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rdeits/hopper.urdf

Created July 3, 2018 17:32
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hopper.urdf
<?xml version="1.0"?>
<robot name="hopper">
<link name="floor">
<visual>
<geometry>
<box size="2 2 0.05"/>
</geometry>
<origin xyz="0 0 -0.025"/>
<material name="green">
<color rgba="0 0.8 .8 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="2 2 0.05"/>
</geometry>
<origin xyz="0 0 -0.025"/>
</collision>
<collision>
<geometry>
<plane normal="0 0 1"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<mass value="0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="core">
<visual>
<geometry>
<box size="0.2 0.2 0.2"/>
</geometry>
<origin xyz="0 0 0"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<inertial>
<mass value="1.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="base_z" type="prismatic">
<axis xyz="0 0 1"/>
<origin xyz="0 0 0"/>
<parent link="floor"/>
<child link="core"/>
<limit effort="0" lower="-10" upper="10" velocity="1000"/>
</joint>
<link name="foot">
<visual>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<sphere radius="0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="foot_extension" type="prismatic">
<axis xyz="0 0 -1"/>
<origin xyz="0 0 0"/>
<parent link="core"/>
<child link="foot"/>
<limit effort="40" lower="0.25" upper="1.0" velocity="1000"/>
</joint>
</robot>
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