Maastricht_University_Projects/embodiment_sdf_models
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Realistic upper and forearm weights

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Michael Zechmair
2022-05-23 09:53:21 +02:00
parent b61cd20c19
commit 226eba6989
1 changed files with 20 additions and 20 deletions
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40
arm_1dof/demo_human_col/skeleton.urdf
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@@ -65,9 +65,9 @@
</joint> </joint>
<link name="skeleton__skeleton"> <link name="skeleton__skeleton">
<inertial> <inertial>
<mass value="0.20000000298023224"/> <mass value="1.0"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial> </inertial>
<collision name="skeleton__collision"> <collision name="skeleton__collision">
<origin xyz="-0.02371 -0.00647 1.74557" rpy="-0.0049 0 0"/> <origin xyz="-0.02371 -0.00647 1.74557" rpy="-0.0049 0 0"/>
@@ -84,9 +84,9 @@
</link> </link>
<link name="skeleton__upper_arm"> <link name="skeleton__upper_arm">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="2.4375"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.00243" ixy="0" ixz="0" iyy="0.00243" iyz="0" izz="0.00243"/>
</inertial> </inertial>
<collision name="skeleton__collision"> <collision name="skeleton__collision">
<origin xyz="0.13823 0.00026 -0.00341" rpy="0 0 1.57079"/> <origin xyz="0.13823 0.00026 -0.00341" rpy="0 0 1.57079"/>
@@ -103,9 +103,9 @@
</link> </link>
<link name="skeleton__forearm"> <link name="skeleton__forearm">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="1.89"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.00189" ixy="0" ixz="0" iyy="0.00189" iyz="0" izz="0.00189"/>
</inertial> </inertial>
<collision name="skeleton__collision"> <collision name="skeleton__collision">
<origin xyz="0.11655 -0.0037 0.03579" rpy="0 0 1.57079"/> <origin xyz="0.11655 -0.0037 0.03579" rpy="0 0 1.57079"/>
@@ -122,9 +122,9 @@
</link> </link>
<link name="skeleton__hand"> <link name="skeleton__hand">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial> </inertial>
<collision name="skeleton__collision"> <collision name="skeleton__collision">
<origin xyz="0.04303 0.00372 0.00215" rpy="0 0 1.57079"/> <origin xyz="0.04303 0.00372 0.00215" rpy="0 0 1.57079"/>
@@ -141,9 +141,9 @@
</link> </link>
<link name="skeleton__thumb_1"> <link name="skeleton__thumb_1">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial> </inertial>
<visual name="skeleton__visual"> <visual name="skeleton__visual">
<origin xyz="0.0254 -0.00053 -0.00079" rpy="-3.1294 -0.96488 -0.71552"/> <origin xyz="0.0254 -0.00053 -0.00079" rpy="-3.1294 -0.96488 -0.71552"/>
@@ -154,9 +154,9 @@
</link> </link>
<link name="skeleton__thumb_2"> <link name="skeleton__thumb_2">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial> </inertial>
<visual name="skeleton__visual"> <visual name="skeleton__visual">
<origin xyz="0.01794 0.00023 -0.00055" rpy="1.91061 -1.08836 0.28141"/> <origin xyz="0.01794 0.00023 -0.00055" rpy="1.91061 -1.08836 0.28141"/>
@@ -167,9 +167,9 @@
</link> </link>
<link name="skeleton__thumb_3"> <link name="skeleton__thumb_3">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial> </inertial>
<visual name="skeleton__visual"> <visual name="skeleton__visual">
<origin xyz="0.00932 -0.00015 0.00029" rpy="1.91527 -1.09474 0.23923"/> <origin xyz="0.00932 -0.00015 0.00029" rpy="1.91527 -1.09474 0.23923"/>
@@ -180,9 +180,9 @@
</link> </link>
<link name="skeleton__proximal"> <link name="skeleton__proximal">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial> </inertial>
<collision name="skeleton__collision"> <collision name="skeleton__collision">
<origin xyz="0.01919 0.0022 0.00295" rpy="0.09206 0.2203 1.27627"/> <origin xyz="0.01919 0.0022 0.00295" rpy="0.09206 0.2203 1.27627"/>
@@ -199,9 +199,9 @@
</link> </link>
<link name="skeleton__middle"> <link name="skeleton__middle">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial> </inertial>
<collision name="skeleton__collision"> <collision name="skeleton__collision">
<origin xyz="0.00925 0.00417 -0.0002" rpy="0.13008 0.20044 1.45783"/> <origin xyz="0.00925 0.00417 -0.0002" rpy="0.13008 0.20044 1.45783"/>
@@ -218,9 +218,9 @@
</link> </link>
<link name="skeleton__distal"> <link name="skeleton__distal">
<inertial> <inertial>
<mass value="0.19999998807907104"/> <mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial> </inertial>
<collision name="skeleton__collision"> <collision name="skeleton__collision">
<origin xyz="0.00163 0.00281 0.00012" rpy="0.1341 0.1978 1.47817"/> <origin xyz="0.00163 0.00281 0.00012" rpy="0.1341 0.1978 1.47817"/>