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3f03b41091
bullet3/data/quadruped/minitaur_rainbow_dash_v1.urdf
Erwin Coumans ecba966890 add minitaur rainbow dash (carbon fiber) simulating flexibility in 
outside brackets using prismatic joints
2017-12-19 14:44:39 -08:00

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<?xml version="1.0"?>
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".3 .13 .087"/>
</geometry>
<material name="black">
<color rgba=".3 .3 .3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".3 .13 .087"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz=".05 0 0"/>
<mass value="3.353"/>
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="0.322"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="0.322"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_rightR_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightR_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_rightR_bracket_link"/>
<origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_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>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_bracket_link"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".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>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</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"/>
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_leftL_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftL_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_leftL_bracket_link"/>
<origin rpy="0 0 0" xyz=".2375 0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".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>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_bracket_link"/>
<child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".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>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</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"/>
<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_rightR_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightR_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_rightR_bracket_link"/>
<origin rpy="0 0 0" xyz="-.2375 -0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white1">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_bracket_link"/>
<child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".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>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</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"/>
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_leftL_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftL_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_leftL_bracket_link"/>
<origin rpy="0 0 0" xyz="-.2375 0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".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>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_bracket_link"/>
<child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".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>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</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"/>
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_rightR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightR_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_rightR_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_rightL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightL_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_rightL_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_leftR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftR_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_leftR_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_leftL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftL_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_leftL_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_rightR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_rightR_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_rightR_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_rightL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_rightL_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_rightL_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_leftR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_leftR_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_leftR_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_leftL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_leftL_joint" 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 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_leftL_joint" type="continuous">
<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 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
</robot>
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