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Added viscous friction reminiscent of that on the real robot
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@DanielePucci
DanielePucci committed Mar 5, 2014
1 parent 757d8d0 commit 8bfdc63
Showing 1 changed file with 94 additions and 34 deletions.
128 changes: 94 additions & 34 deletions icub/icub.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@
<velocity>100</velocity>
</limit>
<dynamics>
<damping>0.48</damping>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
Expand Down Expand Up @@ -138,7 +138,9 @@
<effort>84</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_hip_3'>
Expand Down Expand Up @@ -171,7 +173,8 @@
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics/>
<dynamics>
</dynamics>
</axis>
<!-- check pose of the wrench returned by the simulated sensor -->
<sensor name="left_leg_ft" type="force_torque">
Expand Down Expand Up @@ -232,7 +235,9 @@
<effort>40</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_shank'>
Expand Down Expand Up @@ -284,7 +289,7 @@
<velocity>100</velocity>
</limit>
<dynamics>
<damping>0.29</damping>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
Expand Down Expand Up @@ -336,7 +341,9 @@
<effort>24</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_foot'>
Expand Down Expand Up @@ -421,7 +428,9 @@
<effort>11</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_hip_1'>
Expand Down Expand Up @@ -525,7 +534,9 @@
<effort>84</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_hip_3'>
Expand Down Expand Up @@ -558,7 +569,8 @@
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics/>
<dynamics>
</dynamics>
</axis>
<!-- check pose of the wrench returned by the simulated sensor -->
<sensor name="right_leg_ft" type="force_torque">
Expand Down Expand Up @@ -619,7 +631,9 @@
<effort>40</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_shank'>
Expand Down Expand Up @@ -723,7 +737,9 @@
<effort>24</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_foot'>
Expand Down Expand Up @@ -808,7 +824,9 @@
<effort>11</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='lap_belt_1'>
Expand Down Expand Up @@ -859,7 +877,9 @@
<effort>36</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='lap_belt_2'>
Expand Down Expand Up @@ -892,7 +912,9 @@
<effort>80</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='chest'>
Expand Down Expand Up @@ -943,7 +965,9 @@
<effort>80</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_shoulder_1'>
Expand Down Expand Up @@ -994,7 +1018,9 @@
<effort>84</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_shoulder_2'>
Expand Down Expand Up @@ -1045,7 +1071,9 @@
<effort>84</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_upper_arm'>
Expand Down Expand Up @@ -1078,7 +1106,9 @@
<effort>34</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_arm'>
Expand Down Expand Up @@ -1129,7 +1159,8 @@
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics/>
<dynamics>
</dynamics>
</axis>
<!-- check pose of the wrench returned by the simulated sensor -->
<sensor name="left_arm_ft" type="force_torque">
Expand Down Expand Up @@ -1172,7 +1203,9 @@
<effort>20</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_forearm'>
Expand Down Expand Up @@ -1223,7 +1256,9 @@
<effort>0.45</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_wrist_1'>
Expand Down Expand Up @@ -1256,7 +1291,9 @@
<effort>0.65</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='l_hand'>
Expand Down Expand Up @@ -1307,7 +1344,9 @@
<effort>0.65</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='neck_1'>
Expand Down Expand Up @@ -1358,7 +1397,9 @@
<effort>20</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='neck_2'>
Expand Down Expand Up @@ -1409,7 +1450,9 @@
<effort>20</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='head'>
Expand Down Expand Up @@ -1473,7 +1516,9 @@
<effort>20</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_shoulder_1'>
Expand Down Expand Up @@ -1524,7 +1569,9 @@
<effort>84</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_shoulder_2'>
Expand Down Expand Up @@ -1575,7 +1622,9 @@
<effort>84</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_upper_arm'>
Expand Down Expand Up @@ -1608,7 +1657,9 @@
<effort>34</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_arm'>
Expand Down Expand Up @@ -1659,7 +1710,8 @@
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics/>
<dynamics>
</dynamics>
</axis>
<!-- check pose of the wrench returned by the simulated sensor -->
<sensor name="right_arm_ft" type="force_torque">
Expand Down Expand Up @@ -1702,7 +1754,9 @@
<effort>20</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_forearm'>
Expand Down Expand Up @@ -1753,7 +1807,9 @@
<effort>0.45</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_wrist_1'>
Expand Down Expand Up @@ -1786,7 +1842,9 @@
<effort>0.65</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>
<link name='r_hand'>
Expand Down Expand Up @@ -1837,7 +1895,9 @@
<effort>0.65</effort>
<velocity>100</velocity>
</limit>
<dynamics/>
<dynamics>
<damping>0.5</damping>
</dynamics>
</axis>
</joint>

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