From 1e6cf0e6fe3e3cb2353c738590b9bc19f6ed8cbe Mon Sep 17 00:00:00 2001 From: Gabriele Date: Thu, 16 Feb 2017 17:30:00 +0100 Subject: [PATCH 1/6] added contact frames on icub legs --- app/robots/iCubGenova02/model.urdf | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/app/robots/iCubGenova02/model.urdf b/app/robots/iCubGenova02/model.urdf index 18e217b..4eddf94 100644 --- a/app/robots/iCubGenova02/model.urdf +++ b/app/robots/iCubGenova02/model.urdf @@ -230,6 +230,13 @@ + + + + + + + @@ -602,6 +609,13 @@ + + + + + + + From 960cffe185262a2a86a8cbc2c7749f672078ab69 Mon Sep 17 00:00:00 2001 From: Gabriele Date: Tue, 28 Mar 2017 15:56:07 +0200 Subject: [PATCH 2/6] new model for walkman --- app/robots/bigman/bigman_torqueBalancing.urdf | 3393 ++++++++--------- 1 file changed, 1645 insertions(+), 1748 deletions(-) diff --git a/app/robots/bigman/bigman_torqueBalancing.urdf b/app/robots/bigman/bigman_torqueBalancing.urdf index e3a5139..a3c9f8c 100644 --- a/app/robots/bigman/bigman_torqueBalancing.urdf +++ b/app/robots/bigman/bigman_torqueBalancing.urdf @@ -1,1748 +1,1645 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- 1 - 100 - - - - - child - child_to_parent - - 1 - 100 - - - - - child - child_to_parent - - 1 - 100 - - - - - child - child_to_parent - - 1 - 100 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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+ - + @@ -1109,7 +1109,7 @@ - + From 245e1536a206a03e0b3144fd778e2f859d8c874c Mon Sep 17 00:00:00 2001 From: Gabriele Nava Date: Wed, 29 Mar 2017 14:29:51 +0200 Subject: [PATCH 4/6] Update model.urdf --- app/robots/icubGazeboSim/model.urdf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/app/robots/icubGazeboSim/model.urdf b/app/robots/icubGazeboSim/model.urdf index da30b39..824981e 100644 --- a/app/robots/icubGazeboSim/model.urdf +++ b/app/robots/icubGazeboSim/model.urdf @@ -1109,7 +1109,7 @@ - + From ac9a61c2926689c898c777b46db8b682af72cacc Mon Sep 17 00:00:00 2001 From: Gabriele Nava Date: Fri, 31 Mar 2017 12:13:10 +0200 Subject: [PATCH 5/6] Update model.urdf --- app/robots/iCubGenova02/model.urdf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/app/robots/iCubGenova02/model.urdf b/app/robots/iCubGenova02/model.urdf index 4eddf94..cc76f3e 100644 --- a/app/robots/iCubGenova02/model.urdf +++ b/app/robots/iCubGenova02/model.urdf @@ -232,7 +232,7 @@ - + @@ -611,7 +611,7 @@ - + From b30e7bfe052b2f189c8c067d5e04c4d1d5892796 Mon Sep 17 00:00:00 2001 From: Gabriele Date: Mon, 22 May 2017 09:19:04 +0200 Subject: [PATCH 6/6] adding contacts on the legs in iCubGenova04 model --- app/robots/iCubGenova04/model.urdf | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/app/robots/iCubGenova04/model.urdf b/app/robots/iCubGenova04/model.urdf index 18e217b..cc76f3e 100644 --- a/app/robots/iCubGenova04/model.urdf +++ b/app/robots/iCubGenova04/model.urdf @@ -230,6 +230,13 @@ + + + + + + + @@ -602,6 +609,13 @@ + + + + + + +