2018-08-16 19:44:43 +00:00
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<?xml version="1.0" ?>
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2017-10-02 22:58:26 +00:00
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<!-- ======================================================================= -->
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<!--LICENSE: -->
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<!--Copyright (c) 2017, Erwin Coumans -->
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<!--Google Inc. -->
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<!--All rights reserved. -->
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<!-- -->
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<!--Redistribution and use in source and binary forms, with or without -->
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<!--modification, are permitted provided that the following conditions are -->
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<!--met: -->
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<!-- -->
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<!--1. Redistributions or derived work must retain this copyright notice, -->
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<!-- this list of conditions and the following disclaimer. -->
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<!-- -->
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<!--2. Redistributions in binary form must reproduce the above copyright -->
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<!-- notice, this list of conditions and the following disclaimer in the -->
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<!-- documentation and/or other materials provided with the distribution. -->
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<!-- -->
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<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
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<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
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<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
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<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
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<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
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<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
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<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
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<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
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<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
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<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
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<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
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<robot name="quadruped">
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<link name="base_chassis_link">
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<visual>
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<geometry>
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<box size=".295 0.142 .078"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".295 0.142 .078"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0.05 0 0"/>
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<mass value="1.81246"/>
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<inertia ixx="0.00474833" ixy="0.0" ixz="0.0" iyy="0.01386899" iyz="0.0" izz="0.01577876"/>
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</inertial>
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</link>
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<link name="chassis_right">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".156 0.091 .050"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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2017-10-27 21:56:45 +00:00
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<visual>
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<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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2017-10-02 22:58:26 +00:00
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<collision>
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<origin rpy="0 0 0" xyz="0 0.1165 0"/>
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<geometry>
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<box size=".156 0.091 .050"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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</collision>
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2017-10-27 21:56:45 +00:00
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<collision>
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<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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2017-10-02 22:58:26 +00:00
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<inertial>
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2017-10-27 21:56:45 +00:00
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<mass value="1.3668"/>
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<inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
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2017-10-02 22:58:26 +00:00
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</inertial>
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</link>
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<joint name="chassis_right_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_right"/>
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<origin rpy="-0.0872665 0 0" xyz="0.0 -0.1165 -0.011"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="chassis_left">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".156 0.091 .050"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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2017-10-27 21:56:45 +00:00
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<visual>
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<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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2017-10-02 22:58:26 +00:00
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<collision>
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<origin rpy="0 0 0" xyz="0 0.1165 0"/>
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<geometry>
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<box size=".156 0.091 .050"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
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<geometry>
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2017-10-27 21:56:45 +00:00
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<box size=".356 0.009 .050"/>
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2017-10-02 22:58:26 +00:00
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</geometry>
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</collision>
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2017-10-27 21:56:45 +00:00
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<collision>
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<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
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<geometry>
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<box size=".068 0.0373 .060"/>
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</geometry>
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</collision>
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2017-10-02 22:58:26 +00:00
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<inertial>
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2017-10-27 21:56:45 +00:00
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<mass value="1.3668"/>
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<inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
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2017-10-02 22:58:26 +00:00
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</inertial>
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</link>
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<joint name="chassis_left_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_left"/>
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<origin rpy="0.0872665 0 0" xyz="0.0 0.1165 -0.011"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_front_rightR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_front_rightR_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_right"/>
|
|
|
|
|
<child link="motor_front_rightR_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 0" xyz="0.20268 -0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="motor_front_rightL_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white">
|
|
|
|
|
<color rgba="1 1 1 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_front_rightL_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_right"/>
|
|
|
|
|
<child link="motor_front_rightL_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 3.141592" xyz="0.20268 0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="motor_front_leftL_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white">
|
|
|
|
|
<color rgba="1 1 1 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_front_leftL_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_left"/>
|
|
|
|
|
<child link="motor_front_leftL_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 3.141592" xyz="0.20268 0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="motor_front_leftR_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white">
|
|
|
|
|
<color rgba="1 1 1 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_front_leftR_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_left"/>
|
|
|
|
|
<child link="motor_front_leftR_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 0" xyz="0.20268 -0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="motor_back_rightR_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white">
|
|
|
|
|
<color rgba="1 1 1 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_back_rightR_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_right"/>
|
|
|
|
|
<child link="motor_back_rightR_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 0" xyz="-0.20268 -0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="motor_back_rightL_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white">
|
|
|
|
|
<color rgba="1 1 1 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_back_rightL_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_right"/>
|
|
|
|
|
<child link="motor_back_rightL_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="motor_back_leftL_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white">
|
|
|
|
|
<color rgba="1 1 1 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_back_leftL_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_left"/>
|
|
|
|
|
<child link="motor_back_leftL_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="motor_back_leftR_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="tmotor3.obj" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white">
|
|
|
|
|
<color rgba="1 1 1 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
2017-10-27 21:56:45 +00:00
|
|
|
<cylinder length="0.0165" radius="0.0425"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2017-10-27 21:56:45 +00:00
|
|
|
<mass value="0.241"/>
|
|
|
|
|
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="motor_back_leftR_joint" type="continuous">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="chassis_left"/>
|
|
|
|
|
<child link="motor_back_leftR_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="1.57075 0 0" xyz="-0.20268 -0.03275 0"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<link name="upper_leg_front_rightR_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.026"/>
|
|
|
|
|
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
|
|
|
|
izz="0.0000036030"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="hip_front_rightR_joint" type="fixed">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="motor_front_rightR_link"/>
|
|
|
|
|
<child link="upper_leg_front_rightR_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_front_rightR_link">
|
|
|
|
|
<contact>
|
|
|
|
|
<friction_anchor/>
|
|
|
|
|
<stiffness value="30000.0"/>
|
|
|
|
|
<damping value="1000.0"/>
|
|
|
|
|
<spinning_friction value=".3"/>
|
|
|
|
|
<lateral_friction value="1"/>
|
|
|
|
|
</contact>
|
|
|
|
|
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.240"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.240"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<mass value="0.066"/>
|
|
|
|
|
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="knee_front_rightR_joint" type="continuous">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<parent link="upper_leg_front_rightR_link"/>
|
|
|
|
|
<child link="lower_leg_front_rightR_link"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
|
|
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="upper_leg_front_rightL_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.026"/>
|
|
|
|
|
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
|
|
|
|
izz="0.0000036030"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="hip_front_rightL_joint" type="fixed">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="motor_front_rightL_link"/>
|
|
|
|
|
<child link="upper_leg_front_rightL_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_front_rightL_link">
|
|
|
|
|
<contact>
|
|
|
|
|
<friction_anchor/>
|
|
|
|
|
<stiffness value="30000.0"/>
|
|
|
|
|
<damping value="1000.0"/>
|
|
|
|
|
<spinning_friction value=".3"/>
|
|
|
|
|
<lateral_friction value="1"/>
|
|
|
|
|
</contact>
|
|
|
|
|
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.216"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.216"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
|
|
|
<mass value="0.055"/>
|
|
|
|
|
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="knee_front_rightL_joint" type="continuous">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<parent link="upper_leg_front_rightL_link"/>
|
|
|
|
|
<child link="lower_leg_front_rightL_link"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
|
|
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<link name="upper_leg_front_leftR_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.026"/>
|
|
|
|
|
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
|
|
|
|
izz="0.0000036030"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="hip_front_leftR_joint" type="fixed">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="motor_front_leftR_link"/>
|
|
|
|
|
<child link="upper_leg_front_leftR_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_front_leftR_link">
|
|
|
|
|
<contact>
|
|
|
|
|
<friction_anchor/>
|
|
|
|
|
<stiffness value="30000.0"/>
|
|
|
|
|
<damping value="1000.0"/>
|
|
|
|
|
<spinning_friction value=".3"/>
|
|
|
|
|
<lateral_friction value="1"/>
|
|
|
|
|
</contact>
|
|
|
|
|
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.216"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 .108"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.216"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
|
|
|
<mass value="0.055"/>
|
|
|
|
|
<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="knee_front_leftR_joint" type="continuous">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<parent link="upper_leg_front_leftR_link"/>
|
|
|
|
|
<child link="lower_leg_front_leftR_link"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
|
|
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="upper_leg_front_leftL_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.026"/>
|
|
|
|
|
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
|
|
|
|
izz="0.0000036030"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="hip_front_leftL_joint" type="fixed">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="motor_front_leftL_link"/>
|
|
|
|
|
<child link="upper_leg_front_leftL_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_front_leftL_link">
|
|
|
|
|
<contact>
|
|
|
|
|
<friction_anchor/>
|
|
|
|
|
<stiffness value="30000.0"/>
|
|
|
|
|
<damping value="1000.0"/>
|
|
|
|
|
<spinning_friction value=".3"/>
|
|
|
|
|
<lateral_friction value="1"/>
|
|
|
|
|
</contact>
|
|
|
|
|
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.240"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.240"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<mass value="0.066"/>
|
|
|
|
|
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="knee_front_leftL_joint" type="continuous">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<parent link="upper_leg_front_leftL_link"/>
|
|
|
|
|
<child link="lower_leg_front_leftL_link"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
|
|
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<link name="upper_leg_back_rightR_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.026"/>
|
|
|
|
|
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
|
|
|
|
izz="0.0000036030"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="hip_back_rightR_joint" type="fixed">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="motor_back_rightR_link"/>
|
|
|
|
|
<child link="upper_leg_back_rightR_link"/>
|
2017-10-27 21:56:45 +00:00
|
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
|
2017-10-02 22:58:26 +00:00
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_back_rightR_link">
|
|
|
|
|
<contact>
|
|
|
|
|
<friction_anchor/>
|
|
|
|
|
<stiffness value="30000.0"/>
|
|
|
|
|
<damping value="1000.0"/>
|
|
|
|
|
<spinning_friction value=".3"/>
|
|
|
|
|
<lateral_friction value="1"/>
|
|
|
|
|
</contact>
|
|
|
|
|
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.240"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.017 0.0064 0.240"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
|
|
|
|
|
<mass value="0.066"/>
|
|
|
|
|
<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="knee_back_rightR_joint" type="continuous">
|
2017-10-02 22:58:26 +00:00
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<parent link="upper_leg_back_rightR_link"/>
|
|
|
|
|
<child link="lower_leg_back_rightR_link"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
|
|
|
|
|
<limit effort="100" velocity="100"/>
|
|
|
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="upper_leg_back_rightL_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="grey">
|
|
|
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".039 0.0064 .129"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.026"/>
|
|
|
|
|
<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
|
|
|
|
|
izz="0.0000036030"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
2017-10-06 20:14:23 +00:00
|
|
|
<joint name="hip_back_rightL_joint" type="fixed">
|
2017-10-02 22:58:26 +00:00
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<axis xyz="0 0 1"/>
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<parent link="motor_back_rightL_link"/>
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<child link="upper_leg_back_rightL_link"/>
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2017-10-27 21:56:45 +00:00
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<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
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2017-10-02 22:58:26 +00:00
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="lower_leg_back_rightL_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 .108"/>
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<geometry>
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<box size="0.017 0.0064 0.216"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0 0" xyz="0 0 .108"/>
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<geometry>
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<box size="0.017 0.0064 0.216"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.055"/>
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<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
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</inertial>
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</link>
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2017-10-06 20:14:23 +00:00
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<joint name="knee_back_rightL_joint" type="continuous">
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2017-10-02 22:58:26 +00:00
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_rightL_link"/>
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<child link="lower_leg_back_rightL_link"/>
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<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_leg_back_leftR_link">
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<visual>
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<geometry>
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<box size=".039 0.0064 .129"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".039 0.0064 .129"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.026"/>
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<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
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izz="0.0000036030"/>
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</inertial>
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</link>
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2017-10-06 20:14:23 +00:00
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<joint name="hip_back_leftR_joint" type="fixed">
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2017-10-02 22:58:26 +00:00
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<axis xyz="0 0 1"/>
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<parent link="motor_back_leftR_link"/>
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<child link="upper_leg_back_leftR_link"/>
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2017-10-27 21:56:45 +00:00
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<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
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2017-10-02 22:58:26 +00:00
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="lower_leg_back_leftR_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 .108"/>
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<geometry>
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<box size="0.017 0.0064 0.216"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0 0" xyz="0 0 .108"/>
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<geometry>
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<box size="0.017 0.0064 0.216"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<mass value="0.055"/>
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<inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
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</inertial>
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</link>
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2017-10-06 20:14:23 +00:00
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<joint name="knee_back_leftR_joint" type="continuous">
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2017-10-02 22:58:26 +00:00
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftR_link"/>
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<child link="lower_leg_back_leftR_link"/>
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<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_leg_back_leftL_link">
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<visual>
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<geometry>
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<box size=".039 0.0064 .129"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".039 0.0064 .129"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.026"/>
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<inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
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izz="0.0000036030"/>
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</inertial>
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</link>
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2017-10-06 20:14:23 +00:00
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<joint name="hip_back_leftL_joint" type="fixed">
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2017-10-02 22:58:26 +00:00
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<axis xyz="0 0 1"/>
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<parent link="motor_back_leftL_link"/>
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<child link="upper_leg_back_leftL_link"/>
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2017-10-27 21:56:45 +00:00
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<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
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2017-10-02 22:58:26 +00:00
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="lower_leg_back_leftL_link">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value=".3"/>
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<lateral_friction value="1"/>
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</contact>
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
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<geometry>
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<box size="0.017 0.0064 0.240"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
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<geometry>
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<box size="0.017 0.0064 0.240"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0 0" xyz="0 0 0.120"/>
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<mass value="0.066"/>
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<inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
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</inertial>
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</link>
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2017-10-06 20:14:23 +00:00
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<joint name="knee_back_leftL_joint" type="continuous">
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2017-10-02 22:58:26 +00:00
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftL_link"/>
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<child link="lower_leg_back_leftL_link"/>
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<origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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2017-10-27 21:56:45 +00:00
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</robot>
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