✨ Adds yertle model visulization
This commit is contained in:
Rune Harlyk
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# WaveFront *.mtl file (generated by Autodesk ATF)
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newmtl Plastic_-_Matte_(Black)
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Kd 0.098039 0.098039 0.098039
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Load Diff
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# WaveFront *.mtl file (generated by Autodesk ATF)
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newmtl Steel_-_Satin
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Kd 0.627451 0.627451 0.627451
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# WaveFront *.mtl file (generated by Autodesk ATF)
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newmtl Opaque(28,28,28)
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Kd 0.109804 0.109804 0.109804
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newmtl Steel_-_Satin
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Kd 0.627451 0.627451 0.627451
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newmtl Opaque(0,0,255)
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Kd 0.000000 0.000000 1.000000
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newmtl Opaque(202,209,238)
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Kd 0.792157 0.819608 0.933333
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Load Diff
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@@ -0,0 +1,14 @@
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# WaveFront *.mtl file (generated by Autodesk ATF)
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||||
newmtl Opaque(28,28,28)
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||||
Kd 0.109804 0.109804 0.109804
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||||
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newmtl Opaque(0,0,255)
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Kd 0.000000 0.000000 1.000000
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newmtl Opaque(202,209,238)
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||||
Kd 0.792157 0.819608 0.933333
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||||
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newmtl Steel_-_Satin
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||||
Kd 0.627451 0.627451 0.627451
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Load Diff
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@@ -0,0 +1,14 @@
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# WaveFront *.mtl file (generated by Autodesk ATF)
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newmtl Opaque(28,28,28)
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||||
Kd 0.109804 0.109804 0.109804
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||||
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newmtl Opaque(0,0,255)
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Kd 0.000000 0.000000 1.000000
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||||
newmtl Opaque(202,209,238)
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||||
Kd 0.792157 0.819608 0.933333
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||||
|
||||
newmtl Steel_-_Satin
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||||
Kd 0.627451 0.627451 0.627451
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||||
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||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,14 @@
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||||
# WaveFront *.mtl file (generated by Autodesk ATF)
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||||
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||||
newmtl Opaque(28,28,28)
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Kd 0.109804 0.109804 0.109804
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newmtl Opaque(0,0,255)
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Kd 0.000000 0.000000 1.000000
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newmtl Opaque(202,209,238)
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||||
Kd 0.792157 0.819608 0.933333
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||||
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||||
newmtl Steel_-_Satin
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Kd 0.627451 0.627451 0.627451
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File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,5 @@
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# WaveFront *.mtl file (generated by Autodesk ATF)
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newmtl Steel_-_Satin
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Kd 0.627451 0.627451 0.627451
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File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,14 @@
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# WaveFront *.mtl file (generated by Autodesk ATF)
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newmtl Stainless_Steel_-_Satin
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Kd 0.796078 0.796078 0.796078
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newmtl Steel_-_Satin
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Kd 0.627451 0.627451 0.627451
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newmtl Plastic_-_Matte_(Black)
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Kd 0.098039 0.098039 0.098039
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newmtl Rubber_-_Soft
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Kd 0.152941 0.152941 0.152941
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<?xml version="1.0"?>
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<robot name="Dog">
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<material name="white">
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<color rgba="1 1 1 1" />
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</material>
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<material name="black">
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<color rgba="0 0 0 1" />
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</material>
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<material name="foot_color">
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<color rgba="0 0.75 1 1" />
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</material>
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<link name="base_link">
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<visual>
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<geometry>
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<mesh filename="package://URDF/frame.stl" />
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</geometry>
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<origin rpy="0 0 3.141" xyz="0 0 0.0" />
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<material name="black" />
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</visual>
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<inertial>
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<mass value="1.5" />
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
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</inertial>
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</link>
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<!-- shell -->
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<link name="frame">
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<visual>
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<geometry>
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<mesh filename="package://URDF/shell.stl" />
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</geometry>
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<origin rpy="0 0 3.141" xyz="0 0 0" />
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<material name="white" />
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</visual>
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<inertial>
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<mass value="0.025" />
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<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
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</inertial>
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<collision>
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<geometry>
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<mesh filename="package://URDF/shell.stl" />
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</geometry>
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<origin rpy="0 0 3.141" xyz="0 0 0.0" />
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</collision>
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</link>
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<joint name="base_to_frame" type="fixed">
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<parent link="base_link" />
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<child link="frame" />
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<origin xyz="0 0 0" />
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</joint>
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<!-- lf shoulder -->
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<link name="lf_shoulder">
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<visual>
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<geometry>
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<mesh filename="package://URDF/lf shoulder.stl" />
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</geometry>
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<origin rpy="3.141 3.141 0" xyz="0 0 0" />
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<material name="black" />
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</visual>
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<inertial>
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<mass value="0.025" />
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<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
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</inertial>
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</link>
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<joint name="lf_shoulder" type="continuous">
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<parent link="base_link" />
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<child link="lf_shoulder" />
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<origin xyz="0.090 0.037 0" />
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<axis xyz="1 0 0" />
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</joint>
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<link name="lf_thigh">
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<visual>
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<geometry>
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<mesh filename="package://URDF/femur.stl" />
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</geometry>
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<origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
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<material name="black" />
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||||
</visual>
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||||
<inertial>
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||||
<mass value="0.025" />
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<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
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</inertial>
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</link>
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<joint name="lf_thigh" type="continuous">
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<parent link="lf_shoulder" />
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<child link="lf_thigh" />
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<origin xyz="0.025 0.027 0 " />
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<axis xyz="0 1 0" />
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</joint>
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<link name="lf_shin">
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<visual>
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<geometry>
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<mesh filename="package://URDF/tibia.stl" />
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</geometry>
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<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
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<material name="black" />
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</visual>
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<inertial>
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<mass value="0.025" />
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<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
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</inertial>
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||||
<collision>
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<geometry>
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<mesh filename="package://URDF/tibia.stl" />
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</geometry>
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||||
<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
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</collision>
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</link>
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<joint name="lf_shin" type="continuous">
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<parent link="lf_thigh" />
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<child link="lf_shin" />
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<origin xyz="0 0 -0.130 " />
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<axis xyz="0 1 0" />
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</joint>
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<link name="lf_toe">
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<visual>
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<geometry>
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<sphere radius="0.005" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<material name="foot_color" />
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||||
</visual>
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<inertial>
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||||
<mass value="0.05" />
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||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
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</inertial>
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<collision>
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||||
<geometry>
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||||
<sphere radius="0.020" />
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||||
</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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</collision>
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||||
</link>
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<joint name="lf_toe" type="fixed">
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<parent link="lf_shin" />
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<child link="lf_toe" />
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||||
<origin xyz="0 0 -0.130" />
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||||
</joint>
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<!-- rf shoulder -->
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<link name="rf_shoulder">
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<visual>
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||||
<geometry>
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||||
<mesh filename="package://URDF/rf shoulder.stl" />
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||||
</geometry>
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||||
<origin rpy="0 0 3.141" xyz="0 0 0" />
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||||
<material name="black" />
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||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
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||||
</link>
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||||
<joint name="rf_shoulder" type="continuous">
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||||
<parent link="base_link" />
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||||
<child link="rf_shoulder" />
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||||
<origin xyz="0.090 -0.040 0" />
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||||
<axis xyz="1 0 0" />
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||||
</joint>
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||||
<link name="rf_thigh">
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||||
<visual>
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||||
<geometry>
|
||||
<mesh filename="package://URDF/femur.stl" />
|
||||
</geometry>
|
||||
<origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="rf_thigh" type="continuous">
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||||
<parent link="rf_shoulder" />
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||||
<child link="rf_thigh" />
|
||||
<origin xyz="0.025 -0.027 0 " />
|
||||
<axis xyz="0 1 0" />
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||||
</joint>
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||||
<link name="rf_shin">
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||||
<visual>
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||||
<geometry>
|
||||
<mesh filename="package://URDF/tibia.stl" />
|
||||
</geometry>
|
||||
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/tibia.stl" />
|
||||
</geometry>
|
||||
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rf_shin" type="continuous">
|
||||
<parent link="rf_thigh" />
|
||||
<child link="rf_shin" />
|
||||
<origin xyz="0 0 -0.130 " />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
<link name="rf_toe">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.005" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<material name="foot_color" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.05" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<geometry>
|
||||
<sphere radius="0.020" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rf_toe" type="fixed">
|
||||
<parent link="rf_shin" />
|
||||
<child link="rf_toe" />
|
||||
<origin xyz="0 0 -0.130" />
|
||||
</joint>
|
||||
<!-- lb shoulder -->
|
||||
<link name="lb_shoulder">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/lb shoulder.stl" />
|
||||
</geometry>
|
||||
<origin rpy="3.141 3.141 0" xyz="0 0 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="lb_shoulder" type="continuous">
|
||||
<parent link="base_link" />
|
||||
<child link="lb_shoulder" />
|
||||
<origin xyz="-0.081 0.038 0" />
|
||||
<axis xyz="1 0 0" />
|
||||
</joint>
|
||||
<link name="lb_thigh">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/femur.stl" />
|
||||
</geometry>
|
||||
<origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="lb_thigh" type="continuous">
|
||||
<parent link="lb_shoulder" />
|
||||
<child link="lb_thigh" />
|
||||
<origin xyz="-0.043 0.027 0 " />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
<link name="lb_shin">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/tibia.stl" />
|
||||
</geometry>
|
||||
<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/tibia.stl" />
|
||||
</geometry>
|
||||
<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="lb_shin" type="continuous">
|
||||
<parent link="lb_thigh" />
|
||||
<child link="lb_shin" />
|
||||
<origin xyz="0 0 -0.130 " />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
<link name="lb_toe">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.0005" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<material name="foot_color" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.05" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<geometry>
|
||||
<sphere radius="0.020" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="lb_toe" type="fixed">
|
||||
<parent link="lb_shin" />
|
||||
<child link="lb_toe" />
|
||||
<origin xyz="0 0 -0.130" />
|
||||
</joint>
|
||||
<!-- rb arm -->
|
||||
<link name="rb_shoulder">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/rb shoulder.stl" />
|
||||
</geometry>
|
||||
<origin rpy="3.141 3.141 0" xyz="0 0 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="rb_shoulder" type="continuous">
|
||||
<parent link="base_link" />
|
||||
<child link="rb_shoulder" />
|
||||
<origin xyz="-0.081 -0.040 0" />
|
||||
<axis xyz="1 0 0" />
|
||||
</joint>
|
||||
<link name="rb_thigh">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/femur.stl" />
|
||||
</geometry>
|
||||
<origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="rb_thigh" type="continuous">
|
||||
<parent link="rb_shoulder" />
|
||||
<child link="rb_thigh" />
|
||||
<origin xyz="-0.043 -0.027 0 " />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
<link name="rb_shin">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/tibia.stl" />
|
||||
</geometry>
|
||||
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
|
||||
<material name="black" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.025" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://URDF/tibia.stl" />
|
||||
</geometry>
|
||||
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rb_shin" type="continuous">
|
||||
<parent link="rb_thigh" />
|
||||
<child link="rb_shin" />
|
||||
<origin xyz="0 0 -0.130 " />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
<link name="rb_toe">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.0005" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<material name="foot_color" />
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.05" />
|
||||
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<geometry>
|
||||
<sphere radius="0.020" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rb_toe" type="fixed">
|
||||
<parent link="rb_shin" />
|
||||
<child link="rb_toe" />
|
||||
<origin xyz="0 0 -0.130" />
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user