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 -0.065 0 0 -0 0</pose>
|
|
<mass>3.388</mass>
|
|
<inertia>
|
|
<ixx>0.00656</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00358</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00656</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_uarm_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_uarm_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_arm_ely" type="revolute">
|
|
<child>l_uarm</child>
|
|
<parent>l_scap</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>3.14159</upper>
|
|
<effort>114</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_larm">
|
|
<pose>0.05191 0.58501 0.54045 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>2.509</mass>
|
|
<inertia>
|
|
<ixx>0.00265</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00446</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00446</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_larm_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_larm_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_arm_elx" type="revolute">
|
|
<child>l_larm</child>
|
|
<parent>l_uarm</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>2.35619</upper>
|
|
<effort>114</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_farm">
|
|
<pose>0.05191 0.77201 0.53124 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 -0.065 0 0 -0 0</pose>
|
|
<mass>3.388</mass>
|
|
<inertia>
|
|
<ixx>0.00656</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00358</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00656</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_farm_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_farm_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_arm_wry" type="revolute">
|
|
<child>l_farm</child>
|
|
<parent>l_larm</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>3.14159</upper>
|
|
<effort>114</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_hand">
|
|
<pose>0.05191 0.89101 0.54045 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>2.509</mass>
|
|
<inertia>
|
|
<ixx>0.00265</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00446</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00446</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_hand_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_hand_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_arm_wrx" type="revolute">
|
|
<child>l_hand</child>
|
|
<parent>l_farm</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-1.1781</lower>
|
|
<upper>1.1781</upper>
|
|
<effort>60</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<provide_feedback>1</provide_feedback>
|
|
<ode>
|
|
<provide_feedback>1</provide_feedback>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="head">
|
|
<pose>0.20422 0 0.74993 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>-0.0754942 3.38765e-05 0.0277411 0 -0 0</pose>
|
|
<mass>1.41991</mass>
|
|
<inertia>
|
|
<ixx>0.00361284</ixx>
|
|
<ixy>-1.51324e-06</ixy>
|
|
<ixz>-0.000892818</ixz>
|
|
<iyy>0.00208745</iyy>
|
|
<iyz>-6.83342e-07</iyz>
|
|
<izz>0.00179047</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="head_collision">
|
|
<pose>-0.0503 0 -0.00195 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.1311 0.12 0.0591</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<collision name="head_collision_head_other">
|
|
<pose>-0.093 0 0.0868 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.0468 0.12 0.1184</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="head_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<visual name="head_visual_head_imu_link">
|
|
<pose>-0.0475 0.035 0 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01 0.01 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<sensor name="head_imu_sensor" type="imu">
|
|
<always_on>1</always_on>
|
|
<update_rate>1000</update_rate>
|
|
<imu>
|
|
<noise>
|
|
<type>gaussian</type>
|
|
<rate>
|
|
<mean>0</mean>
|
|
<stddev>0.0002</stddev>
|
|
<bias_mean>7.5e-06</bias_mean>
|
|
<bias_stddev>8e-07</bias_stddev>
|
|
</rate>
|
|
<accel>
|
|
<mean>0</mean>
|
|
<stddev>0.017</stddev>
|
|
<bias_mean>0.1</bias_mean>
|
|
<bias_stddev>0.001</bias_stddev>
|
|
</accel>
|
|
</noise>
|
|
</imu>
|
|
<pose>-0.0475 0.035 0 0 -0 0</pose>
|
|
</sensor>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="neck_ry" type="revolute">
|
|
<child>head</child>
|
|
<parent>utorso</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-0.602139</lower>
|
|
<upper>1.14494</upper>
|
|
<effort>5</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="hokuyo_link">
|
|
<pose>0.15962 0 0.83793 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.0124384 0.0004084 -0.0041783 0 -0 0</pose>
|
|
<mass>0.057664</mass>
|
|
<inertia>
|
|
<ixx>0.000401606</ixx>
|
|
<ixy>4.9927e-08</ixy>
|
|
<ixz>1.0997e-05</ixz>
|
|
<iyy>0.00208115</iyy>
|
|
<iyz>-9.8165e-09</iyz>
|
|
<izz>0.00178402</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="hokuyo_link_collision">
|
|
<pose>0.01885 0 -0.02119 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.08 0.06 0.04238</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<collision name="hokuyo_link_collision_hokuyo_link_other">
|
|
<pose>0.03 0 0.0235 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.047</length>
|
|
<radius>0.024425</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="hokuyo_link_visual">
|
|
<pose>0.045 -0.0261018 -0.0834237 -0.314 0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="hokuyo_joint" type="revolute">
|
|
<child>hokuyo_link</child>
|
|
<parent>head</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.01</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_clav">
|
|
<pose>0.05191 -0.13866 0.31915 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 -0.048 0.084 0 -0 0</pose>
|
|
<mass>3.45</mass>
|
|
<inertia>
|
|
<ixx>0.011</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.009</iyy>
|
|
<iyz>0.004</iyz>
|
|
<izz>0.004</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_clav_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_clav_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_arm_shy" type="revolute">
|
|
<child>r_clav</child>
|
|
<parent>utorso</parent>
|
|
<axis>
|
|
<xyz>0 0.5 -0.866025</xyz>
|
|
<limit>
|
|
<lower>-1.5708</lower>
|
|
<upper>0.785398</upper>
|
|
<effort>212</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_scap">
|
|
<pose>0.05191 -0.27901 0.51524 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>3.012</mass>
|
|
<inertia>
|
|
<ixx>0.00319</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00583</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00583</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_scap_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_scap_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_arm_shx" type="revolute">
|
|
<child>r_scap</child>
|
|
<parent>r_clav</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-1.5708</lower>
|
|
<upper>1.5708</upper>
|
|
<effort>170</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_uarm">
|
|
<pose>0.05191 -0.46601 0.53124 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0.065 0 0 -0 0</pose>
|
|
<mass>3.388</mass>
|
|
<inertia>
|
|
<ixx>0.00656</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00358</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00656</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_uarm_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_uarm_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_arm_ely" type="revolute">
|
|
<child>r_uarm</child>
|
|
<parent>r_scap</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>3.14159</upper>
|
|
<effort>114</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_larm">
|
|
<pose>0.05191 -0.58501 0.54045 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>2.509</mass>
|
|
<inertia>
|
|
<ixx>0.00265</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00446</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00446</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_larm_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_larm_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_arm_elx" type="revolute">
|
|
<child>r_larm</child>
|
|
<parent>r_uarm</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-2.35619</lower>
|
|
<upper>0</upper>
|
|
<effort>114</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_farm">
|
|
<pose>0.05191 -0.77201 0.53124 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0.065 0 0 -0 0</pose>
|
|
<mass>3.388</mass>
|
|
<inertia>
|
|
<ixx>0.00656</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00358</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00656</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_farm_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_farm_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_arm_wry" type="revolute">
|
|
<child>r_farm</child>
|
|
<parent>r_larm</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>3.14159</upper>
|
|
<effort>114</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_hand">
|
|
<pose>0.05191 -0.89101 0.54045 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>2.509</mass>
|
|
<inertia>
|
|
<ixx>0.00265</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.00446</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.00446</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_hand_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_hand_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_arm_wrx" type="revolute">
|
|
<child>r_hand</child>
|
|
<parent>r_farm</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-1.1781</lower>
|
|
<upper>1.1781</upper>
|
|
<effort>60</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<provide_feedback>1</provide_feedback>
|
|
<ode>
|
|
<provide_feedback>1</provide_feedback>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_uglut">
|
|
<pose>0 0.089 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.00529262 -0.00344732 0.00313046 0 -0 0</pose>
|
|
<mass>0.648</mass>
|
|
<inertia>
|
|
<ixx>0.00074276</ixx>
|
|
<ixy>-3.79607e-08</ixy>
|
|
<ixz>-2.79549e-05</ixz>
|
|
<iyy>0.000688179</iyy>
|
|
<iyz>-3.2735e-08</iyz>
|
|
<izz>0.00041242</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_uglut_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_uglut_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_leg_hpz" type="revolute">
|
|
<child>l_uglut</child>
|
|
<parent>pelvis</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-0.174533</lower>
|
|
<upper>1.22173</upper>
|
|
<effort>110</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_lglut">
|
|
<pose>0 0.089 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.0133341 0.0170484 -0.0312052 0 -0 0</pose>
|
|
<mass>0.866</mass>
|
|
<inertia>
|
|
<ixx>0.000691326</ixx>
|
|
<ixy>-2.24344e-05</ixy>
|
|
<ixz>2.50508e-06</ixz>
|
|
<iyy>0.00126856</iyy>
|
|
<iyz>0.000137862</iyz>
|
|
<izz>0.00106487</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_lglut_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_lglut_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_leg_hpx" type="revolute">
|
|
<child>l_lglut</child>
|
|
<parent>l_uglut</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-0.523599</lower>
|
|
<upper>0.523599</upper>
|
|
<effort>180</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_uleg">
|
|
<pose>0.05 0.089 -0.05 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 -0.21 0 -0 0</pose>
|
|
<mass>9.209</mass>
|
|
<inertia>
|
|
<ixx>0.09</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.09</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.02</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_uleg_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_uleg_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_leg_hpy" type="revolute">
|
|
<child>l_uleg</child>
|
|
<parent>l_lglut</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.72072</lower>
|
|
<upper>0.524821</upper>
|
|
<effort>260</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_lleg">
|
|
<pose>0 0.089 -0.424 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.001 0 -0.187 0 -0 0</pose>
|
|
<mass>5.479</mass>
|
|
<inertia>
|
|
<ixx>0.077</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>-0.003</ixz>
|
|
<iyy>0.076</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_lleg_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_lleg_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_leg_kny" type="revolute">
|
|
<child>l_lleg</child>
|
|
<parent>l_uleg</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>2.38569</upper>
|
|
<effort>220</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_talus">
|
|
<pose>0 0.089 -0.846 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>0.125</mass>
|
|
<inertia>
|
|
<ixx>1.01674e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>8.42775e-06</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1.30101e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_talus_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_talus_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="l_leg_aky" type="revolute">
|
|
<child>l_talus</child>
|
|
<parent>l_lleg</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1</lower>
|
|
<upper>0.7</upper>
|
|
<effort>700</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="l_foot">
|
|
<pose>0 0.089 -0.846 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.027 0 -0.067 0 -0 0</pose>
|
|
<mass>2.05</mass>
|
|
<inertia>
|
|
<ixx>0.002</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.007</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.008</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="l_foot_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<kp>1e+06</kp>
|
|
<kd>100</kd>
|
|
<max_vel>1</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.5</mu>
|
|
<mu2>1.5</mu2>
|
|
<fdir1>1 0 0</fdir1>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode />
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="l_foot_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<sensor name="l_foot_contact_sensor" type="contact">
|
|
<update_rate>1000</update_rate>
|
|
<always_on>1</always_on>
|
|
<contact>
|
|
<collision>l_foot_collision</collision>
|
|
<topic>/l_foot_contact</topic>
|
|
</contact>
|
|
</sensor>
|
|
</link>
|
|
<joint name="l_leg_akx" type="revolute">
|
|
<child>l_foot</child>
|
|
<parent>l_talus</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-0.8</lower>
|
|
<upper>0.8</upper>
|
|
<effort>90</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<provide_feedback>1</provide_feedback>
|
|
<ode>
|
|
<provide_feedback>1</provide_feedback>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_uglut">
|
|
<pose>0 -0.089 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.00529262 0.00344732 0.00313046 0 -0 0</pose>
|
|
<mass>0.648</mass>
|
|
<inertia>
|
|
<ixx>0.00074276</ixx>
|
|
<ixy>3.79607e-08</ixy>
|
|
<ixz>-2.79549e-05</ixz>
|
|
<iyy>0.000688179</iyy>
|
|
<iyz>3.2735e-08</iyz>
|
|
<izz>0.00041242</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_uglut_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_uglut_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_leg_hpz" type="revolute">
|
|
<child>r_uglut</child>
|
|
<parent>pelvis</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.22173</lower>
|
|
<upper>0.174533</upper>
|
|
<effort>110</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_lglut">
|
|
<pose>0 -0.089 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.0133341 -0.0170484 -0.0312052 0 -0 0</pose>
|
|
<mass>0.866</mass>
|
|
<inertia>
|
|
<ixx>0.000691326</ixx>
|
|
<ixy>2.24344e-05</ixy>
|
|
<ixz>2.50508e-06</ixz>
|
|
<iyy>0.00126856</iyy>
|
|
<iyz>-0.000137862</iyz>
|
|
<izz>0.00106487</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_lglut_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_lglut_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_leg_hpx" type="revolute">
|
|
<child>r_lglut</child>
|
|
<parent>r_uglut</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-0.523599</lower>
|
|
<upper>0.523599</upper>
|
|
<effort>180</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_uleg">
|
|
<pose>0.05 -0.089 -0.05 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 -0.21 0 -0 0</pose>
|
|
<mass>9.209</mass>
|
|
<inertia>
|
|
<ixx>0.09</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.09</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.02</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_uleg_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_uleg_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_leg_hpy" type="revolute">
|
|
<child>r_uleg</child>
|
|
<parent>r_lglut</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.72072</lower>
|
|
<upper>0.524821</upper>
|
|
<effort>260</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_lleg">
|
|
<pose>0 -0.089 -0.424 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.001 0 -0.187 0 -0 0</pose>
|
|
<mass>5.479</mass>
|
|
<inertia>
|
|
<ixx>0.077</ixx>
|
|
<ixy>-0</ixy>
|
|
<ixz>-0.003</ixz>
|
|
<iyy>0.076</iyy>
|
|
<iyz>-0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_lleg_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_lleg_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_leg_kny" type="revolute">
|
|
<child>r_lleg</child>
|
|
<parent>r_uleg</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>2.38569</upper>
|
|
<effort>220</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_talus">
|
|
<pose>0 -0.089 -0.846 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>0.125</mass>
|
|
<inertia>
|
|
<ixx>1.01674e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>8.42775e-06</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1.30101e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_talus_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.9</mu>
|
|
<mu2>0.9</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_talus_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
</link>
|
|
<joint name="r_leg_aky" type="revolute">
|
|
<child>r_talus</child>
|
|
<parent>r_lleg</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1</lower>
|
|
<upper>0.7</upper>
|
|
<effort>700</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<link name="r_foot">
|
|
<pose>0 -0.089 -0.846 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0.027 0 -0.067 0 -0 0</pose>
|
|
<mass>2.05</mass>
|
|
<inertia>
|
|
<ixx>0.002</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.007</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.008</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="r_foot_collision">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<kp>1e+06</kp>
|
|
<kd>100</kd>
|
|
<max_vel>1</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.5</mu>
|
|
<mu2>1.5</mu2>
|
|
<fdir1>1 0 0</fdir1>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
<surface>
|
|
<contact>
|
|
<ode />
|
|
</contact>
|
|
<friction>
|
|
<ode />
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="r_foot_visual">
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<gravity>1</gravity>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<sensor name="r_foot_contact_sensor" type="contact">
|
|
<update_rate>1000</update_rate>
|
|
<always_on>1</always_on>
|
|
<contact>
|
|
<collision>r_foot_collision</collision>
|
|
<topic>/r_foot_contact</topic>
|
|
</contact>
|
|
</sensor>
|
|
</link>
|
|
<joint name="r_leg_akx" type="revolute">
|
|
<child>r_foot</child>
|
|
<parent>r_talus</parent>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>-0.8</lower>
|
|
<upper>0.8</upper>
|
|
<effort>90</effort>
|
|
<velocity>12</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<provide_feedback>1</provide_feedback>
|
|
<ode>
|
|
<provide_feedback>1</provide_feedback>
|
|
<cfm_damping>1</cfm_damping>
|
|
<limit>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
</limit>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="r_foot_world_pin" type="revolute">
|
|
<child>r_foot</child>
|
|
<parent>world</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="l_foot_world_pin" type="revolute">
|
|
<child>l_foot</child>
|
|
<parent>world</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.1</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<pose>0 0 1.1 0 -0 0</pose>
|
|
<!-- test pid controller joints -->
|
|
<plugin name="sphere_atlas_pid" filename="libSphereAtlasDemoPlugin.so" />
|
|
</model>
|
|
</world>
|
|
</sdf>
|