Skip to content

Commit

Permalink
switch to torso (#12)
Browse files Browse the repository at this point in the history
  • Loading branch information
@WT-MM
WT-MM authored Nov 11, 2024
1 parent d5960df commit 8d1818c
Show file tree
Hide file tree
Showing 9 changed files with 0 additions and 262 deletions.
Binary file removed urdf/stompy_pro/meshes/buttock.stl
View file
Binary file not shown.
Binary file removed urdf/stompy_pro/meshes/calf.stl
View file
Binary file not shown.
Binary file removed urdf/stompy_pro/meshes/foot.stl
View file
Binary file not shown.
Binary file removed urdf/stompy_pro/meshes/leg.stl
View file
Binary file not shown.
Binary file removed urdf/stompy_pro/meshes/mcalf.stl
View file
Binary file not shown.
Binary file removed urdf/stompy_pro/meshes/mfoot.stl
View file
Binary file not shown.
Binary file removed urdf/stompy_pro/meshes/mthigh.stl
View file
Binary file not shown.
Binary file removed urdf/stompy_pro/meshes/thigh.stl
View file
Binary file not shown.
262 changes: 0 additions & 262 deletions urdf/stompy_pro/robot.urdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -31,268 +31,6 @@
</geometry>
</collision>
</link>
<joint name="L_hip_y" type="fixed">
<origin rpy="0 0 0" xyz="0 0.1577 0" />
<parent link="trunk" />
<child link="L_buttock" />
<axis xyz="0.0 1.0 0" />
<limit effort="120" lower="-3.14" upper="3.14" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="L_buttock">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0012918323 -0.0018432774 2.2794594e-05" />
<mass value="1.2990888" />
<inertia ixx="0.0020931102" ixy="-1.0314072e-05" ixz="5.1795876e-07" iyy="0.0013118768" iyz="-4.0767562e-07" izz="0.0015000916" />
</inertial>
<visual>
<origin rpy="3.1415926 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/buttock.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="3.1415926 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/buttock.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="L_hip_x" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0 0 0" />
<parent link="L_buttock" />
<child link="L_leg" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="60" lower="-0.523" upper="2.093" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="L_leg">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.00070860204 -2.2435483e-05 -0.11035196" />
<mass value="1.3398346" />
<inertia ixx="0.00350784" ixy="3.4919088e-07" ixz="-0.00015597216" iyy="0.0037534076" iyz="-7.0069817e-08" izz="0.0018582238" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/leg.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="L_hip_z" type="fixed">
<origin rpy="0.0 0 0.0" xyz="0 0 0" />
<parent link="L_leg" />
<child link="L_thigh" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="60" lower="-3.14" upper="3.14" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="L_thigh">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.00040735676 0.0013053813 -0.29165284" />
<mass value="1.9399504" />
<inertia ixx="0.0044937128" ixy="2.1462344e-05" ixz="1.0739651e-05" iyy="0.0060757923" iyz="-2.6643735e-05" izz="0.0029354143" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mthigh.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/mthigh.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="L_knee" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0 0 -0.3" />
<parent link="L_thigh" />
<child link="L_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="120" lower="-1.919" upper="1.919" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="L_calf">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0019535236 -0.0043433803 -0.13404794" />
<mass value="1.544772" />
<inertia ixx="0.0097259036" ixy="-4.7543777e-05" ixz="-0.00019535575" iyy="0.0098345988" iyz="-0.00037837351" izz="0.0014598955" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mcalf.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/mcalf.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="L_ankle_y" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0 0 -0.3" />
<parent link="L_calf" />
<child link="L_foot" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="17" lower="-0.698" upper="0.698" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="L_foot">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.023366504 0.014827011 -0.016531354" />
<mass value="0.54237266" />
<inertia ixx="0.00025746264" ixy="-3.4761901e-05" ixz="3.5533704e-05" iyy="0.0019652138" iyz="3.5259776e-06" izz="0.0021498817" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/mfoot.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="30e-3 -11e-3 -20e-3" />
<geometry>
<box size="220e-3 80e-3 15e-3" />
</geometry>
</collision>
</link>
<joint name="R_hip_y" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.1577 0" />
<parent link="trunk" />
<child link="R_buttock" />
<axis xyz="0.0 1.0 0" />
<limit effort="120" lower="-3.14" upper="3.14" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="R_buttock">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0012918323 0.0018432774 2.2794594e-05" />
<mass value="1.2990888" />
<inertia ixx="0.0020931102" ixy="1.0314072e-05" ixz="5.1795876e-07" iyy="0.0013118768" iyz="4.0767562e-07" izz="0.0015000916" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/buttock.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/buttock.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="R_hip_x" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0 0 0" />
<parent link="R_buttock" />
<child link="R_leg" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="60" lower="-2.093" upper="0.523" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="R_leg">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.00070860204 2.2435483e-05 -0.11035196" />
<mass value="1.3398346" />
<inertia ixx="0.00350784" ixy="-3.4919088e-07" ixz="-0.00015597216" iyy="0.0037534076" iyz="7.0069817e-08" izz="0.0018582238" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/leg.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="R_hip_z" type="fixed">
<origin rpy="0.0 0 0.0" xyz="0 0 0" />
<parent link="R_leg" />
<child link="R_thigh" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="60" lower="-3.14" upper="3.14" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="R_thigh">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.00040735676 -0.0013053813 -0.29165284" />
<mass value="1.9399504" />
<inertia ixx="0.0044937128" ixy="-2.1462344e-05" ixz="1.0739651e-05" iyy="0.0060757923" iyz="2.6643735e-05" izz="0.0029354143" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/thigh.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/thigh.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="R_knee" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0 0 -0.3" />
<parent link="R_thigh" />
<child link="R_calf" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="120" lower="-1.919" upper="1.919" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="R_calf">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0019535236 0.0043433803 -0.13404794" />
<mass value="1.544772" />
<inertia ixx="0.0097259036" ixy="4.7543777e-05" ixz="-0.00019535575" iyy="0.0098345988" iyz="0.00037837351" izz="0.0014598955" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/calf.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/calf.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</collision>
</link>
<joint name="R_ankle_y" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0 0 -0.3" />
<parent link="R_calf" />
<child link="R_foot" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="17" lower="-0.698" upper="0.698" velocity="0" />
<dynamics damping="0" friction="0" />
</joint>
<link name="R_foot">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.023366504 0.014827011 -0.016531354" />
<mass value="0.54237266" />
<inertia ixx="0.00025746264" ixy="-3.4761901e-05" ixz="3.5533704e-05" iyy="0.0019652138" iyz="3.5259776e-06" izz="0.0021498817" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/foot.stl" scale="1e-3 1e-3 1e-3" />
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="30e-3 11e-3 -20e-3" />
<geometry>
<box size="220e-3 80e-3 15e-3" />
</geometry>
</collision>
</link>
<joint name="L_shoulder_y" type="revolute">
<origin rpy="0 0 0" xyz="0 0.255 0.45" />
<parent link="trunk" />
Expand Down

0 comments on commit 8d1818c

Please sign in to comment.