683 lines
21 KiB
XML
683 lines
21 KiB
XML
<?xml version="1.0" ?>
|
|
<!-- =================================================================================== -->
|
|
<!-- | This document was autogenerated by xacro from go2_description.urdf | -->
|
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
|
<!-- =================================================================================== -->
|
|
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
|
|
Stephen Brawner (brawner@gmail.com)
|
|
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
|
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
|
<robot name="go2">
|
|
<link name="base_link">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.021112 0 -0.005366"/>
|
|
<mass value="6.921"/>
|
|
<inertia ixx="0.02448" ixy="0.00012166" ixz="0.0014849" iyy="0.098077" iyz="-3.12E-05" izz="0.107"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/base.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.3762 0.0935 0.154"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name="Head_upper">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.001"/>
|
|
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
|
|
</inertial>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.09" radius="0.05"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint dont_collapse="true" name="Head_upper_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.285 0 0.01"/>
|
|
<parent link="base_link"/>
|
|
<child link="Head_upper"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="Head_lower">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.001"/>
|
|
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
|
|
</inertial>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.047"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint dont_collapse="true" name="Head_lower_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.008 0 -0.07"/>
|
|
<parent link="Head_upper"/>
|
|
<child link="Head_lower"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="FL_hip">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.0054 0.00194 -0.000105"/>
|
|
<mass value="0.678"/>
|
|
<inertia ixx="0.00048" ixy="-3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/hip.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<!-- <collision>
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
|
|
<geometry>
|
|
<cylinder length="0.04" radius="0.046"/>
|
|
</geometry>
|
|
</collision> -->
|
|
</link>
|
|
<joint name="FL_hip_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0.1934 0.0465 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="FL_hip"/>
|
|
<axis xyz="1 0 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
|
</joint>
|
|
<link name="FL_thigh">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
|
<mass value="1.152"/>
|
|
<inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/thigh.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
|
<geometry>
|
|
<box size="0.213 0.0245 0.034"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FL_thigh_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
|
<parent link="FL_hip"/>
|
|
<child link="FL_thigh"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
|
</joint>
|
|
<link name="FL_calf">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
|
<mass value="0.154"/>
|
|
<inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/calf.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 -0.21 0" xyz="0.008 0 -0.06"/>
|
|
<geometry>
|
|
<cylinder length="0.12" radius="0.012"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FL_calf_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="FL_thigh"/>
|
|
<child link="FL_calf"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
|
</joint>
|
|
<link name="FL_calflower">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.065" radius="0.011"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FL_calflower_joint" type="fixed">
|
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
|
<parent link="FL_calf"/>
|
|
<child link="FL_calflower"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="FL_calflower1">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.03" radius="0.0155"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FL_calflower1_joint" type="fixed">
|
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
|
<parent link="FL_calflower"/>
|
|
<child link="FL_calflower1"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="FL_foot">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.04"/>
|
|
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/foot.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.002 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.022"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint dont_collapse="true" name="FL_foot_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="FL_calf"/>
|
|
<child link="FL_foot"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="FR_hip">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.0054 -0.00194 -0.000105"/>
|
|
<mass value="0.678"/>
|
|
<inertia ixx="0.00048" ixy="3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="3.1415 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/hip.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<!-- <collision>
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
|
|
<geometry>
|
|
<cylinder length="0.04" radius="0.046"/>
|
|
</geometry>
|
|
</collision> -->
|
|
</link>
|
|
<joint name="FR_hip_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0.1934 -0.0465 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="FR_hip"/>
|
|
<axis xyz="1 0 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
|
</joint>
|
|
<link name="FR_thigh">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
|
|
<mass value="1.152"/>
|
|
<inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/thigh_mirror.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
|
<geometry>
|
|
<box size="0.213 0.0245 0.034"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FR_thigh_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
|
|
<parent link="FR_hip"/>
|
|
<child link="FR_thigh"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
|
</joint>
|
|
<link name="FR_calf">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
|
|
<mass value="0.154"/>
|
|
<inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/calf_mirror.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06"/>
|
|
<geometry>
|
|
<cylinder length="0.12" radius="0.013"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FR_calf_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="FR_thigh"/>
|
|
<child link="FR_calf"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
|
</joint>
|
|
<link name="FR_calflower">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.065" radius="0.011"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FR_calflower_joint" type="fixed">
|
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
|
<parent link="FR_calf"/>
|
|
<child link="FR_calflower"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="FR_calflower1">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.03" radius="0.0155"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="FR_calflower1_joint" type="fixed">
|
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
|
<parent link="FR_calflower"/>
|
|
<child link="FR_calflower1"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="FR_foot">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.04"/>
|
|
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/foot.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.002 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.022"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint dont_collapse="true" name="FR_foot_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="FR_calf"/>
|
|
<child link="FR_foot"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="RL_hip">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.0054 0.00194 -0.000105"/>
|
|
<mass value="0.678"/>
|
|
<inertia ixx="0.00048" ixy="3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 3.1415 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/hip.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<!-- <collision>
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
|
|
<geometry>
|
|
<cylinder length="0.04" radius="0.046"/>
|
|
</geometry>
|
|
</collision> -->
|
|
</link>
|
|
<joint name="RL_hip_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="-0.1934 0.0465 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="RL_hip"/>
|
|
<axis xyz="1 0 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
|
</joint>
|
|
<link name="RL_thigh">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
|
<mass value="1.152"/>
|
|
<inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/thigh.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
|
<geometry>
|
|
<box size="0.213 0.0245 0.034"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RL_thigh_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
|
<parent link="RL_hip"/>
|
|
<child link="RL_thigh"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
|
|
</joint>
|
|
<link name="RL_calf">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
|
<mass value="0.154"/>
|
|
<inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/calf.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06"/>
|
|
<geometry>
|
|
<cylinder length="0.12" radius="0.013"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RL_calf_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="RL_thigh"/>
|
|
<child link="RL_calf"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
|
</joint>
|
|
<link name="RL_calflower">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.065" radius="0.011"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RL_calflower_joint" type="fixed">
|
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
|
<parent link="RL_calf"/>
|
|
<child link="RL_calflower"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="RL_calflower1">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.03" radius="0.0155"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RL_calflower1_joint" type="fixed">
|
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
|
<parent link="RL_calflower"/>
|
|
<child link="RL_calflower1"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="RL_foot">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.04"/>
|
|
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/foot.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.002 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.022"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint dont_collapse="true" name="RL_foot_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="RL_calf"/>
|
|
<child link="RL_foot"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="RR_hip">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.0054 -0.00194 -0.000105"/>
|
|
<mass value="0.678"/>
|
|
<inertia ixx="0.00048" ixy="-3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="3.1415 3.1415 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/hip.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<!-- <collision>
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
|
|
<geometry>
|
|
<cylinder length="0.04" radius="0.046"/>
|
|
</geometry>
|
|
</collision> -->
|
|
</link>
|
|
<joint name="RR_hip_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="-0.1934 -0.0465 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="RR_hip"/>
|
|
<axis xyz="1 0 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
|
</joint>
|
|
<link name="RR_thigh">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
|
|
<mass value="1.152"/>
|
|
<inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/thigh_mirror.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
|
<geometry>
|
|
<box size="0.213 0.0245 0.034"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RR_thigh_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
|
|
<parent link="RR_hip"/>
|
|
<child link="RR_thigh"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
|
|
</joint>
|
|
<link name="RR_calf">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
|
|
<mass value="0.154"/>
|
|
<inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/calf_mirror.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06"/>
|
|
<geometry>
|
|
<cylinder length="0.12" radius="0.013"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RR_calf_joint" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="RR_thigh"/>
|
|
<child link="RR_calf"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="0" friction="0"/>
|
|
<limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
|
|
</joint>
|
|
<link name="RR_calflower">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.065" radius="0.011"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RR_calflower_joint" type="fixed">
|
|
<origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
|
|
<parent link="RR_calf"/>
|
|
<child link="RR_calflower"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="RR_calflower1">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.03" radius="0.0155"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="RR_calflower1_joint" type="fixed">
|
|
<origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
|
|
<parent link="RR_calflower"/>
|
|
<child link="RR_calflower1"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="RR_foot">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.04"/>
|
|
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="../dae/foot.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.002 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.022"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint dont_collapse="true" name="RR_foot_joint" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
<parent link="RR_calf"/>
|
|
<child link="RR_foot"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="imu_link">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0"/>
|
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="imu_joint" type="fixed">
|
|
<origin rpy="0.001697 -0.020900 -0.000007" xyz="-0.027353 -0.005499 0.039913"/>
|
|
<parent link="base_link"/>
|
|
<child link="imu_link"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
<link name="radar">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0"/>
|
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="radar_joint" type="fixed">
|
|
<origin rpy="0 2.8782 0" xyz="0.28945 0 -0.046825"/>
|
|
<parent link="base_link"/>
|
|
<child link="radar"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
</robot>
|
|
|