data/humanoid.urdf - master - redgpu/bullet

data/humanoid.urdf
586 строк20 KB
Erwin Coumans
add humanoid.urdf, converted from mjcf using pybullet_utils.urdfEditor.UrdfEditor()
31 окт 2018, 19:17
31 окт 2018, 19:17624212c
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		<parent link="link1_18"/>
		<child link="left_thigh"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="left_knee" type="continuous">
		<parent link="left_thigh"/>
		<child link="link1_20"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.01000 -0.38300"/>
		<axis xyz="0.00000 -1.00000 0.00000"/>
	</joint>
	<joint name="jointfix_4_20" type="fixed">
		<parent link="link1_20"/>
		<child link="left_shin"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.02000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="left_ankle_y" type="continuous">
		<parent link="left_shin"/>
		<child link="link1_22"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.31000"/>
		<axis xyz="0.00000 1.00000 0.00000"/>
	</joint>
	<joint name="left_ankle_x" type="continuous">
		<parent link="link1_22"/>
		<child link="link1_23"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.04000"/>
		<axis xyz="1.00000 0.00000 0.50000"/>
	</joint>
	<joint name="jointfix_3_23" type="fixed">
		<parent link="link1_23"/>
		<child link="left_foot"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.08000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="right_shoulder1" type="continuous">
		<parent link="torso"/>
		<child link="link1_25"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.17000 0.06000"/>
		<axis xyz="2.00000 1.00000 1.00000"/>
	</joint>
	<joint name="right_shoulder2" type="continuous">
		<parent link="link1_25"/>
		<child link="link1_26"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
		<axis xyz="0.00000 -1.00000 1.00000"/>
	</joint>
	<joint name="jointfix_9_26" type="fixed">
		<parent link="link1_26"/>
		<child link="right_upper_arm"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="right_elbow" type="continuous">
		<parent link="right_upper_arm"/>
		<child link="link1_28"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 -0.18000 -0.18000"/>
		<axis xyz="0.00000 -1.00000 1.00000"/>
	</joint>
	<joint name="jointfix_8_28" type="fixed">
		<parent link="link1_28"/>
		<child link="right_lower_arm"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="left_shoulder1" type="continuous">
		<parent link="torso"/>
		<child link="link1_30"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.17000 0.06000"/>
		<axis xyz="2.00000 -1.00000 1.00000"/>
	</joint>
	<joint name="left_shoulder2" type="continuous">
		<parent link="link1_30"/>
		<child link="link1_31"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
		<axis xyz="0.00000 1.00000 1.00000"/>
	</joint>
	<joint name="jointfix_11_31" type="fixed">
		<parent link="link1_31"/>
		<child link="left_upper_arm"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="left_elbow" type="continuous">
		<parent link="left_upper_arm"/>
		<child link="link1_33"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 0.18000 -0.18000"/>
		<axis xyz="0.00000 -1.00000 -1.00000"/>
	</joint>
	<joint name="jointfix_10_33" type="fixed">
		<parent link="link1_33"/>
		<child link="left_lower_arm"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
</robot>