Maastricht_University_Projects/embodiment_sdf_models
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Affix all joints except for the elbow

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Michael Zechmair
2022-05-05 16:02:57 +02:00
parent 7084a1caf1
commit b61cd20c19
2 changed files with 8 additions and 8 deletions
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8
arm_1dof/demo_human_col/skeleton.sdf
View File

@@ -299,7 +299,7 @@
<parent>world</parent>
<child>skeleton</child>
</joint> -->
<joint name="shoulder_joint" type="revolute">
<joint name="shoulder_joint" type="fixed">
<parent>skeleton</parent>
<child>upper_arm</child>
<pose>-0.0002625510096549988 0.1382385492324829 0.0034110769629478455 5.479091100824007e-07 -4.2146872658577195e-08 -1.570796251296997</pose>
@@ -350,7 +350,7 @@
</dynamics>
</axis>
</joint>
<joint name="proximal_joint" type="revolute">
<joint name="proximal_joint" type="fixed">
<parent>hand</parent>
<child>proximal</child>
<pose>-0.006849215365946293 0.01723306067287922 -0.006170365028083324 0.18470512330532074 -0.15172354876995087 -1.2801685333251953</pose>
@@ -419,7 +419,7 @@
</dynamics>
</axis>
</joint>
<joint name="middle_joint" type="revolute">
<joint name="middle_joint" type="fixed">
<parent>proximal</parent>
<child>middle</child>
<pose>-0.005126905627548695 0.008538579568266869 -0.001958192093297839 0.18470518290996552 -0.1517234593629837 -1.4588162899017334</pose>
@@ -436,7 +436,7 @@
</dynamics>
</axis>
</joint>
<joint name="distal_joint" type="revolute">
<joint name="distal_joint" type="fixed">
<parent>middle</parent>
<child>distal</child>
<pose>-0.0028767052572220564 0.0012630047276616096 -0.0008793922024779022 0.18470518290996552 -0.1517234444618225 -1.4789243936538696</pose>

8
arm_1dof/demo_human_col/skeleton.urdf
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<robot name="skeleton">
<joint name="skeleton__shoulder_joint" type="revolute">
<joint name="skeleton__shoulder_joint" type="fixed">
<parent link="skeleton__skeleton"/>
<child link="skeleton__upper_arm"/>
<origin xyz="-0.01754 -0.17 1.793" rpy="1.59151 1.57079 0.02072"/>
@@ -21,7 +21,7 @@
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__proximal_joint" type="revolute">
<joint name="skeleton__proximal_joint" type="fixed">
<parent link="skeleton__hand"/>
<child link="skeleton__proximal"/>
<origin xyz="0.0941 0.002 0.00495" rpy="0.1847 -0.15172 0.24123"/>
@@ -49,14 +49,14 @@
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__middle_joint" type="revolute">
<joint name="skeleton__middle_joint" type="fixed">
<parent link="skeleton__proximal"/>
<child link="skeleton__middle"/>
<origin xyz="0.04285 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__distal_joint" type="revolute">
<joint name="skeleton__distal_joint" type="fixed">
<parent link="skeleton__middle"/>
<child link="skeleton__distal"/>
<origin xyz="0.02734 0.00572 -0.00241" rpy="0 0 0"/>