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bullet3/data/quadruped/minitaur_derpy.urdf
Garrett Johnson 711b37bea9 Change URDF xml version from "0.0" to "1.0"
2018-08-16 12:44:43 -07:00

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<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2017, Erwin Coumans -->
<!--Google Inc. -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions or derived work must retain this copyright notice, -->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".295 0.142 .078"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".295 0.142 .078"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0 0" xyz="0.05 0 0"/>
<mass value="1.81246"/>
<inertia ixx="0.00474833" ixy="0.0" ixz="0.0" iyy="0.01386899" iyz="0.0" izz="0.01577876"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".156 0.091 .050"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry>
<box size=".356 0.009 .050"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
<geometry>
<box size=".356 0.009 .050"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.1165 0"/>
<geometry>
<box size=".156 0.091 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry>
<box size=".356 0.009 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
<geometry>
<box size=".356 0.009 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<inertial>
<mass value="1.3668"/>
<inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
</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="-0.0872665 0 0" xyz="0.0 -0.1165 -0.011"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".156 0.091 .050"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry>
<box size=".356 0.009 .050"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
<geometry>
<box size=".356 0.009 .050"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.1165 0"/>
<geometry>
<box size=".156 0.091 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry>
<box size=".356 0.009 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/>
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<box size=".356 0.009 .050"/>
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</collision>
<collision>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
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</collision>
<collision>
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</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
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</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
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</collision>
<inertial>
<mass value="1.3668"/>
<inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
</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="0.0872665 0 0" xyz="0.0 0.1165 -0.011"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</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="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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"/>
<origin rpy="1.57075 0 0" xyz="0.20268 -0.03275 0"/>
<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>
<cylinder length="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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="0.20268 0.03275 0"/>
<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>
<cylinder length="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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"/>
<origin rpy="1.57075 0 3.141592" xyz="0.20268 0.03275 0"/>
<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>
<cylinder length="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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="0.20268 -0.03275 0"/>
<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>
<cylinder length="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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"/>
<origin rpy="1.57075 0 0" xyz="-0.20268 -0.03275 0"/>
<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>
<cylinder length="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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="-0.20268 0.03275 0"/>
<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>
<cylinder length="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/>
<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>
<cylinder length="0.0165" radius="0.0425"/>
</geometry>
</collision>
<inertial>
<mass value="0.241"/>
<inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</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="-0.20268 -0.03275 0"/>
<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>
<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="0.0 0.045 -0.01725"/>
<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>
<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="0.0 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>
<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="0.0 0.045 -0.01725"/>
<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>
<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="0.0 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>
<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="0.0 0.045 -0.01725"/>
<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>
<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="0.0 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>
<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="0.0 0.045 -0.01725"/>
<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>
<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="0.0 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>
<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="0.0 0.045 -0.01725"/>
<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>
<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="0.0 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>
<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="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_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>
<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="0.0 0.01 .056"/>
<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=".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>
<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="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_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>
<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="0.0 0.01 .056"/>
<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=".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>
<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="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_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>
<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="0.0 0.01 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
</robot>
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