This package hosts SDF model files for the digit-v3 robot, along with its associated visual meshes and collision models.
The model files are split between drake specific SDF and regular SDF versions. The regular SDF files loads a digit model without any closed loop links for the legs. The drake-oriented version of the model represents closed loops using the drake LinearBushingRollPitchYaw model element. This solution is a penalty method that approximates the closed loop kinematic relationship by connecting links with a spring, since Drake does not yet have full support for topological loops.
The passive (no actuation commanded) closed loop model has been tested to load successfully into drake with a sim step size of 0.0002(s).
The visual meshes used in this model was adapted from the digit-v3 URDF model repo.
Collision meshes for the digit-v3 upper body is generated from running convex decomposition of the visual 3D meshes for more accurate collisions.
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