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icub-model-generator commit: robotology/icub-models-generator@cf90d5e
urdf_parser_py commit: ros/urdf_parser_py@31474b9
simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@9431d99
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@traversaro
traversaro authored Oct 30, 2023
1 parent d1ed7a7 commit b2391b9
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Showing 7 changed files with 168 additions and 168 deletions.
48 changes: 24 additions & 24 deletions iCub/robots/iCubDarmstadt01/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -602,63 +602,63 @@
</joint>
<link name="r_sole_skin_0"/>
<joint name="r_sole_skin_0_fixed_joint" type="fixed">
<origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11559999999999998 -0.007499999999999993 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_1"/>
<joint name="r_sole_skin_1_fixed_joint" type="fixed">
<origin xyz="0.07885119999999998 -0.019440400000000004 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_1"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_2"/>
<joint name="r_sole_skin_2_fixed_joint" type="fixed">
<origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10525929999999997 0.024325399999999997 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_2"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_3"/>
<joint name="r_sole_skin_3_fixed_joint" type="fixed">
<origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09090169999999997 0.03725289999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_4"/>
<joint name="r_sole_skin_4_fixed_joint" type="fixed">
<origin xyz="0.11559999999999998 -0.007499999999999993 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07252729999999998 0.03128289999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_4"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_8"/>
<joint name="r_sole_skin_8_fixed_joint" type="fixed">
<origin xyz="0.10525929999999997 0.024325399999999997 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_8"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_9"/>
<joint name="r_sole_skin_9_fixed_joint" type="fixed">
<origin xyz="0.09090169999999997 0.03725289999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_9"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_10"/>
<joint name="r_sole_skin_10_fixed_joint" type="fixed">
<origin xyz="0.07252729999999998 0.03128289999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_10"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_11"/>
<joint name="r_sole_skin_11_fixed_joint" type="fixed">
<origin xyz="0.06851049999999997 0.012385000000000007 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07885119999999998 -0.019440400000000004 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_11"/>
<dynamics damping="0.1"/>
Expand All @@ -672,21 +672,21 @@
</joint>
<link name="r_sole_skin_13"/>
<joint name="r_sole_skin_13_fixed_joint" type="fixed">
<origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.06851049999999997 0.012385000000000007 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_13"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_14"/>
<joint name="r_sole_skin_14_fixed_joint" type="fixed">
<origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_14"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_15"/>
<joint name="r_sole_skin_15_fixed_joint" type="fixed">
<origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_15"/>
<dynamics damping="0.1"/>
Expand Down Expand Up @@ -2152,63 +2152,63 @@
</joint>
<link name="l_sole_skin_0"/>
<joint name="l_sole_skin_0_fixed_joint" type="fixed">
<origin xyz="0.09320879999999998 0.032367999999999994 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.05013608999999999 -0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_1"/>
<joint name="l_sole_skin_1_fixed_joint" type="fixed">
<origin xyz="0.07885119999999998 0.019439899999999996 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.06851049999999999 -0.012385499999999994 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_1"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_2"/>
<joint name="l_sole_skin_2_fixed_joint" type="fixed">
<origin xyz="0.06047679999999998 0.02541059999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07252739999999999 -0.031282799999999986 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_2"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_3"/>
<joint name="l_sole_skin_3_fixed_joint" type="fixed">
<origin xyz="0.04611922999999998 0.012482499999999994 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09090179999999999 -0.03725379999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_4"/>
<joint name="l_sole_skin_4_fixed_joint" type="fixed">
<origin xyz="0.05013608999999999 -0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10525929999999997 -0.024325399999999983 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_4"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_8"/>
<joint name="l_sole_skin_8_fixed_joint" type="fixed">
<origin xyz="0.07252739999999999 -0.031282799999999986 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11559999999999998 0.007499500000000006 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_8"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_9"/>
<joint name="l_sole_skin_9_fixed_joint" type="fixed">
<origin xyz="0.09090179999999999 -0.03725379999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11158319999999997 0.02639729999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_9"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_10"/>
<joint name="l_sole_skin_10_fixed_joint" type="fixed">
<origin xyz="0.10525929999999997 -0.024325399999999983 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09320879999999998 0.032367999999999994 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_10"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_11"/>
<joint name="l_sole_skin_11_fixed_joint" type="fixed">
<origin xyz="0.10124249999999999 -0.005428100000000005 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07885119999999998 0.019439899999999996 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_11"/>
<dynamics damping="0.1"/>
Expand All @@ -2222,21 +2222,21 @@
</joint>
<link name="l_sole_skin_13"/>
<joint name="l_sole_skin_13_fixed_joint" type="fixed">
<origin xyz="0.06851049999999999 -0.012385499999999994 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10124249999999999 -0.005428100000000005 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_13"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_14"/>
<joint name="l_sole_skin_14_fixed_joint" type="fixed">
<origin xyz="0.11559999999999998 0.007499500000000006 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.06047679999999998 0.02541059999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_14"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_15"/>
<joint name="l_sole_skin_15_fixed_joint" type="fixed">
<origin xyz="0.11158319999999997 0.02639729999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.04611922999999998 0.012482499999999994 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_15"/>
<dynamics damping="0.1"/>
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48 changes: 24 additions & 24 deletions iCub/robots/iCubErzelli02/model.urdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -602,63 +602,63 @@
</joint>
<link name="r_sole_skin_0"/>
<joint name="r_sole_skin_0_fixed_joint" type="fixed">
<origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11559999999999998 -0.007499999999999993 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_1"/>
<joint name="r_sole_skin_1_fixed_joint" type="fixed">
<origin xyz="0.07885119999999998 -0.019440400000000004 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_1"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_2"/>
<joint name="r_sole_skin_2_fixed_joint" type="fixed">
<origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10525929999999997 0.024325399999999997 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_2"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_3"/>
<joint name="r_sole_skin_3_fixed_joint" type="fixed">
<origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09090169999999997 0.03725289999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_4"/>
<joint name="r_sole_skin_4_fixed_joint" type="fixed">
<origin xyz="0.11559999999999998 -0.007499999999999993 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07252729999999998 0.03128289999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_4"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_8"/>
<joint name="r_sole_skin_8_fixed_joint" type="fixed">
<origin xyz="0.10525929999999997 0.024325399999999997 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_8"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_9"/>
<joint name="r_sole_skin_9_fixed_joint" type="fixed">
<origin xyz="0.09090169999999997 0.03725289999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_9"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_10"/>
<joint name="r_sole_skin_10_fixed_joint" type="fixed">
<origin xyz="0.07252729999999998 0.03128289999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_10"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_11"/>
<joint name="r_sole_skin_11_fixed_joint" type="fixed">
<origin xyz="0.06851049999999997 0.012385000000000007 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07885119999999998 -0.019440400000000004 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_11"/>
<dynamics damping="0.1"/>
Expand All @@ -672,21 +672,21 @@
</joint>
<link name="r_sole_skin_13"/>
<joint name="r_sole_skin_13_fixed_joint" type="fixed">
<origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.06851049999999997 0.012385000000000007 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_13"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_14"/>
<joint name="r_sole_skin_14_fixed_joint" type="fixed">
<origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_14"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_15"/>
<joint name="r_sole_skin_15_fixed_joint" type="fixed">
<origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_15"/>
<dynamics damping="0.1"/>
Expand Down Expand Up @@ -2152,63 +2152,63 @@
</joint>
<link name="l_sole_skin_0"/>
<joint name="l_sole_skin_0_fixed_joint" type="fixed">
<origin xyz="0.09320879999999998 0.032367999999999994 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.05013608999999999 -0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_1"/>
<joint name="l_sole_skin_1_fixed_joint" type="fixed">
<origin xyz="0.07885119999999998 0.019439899999999996 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.06851049999999999 -0.012385499999999994 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_1"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_2"/>
<joint name="l_sole_skin_2_fixed_joint" type="fixed">
<origin xyz="0.06047679999999998 0.02541059999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07252739999999999 -0.031282799999999986 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_2"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_3"/>
<joint name="l_sole_skin_3_fixed_joint" type="fixed">
<origin xyz="0.04611922999999998 0.012482499999999994 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09090179999999999 -0.03725379999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_4"/>
<joint name="l_sole_skin_4_fixed_joint" type="fixed">
<origin xyz="0.05013608999999999 -0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10525929999999997 -0.024325399999999983 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_4"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_8"/>
<joint name="l_sole_skin_8_fixed_joint" type="fixed">
<origin xyz="0.07252739999999999 -0.031282799999999986 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11559999999999998 0.007499500000000006 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_8"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_9"/>
<joint name="l_sole_skin_9_fixed_joint" type="fixed">
<origin xyz="0.09090179999999999 -0.03725379999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.11158319999999997 0.02639729999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_9"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_10"/>
<joint name="l_sole_skin_10_fixed_joint" type="fixed">
<origin xyz="0.10525929999999997 -0.024325399999999983 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.09320879999999998 0.032367999999999994 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_10"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_11"/>
<joint name="l_sole_skin_11_fixed_joint" type="fixed">
<origin xyz="0.10124249999999999 -0.005428100000000005 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.07885119999999998 0.019439899999999996 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_11"/>
<dynamics damping="0.1"/>
Expand All @@ -2222,21 +2222,21 @@
</joint>
<link name="l_sole_skin_13"/>
<joint name="l_sole_skin_13_fixed_joint" type="fixed">
<origin xyz="0.06851049999999999 -0.012385499999999994 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.10124249999999999 -0.005428100000000005 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_13"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_14"/>
<joint name="l_sole_skin_14_fixed_joint" type="fixed">
<origin xyz="0.11559999999999998 0.007499500000000006 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.06047679999999998 0.02541059999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_14"/>
<dynamics damping="0.1"/>
</joint>
<link name="l_sole_skin_15"/>
<joint name="l_sole_skin_15_fixed_joint" type="fixed">
<origin xyz="0.11158319999999997 0.02639729999999999 0.007500000000000062" rpy="0 0 0"/>
<origin xyz="0.04611922999999998 0.012482499999999994 0.007500000000000062" rpy="0 0 0"/>
<parent link="l_foot"/>
<child link="l_sole_skin_15"/>
<dynamics damping="0.1"/>
Expand Down
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