From b2fa9a94f2fae2ad75d9e6e06d4f4204fd2a0f83 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 25 Jun 2014 15:58:32 -0400 Subject: [PATCH] minor updates to urdf spec --- doc/drakeURDF.xsd | 98 ++++++++++++++++++++++++----------------------- 1 file changed, 50 insertions(+), 48 deletions(-) diff --git a/doc/drakeURDF.xsd b/doc/drakeURDF.xsd index 84afbb99157a..7c87fe86b9f6 100644 --- a/doc/drakeURDF.xsd +++ b/doc/drakeURDF.xsd @@ -77,14 +77,14 @@ produced by a propeller on an airplane, or thrusters on the hands and feet of an Atlas robot to make Iron Man. - + Places added-mass coefficients on a point on the parent body. Added-mass forces act like a 'drag' that is proportional to the acceleration of the body, rather than the velocity. Important when the body is comparable in mass to the surrounding fluid, or if rapid motions are needed. These forces are represented by a 6x6 matrix 'Ma' similar to a mass matrix, where the force is F=-Ma*a (+coriolis terms). Each matrix element is refered as 'mij', where 'i' and 'j' are the rows and columns of the matrix. As is standard in the oceanographic literature, rows 123 are the linear accelerations, and 456 are the angular accelerations [note this is opposite of Featherstone's notation] - + Adds a buoyancy force to the parent body, placed at a defined center of buoyancy. @@ -145,24 +145,26 @@ of the spring/damper with an (optional) pose specified relative to the coordinat + + currently only supported for continuous and rotational joints. + - + String naming the link on one side of the spring/damper with an (optional) pose specified relative to the coordinate system on the link - - + - in Newtons per meter - + in radians - + - in Newton seconds per meter. positive values resist motion. + in Newtons per meter + @@ -255,7 +257,7 @@ input to Newtons of force. - + @@ -270,44 +272,44 @@ this added-mass is attached. - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + @@ -326,7 +328,7 @@ this buoyancy is attached. Volume of the body - + Density of the fluid