URDF file generated by the test_creature.py file
This commit is contained in:
levdoescode
156
CM3020 Artificial Intelligence/Week 8/Files/test.urdf
Normal file
156
CM3020 Artificial Intelligence/Week 8/Files/test.urdf
Normal file
@ -0,0 +1,156 @@
|
||||
<?xml version="1.0"?><robot name="pepe">
|
||||
<link name="0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05988099894980281" radius="0.010973903856571376"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05988099894980281" radius="0.010973903856571376"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.265485106304363e-05"/>
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="11">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.11829858390672475"/>
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="12">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.11829858390672475"/>
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="13">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.11829858390672475"/>
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="14">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.11829858390672475"/>
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="25">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.4810076398799517"/>
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="26">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.4810076398799517"/>
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="11_to_0" type="revolute">
|
||||
<parent link="0"/>
|
||||
<child link="11"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
|
||||
<origin rpy="8.19771836091092 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
|
||||
</joint>
|
||||
<joint name="12_to_0" type="revolute">
|
||||
<parent link="0"/>
|
||||
<child link="12"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
|
||||
<origin rpy="12.296577541366382 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
|
||||
</joint>
|
||||
<joint name="13_to_0" type="revolute">
|
||||
<parent link="0"/>
|
||||
<child link="13"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
|
||||
<origin rpy="16.39543672182184 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
|
||||
</joint>
|
||||
<joint name="14_to_0" type="revolute">
|
||||
<parent link="0"/>
|
||||
<child link="14"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
|
||||
<origin rpy="20.4942959022773 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
|
||||
</joint>
|
||||
<joint name="25_to_0" type="revolute">
|
||||
<parent link="0"/>
|
||||
<child link="25"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
|
||||
<origin rpy="26.77383088316982 1.050239889513226 5.3919054247971845" xyz="0.8129955504375294 0.2165509104496698 0.8189205197135722"/>
|
||||
</joint>
|
||||
<joint name="26_to_0" type="revolute">
|
||||
<parent link="0"/>
|
||||
<child link="26"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
|
||||
<origin rpy="31.23613603036479 1.050239889513226 5.3919054247971845" xyz="0.8129955504375294 0.2165509104496698 0.8189205197135722"/>
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user