mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-09 00:50:17 +00:00
713 lines
20 KiB
XML
713 lines
20 KiB
XML
<?xml version="0.0" ?>
|
|
<robot name="quadruped">
|
|
<link name="base_chassis_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".226 0.16 .07"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba="0 0 0 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".226 0.16 .07"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1."/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
|
|
<link name="motor_front_rightR_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_front_rightR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="0.21 -0.125 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="motor_front_rightL_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_front_rightL_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="0.21 -0.06 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="motor_front_leftR_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_front_leftR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="0.21 0.125 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="motor_front_leftL_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_front_leftL_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="0.21 0.06 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="motor_back_rightR_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_back_rightR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="-0.21 -0.125 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="motor_back_rightL_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_back_rightL_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="-0.21 -0.06 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="motor_back_leftR_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_back_leftR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="-0.21 0.125 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="motor_back_leftL_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.026" radius="0.0434"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.25"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="motor_back_leftL_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="-0.21 0.06 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="upper_leg_back_leftL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_leftL_link"/>
|
|
<child link="upper_leg_back_leftL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="upper_leg_back_leftR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_leftR_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_leftR_link"/>
|
|
<child link="upper_leg_back_leftR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_leftR_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_leftR_link" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftR_link"/>
|
|
<child link="lower_leg_back_leftR_link"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_leftL_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_leftL_link" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftL_link"/>
|
|
<child link="lower_leg_back_leftL_link"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_leftL_link"/>
|
|
<child link="upper_leg_front_leftL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_leftR_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_leftR_link"/>
|
|
<child link="upper_leg_front_leftR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_front_leftR_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_leftR_link" type="revolute">
|
|
<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 0.0 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_front_leftL_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_leftL_link" type="revolute">
|
|
<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 0.0 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_rightL_link"/>
|
|
<child link="upper_leg_back_rightL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_rightR_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_rightR_link"/>
|
|
<child link="upper_leg_back_rightR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_rightR_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_rightR_link" type="revolute">
|
|
<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 0.0 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_rightL_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_rightL_link" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_rightL_link"/>
|
|
<child link="lower_leg_back_rightL_link"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_rightL_link"/>
|
|
<child link="upper_leg_front_rightL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
|
<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=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_rightR_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_rightR_link"/>
|
|
<child link="upper_leg_front_rightR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_front_rightR_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_rightR_link" type="revolute">
|
|
<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 0.0 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_front_rightL_link">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</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 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_rightL_link" type="revolute">
|
|
<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 0.0 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
|
|
</robot>
|
|
|