1915 lines
54 KiB
XML
1915 lines
54 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="ragdoll">
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<pose>0 0 1.4 0 0 0</pose>
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<link name="hip">
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<inertial>
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<inertia>
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<ixx>0.100000</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.100000</iyy>
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<iyz>0</iyz>
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<izz>0.100000</izz>
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</inertia>
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<mass>10</mass>
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</inertial>
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<collision name="hip_geom">
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<pose>0 0 0.125000 0 0 0</pose>
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<geometry>
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<box>
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<size>0.100000 0.500000 0.250000</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>100000</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000</kp>
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<kd>1.000000</kd>
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<max_vel>0</max_vel>
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<min_depth>0.001000</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>0</laser_retro>
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</collision>
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<visual name="hip_geom_visual">
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<pose>0 0 0.125000 0 0 0</pose>
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<geometry>
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<box>
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<size>0.100000 0.500000 0.250000</size>
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</box>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0</laser_retro>
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<transparency>0</transparency>
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</visual>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="l_thigh_pan">
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<pose>0 0.220000 0 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.010000</iyy>
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<iyz>0</iyz>
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<izz>0.010000</izz>
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</inertia>
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<mass>1.000000</mass>
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</inertial>
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<collision name="l_thigh_pan_geom">
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<pose>0 0 -0.030000 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.060000</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>100000</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000</kp>
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<kd>1.000000</kd>
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<max_vel>0</max_vel>
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<min_depth>0.001000</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>0</laser_retro>
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</collision>
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<visual name="l_thigh_pan_geom_visual">
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<pose>0 0 -0.030000 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.060000</radius>
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</sphere>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0</laser_retro>
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<transparency>0</transparency>
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</visual>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="l_thigh_lift">
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<pose>0 0.220000 0 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.050000</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.050000</iyy>
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<iyz>0</iyz>
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<izz>0.050000</izz>
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</inertia>
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<mass>5.000000</mass>
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</inertial>
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<collision name="l_thigh_lift_geom">
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<pose>0 0 -0.350000 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.060000</radius>
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<length>0.700000</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>100000</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000</kp>
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<kd>1.000000</kd>
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<max_vel>0</max_vel>
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<min_depth>0.001000</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>0</laser_retro>
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</collision>
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<visual name="l_thigh_lift_geom_visual">
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<pose>0 0 -0.350000 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.060000</radius>
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<length>0.700000</length>
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</cylinder>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0</laser_retro>
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<transparency>0</transparency>
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</visual>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="l_calf">
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<pose>0 0.220000 -0.700000 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.020000</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.020000</iyy>
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<iyz>0</iyz>
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<izz>0.020000</izz>
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</inertia>
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<mass>2.000000</mass>
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</inertial>
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<collision name="l_calf_geom">
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<pose>0 0 -0.300000 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.050000</radius>
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<length>0.600000</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>100000</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000</kp>
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<kd>1.000000</kd>
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<max_vel>0</max_vel>
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<min_depth>0.001000</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>0</laser_retro>
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</collision>
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<visual name="l_calf_geom_visual">
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<pose>0 0 -0.300000 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.050000</radius>
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<length>0.600000</length>
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</cylinder>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0</laser_retro>
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<transparency>0</transparency>
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</visual>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="l_ankle">
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<pose>0 0.220000 -1.325000 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.010000</iyy>
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<iyz>0</iyz>
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<izz>0.010000</izz>
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</inertia>
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<mass>1.000000</mass>
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</inertial>
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<collision name="l_ankle_geom">
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<geometry>
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<sphere>
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<radius>0.050000</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>100000</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000</kp>
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<kd>1.000000</kd>
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<max_vel>0</max_vel>
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<min_depth>0.001000</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>0</laser_retro>
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</collision>
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<visual name="l_ankle_geom_visual">
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<geometry>
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<sphere>
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<radius>0.050000</radius>
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</sphere>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0</laser_retro>
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<transparency>0</transparency>
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</visual>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="l_foot">
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|
<pose>0 0.220000 -1.350000 0 0 0</pose>
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|
<inertial>
|
|
<pose>0.100000 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.010000</iyy>
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<iyz>0</iyz>
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<izz>0.010000</izz>
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</inertia>
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<mass>1.000000</mass>
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</inertial>
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<collision name="l_foot_geom">
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<pose>0.100000 0 -0.025000 0 0 0</pose>
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<geometry>
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<box>
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<size>0.200000 0.030000 0.050000</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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|
<threshold>100000</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000</kp>
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<kd>1.000000</kd>
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<max_vel>0</max_vel>
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<min_depth>0.001000</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>0</laser_retro>
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</collision>
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<visual name="l_foot_geom_visual">
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|
<pose>0.100000 0 -0.025000 0 0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>0.200000 0.030000 0.050000</size>
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|
</box>
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|
</geometry>
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|
<cast_shadows>1</cast_shadows>
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|
<laser_retro>0</laser_retro>
|
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<transparency>0</transparency>
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</visual>
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<gravity>1</gravity>
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|
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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|
<link name="r_thigh_pan">
|
|
<pose>0 -0.220000 0 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
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|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
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|
</inertial>
|
|
<collision name="r_thigh_pan_geom">
|
|
<pose>0 0 -0.030000 0 0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.060000</radius>
|
|
</sphere>
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|
</geometry>
|
|
<surface>
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|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
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|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_thigh_pan_geom_visual">
|
|
<pose>0 0 -0.030000 0 0 0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.060000</radius>
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|
</sphere>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_thigh_lift">
|
|
<pose>0 -0.220000 0 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.050000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.050000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.050000</izz>
|
|
</inertia>
|
|
<mass>5.000000</mass>
|
|
</inertial>
|
|
<collision name="r_thigh_lift_geom">
|
|
<pose>0 0 -0.350000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.060000</radius>
|
|
<length>0.700000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_thigh_lift_geom_visual">
|
|
<pose>0 0 -0.350000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.060000</radius>
|
|
<length>0.700000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
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|
</link>
|
|
<link name="r_calf">
|
|
<pose>0 -0.220000 -0.700000 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.020000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.020000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.020000</izz>
|
|
</inertia>
|
|
<mass>2.000000</mass>
|
|
</inertial>
|
|
<collision name="r_calf_geom">
|
|
<pose>0 0 -0.300000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.050000</radius>
|
|
<length>0.600000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_calf_geom_visual">
|
|
<pose>0 0 -0.300000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.050000</radius>
|
|
<length>0.600000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_ankle">
|
|
<pose>0 -0.220000 -1.325000 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="r_ankle_geom">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.050000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_ankle_geom_visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.050000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_foot">
|
|
<pose>0 -0.220000 -1.350000 0 0 0</pose>
|
|
<inertial>
|
|
<pose>0.100000 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="r_foot_geom">
|
|
<pose>0.100000 0 -0.025000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.200000 0.030000 0.050000</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_foot_geom_visual">
|
|
<pose>0.100000 0 -0.025000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.200000 0.030000 0.050000</size>
|
|
</box>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="torso">
|
|
<pose>0 0 0.250000 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.300000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.300000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.300000</izz>
|
|
</inertia>
|
|
<mass>30</mass>
|
|
</inertial>
|
|
<collision name="torso_geom">
|
|
<pose>0 0 0.350000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.100000 0.600000 0.700000</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="torso_geom_visual">
|
|
<pose>0 0 0.350000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.100000 0.600000 0.700000</size>
|
|
</box>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="l_shoulder">
|
|
<pose>0 0.327500 0.922500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="l_shoulder_geom">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.055000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="l_shoulder_geom_visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.055000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="l_upper_arm">
|
|
<pose>0 0.327500 0.922500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.020000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.020000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.020000</izz>
|
|
</inertia>
|
|
<mass>2.000000</mass>
|
|
</inertial>
|
|
<collision name="l_upper_arm_geom">
|
|
<pose>0 0 -0.300000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.055000</radius>
|
|
<length>0.600000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="l_upper_arm_geom_visual">
|
|
<pose>0 0 -0.300000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.055000</radius>
|
|
<length>0.600000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="l_forearm">
|
|
<pose>0 0.327500 0.322500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="l_forearm_geom">
|
|
<pose>0 0 -0.225000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.050000</radius>
|
|
<length>0.450000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="l_forearm_geom_visual">
|
|
<pose>0 0 -0.225000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.050000</radius>
|
|
<length>0.450000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="l_wrist">
|
|
<pose>0 0.327500 -0.142500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="l_wrist_geom">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.030000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="l_wrist_geom_visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.030000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="l_hand">
|
|
<pose>0 0.327500 -0.157500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="l_hand_geom">
|
|
<pose>0 0 -0.100000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.030000 0.100000 0.200000</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="l_hand_geom_visual">
|
|
<pose>0 0 -0.100000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.030000 0.100000 0.200000</size>
|
|
</box>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="neck">
|
|
<pose>0 0 0.950000 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="neck_geom">
|
|
<pose>0 0 0.100000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.075000</radius>
|
|
<length>0.200000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="neck_geom_visual">
|
|
<pose>0 0 0.100000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.075000</radius>
|
|
<length>0.200000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="head">
|
|
<pose>0 0 1.225000 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.100000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.100000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.100000</izz>
|
|
</inertia>
|
|
<mass>10</mass>
|
|
</inertial>
|
|
<collision name="head_geom">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.150000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="head_geom_visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.150000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_shoulder">
|
|
<pose>0 -0.327500 0.922500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="r_shoulder_geom">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.055000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_shoulder_geom_visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.055000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_upper_arm">
|
|
<pose>0 -0.327500 0.922500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.020000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.020000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.020000</izz>
|
|
</inertia>
|
|
<mass>2.000000</mass>
|
|
</inertial>
|
|
<collision name="r_upper_arm_geom">
|
|
<pose>0 0 -0.300000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.055000</radius>
|
|
<length>0.600000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_upper_arm_geom_visual">
|
|
<pose>0 0 -0.300000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.055000</radius>
|
|
<length>0.600000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_forearm">
|
|
<pose>0 -0.327500 0.322500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="r_forearm_geom">
|
|
<pose>0 0 -0.225000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.050000</radius>
|
|
<length>0.450000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_forearm_geom_visual">
|
|
<pose>0 0 -0.225000 0 0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.050000</radius>
|
|
<length>0.450000</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_wrist">
|
|
<pose>0 -0.327500 -0.142500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="r_wrist_geom">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.030000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_wrist_geom_visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.030000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name="r_hand">
|
|
<pose>0 -0.327500 -0.157500 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
<mass>1.000000</mass>
|
|
</inertial>
|
|
<collision name="r_hand_geom">
|
|
<pose>0 0 -0.100000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.030000 0.100000 0.200000</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>-1.000000</mu>
|
|
<mu2>-1.000000</mu2>
|
|
<fdir1>0 0 0</fdir1>
|
|
<slip1>0</slip1>
|
|
<slip2>0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>0</restitution_coefficient>
|
|
<threshold>100000</threshold>
|
|
</bounce>
|
|
<contact>
|
|
<ode>
|
|
<soft_cfm>0</soft_cfm>
|
|
<soft_erp>0.200000</soft_erp>
|
|
<kp>1000000000000</kp>
|
|
<kd>1.000000</kd>
|
|
<max_vel>0</max_vel>
|
|
<min_depth>0.001000</min_depth>
|
|
</ode>
|
|
</contact>
|
|
</surface>
|
|
<laser_retro>0</laser_retro>
|
|
</collision>
|
|
<visual name="r_hand_geom_visual">
|
|
<pose>0 0 -0.100000 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.030000 0.100000 0.200000</size>
|
|
</box>
|
|
</geometry>
|
|
<cast_shadows>1</cast_shadows>
|
|
<laser_retro>0</laser_retro>
|
|
<transparency>0</transparency>
|
|
</visual>
|
|
<gravity>0</gravity>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name="l_thigh_pan_joint" type="revolute">
|
|
<parent>hip</parent>
|
|
<child>l_thigh_pan</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 0 1.000000</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_thigh_lift_joint" type="revolute">
|
|
<parent>l_thigh_pan</parent>
|
|
<child>l_thigh_lift</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_calf_joint" type="revolute">
|
|
<parent>l_thigh_lift</parent>
|
|
<child>l_calf</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_ankle_joint" type="revolute">
|
|
<parent>l_calf</parent>
|
|
<child>l_ankle</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_foot_joint" type="revolute">
|
|
<parent>l_ankle</parent>
|
|
<child>l_foot</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>1.000000 0 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_thigh_pan_joint" type="revolute">
|
|
<parent>hip</parent>
|
|
<child>r_thigh_pan</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 0 1.000000</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_thigh_lift_joint" type="revolute">
|
|
<parent>r_thigh_pan</parent>
|
|
<child>r_thigh_lift</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_calf_joint" type="revolute">
|
|
<parent>r_thigh_lift</parent>
|
|
<child>r_calf</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_ankle_joint" type="revolute">
|
|
<parent>r_calf</parent>
|
|
<child>r_ankle</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_foot_joint" type="revolute">
|
|
<parent>r_ankle</parent>
|
|
<child>r_foot</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>1.000000 0 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="torso_joint" type="revolute">
|
|
<parent>hip</parent>
|
|
<child>torso</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_shoulder_joint" type="revolute">
|
|
<parent>torso</parent>
|
|
<child>l_shoulder</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>1.000000 0 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_upper_arm_joint" type="revolute">
|
|
<parent>l_shoulder</parent>
|
|
<child>l_upper_arm</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_forearm_joint" type="revolute">
|
|
<parent>l_upper_arm</parent>
|
|
<child>l_forearm</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_wrist_joint" type="revolute">
|
|
<parent>l_forearm</parent>
|
|
<child>l_wrist</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="l_hand_joint" type="revolute">
|
|
<parent>l_wrist</parent>
|
|
<child>l_hand</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="neck_joint" type="revolute">
|
|
<parent>torso</parent>
|
|
<child>neck</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 0 1.000000</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="head_joint" type="revolute">
|
|
<parent>neck</parent>
|
|
<child>head</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_shoulder_joint" type="revolute">
|
|
<parent>torso</parent>
|
|
<child>r_shoulder</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>1.000000 0 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_upper_arm_joint" type="revolute">
|
|
<parent>r_shoulder</parent>
|
|
<child>r_upper_arm</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_forearm_joint" type="revolute">
|
|
<parent>r_upper_arm</parent>
|
|
<child>r_forearm</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_wrist_joint" type="revolute">
|
|
<parent>r_forearm</parent>
|
|
<child>r_wrist</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="r_hand_joint" type="revolute">
|
|
<parent>r_wrist</parent>
|
|
<child>r_hand</child>
|
|
<axis>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
<effort>0.000000</effort>
|
|
<velocity>0.000000</velocity>
|
|
</limit>
|
|
<xyz>0 1.000000 0</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<static>0</static>
|
|
</model>
|
|
</sdf>
|