1595 lines
55 KiB
Plaintext
1595 lines
55 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="anymal">
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<!-- Base link -->
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<link name="base">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/base.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.58 0.14 0.18"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0.2175 0.07 0"/>
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<geometry>
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<cylinder length="0.145" radius="0.09"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="-0.2175 0.07 0"/>
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<geometry>
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<cylinder length="0.145" radius="0.09"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0.2175 -0.07 0"/>
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<geometry>
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<cylinder length="0.145" radius="0.09"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="-0.2175 -0.07 0"/>
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<geometry>
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<cylinder length="0.145" radius="0.09"/>
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</geometry>
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</collision>
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<!-- Shell self filtering -->
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<self_filter>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="1.05 0.5 0.5"/>
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</geometry>
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</self_filter>
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</link>
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<!-- Fixed joint to add dummy inertia link -->
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<joint name="base_to_base_inertia" type="fixed">
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<parent link="base"/>
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<child link="base_inertia"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
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<link name="base_inertia">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.018 -0.002 0.024"/>
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<mass value="6.222"/>
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<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
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</inertial>
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</link>
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<!-- Fixed joint base topshell -->
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<joint name="base_top_shell" type="fixed">
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<parent link="base"/>
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<child link="top_shell"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<!-- Top shell link -->
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<link name="top_shell">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
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<mass value="0.534"/>
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<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
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</inertial>
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</link>
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<!-- Fixed joint base topshell -->
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<joint name="base_bottom_shell" type="fixed">
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<parent link="base"/>
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<child link="bottom_shell"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<!-- Bottom shell link -->
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<link name="bottom_shell">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
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<mass value="1.15"/>
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<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
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</inertial>
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</link>
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<!-- Fixed joint base remote -->
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<joint name="base_remote" type="fixed">
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<parent link="base"/>
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<child link="remote"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<!-- Remote link -->
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<link name="remote">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/remote.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.171 0.002 0.096"/>
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<mass value="0.3262"/>
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<inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026"/>
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</inertial>
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</link>
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<!-- Fixed joint base handle -->
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<joint name="base_handle" type="fixed">
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<parent link="base"/>
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<child link="handle"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<!-- Handle link -->
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<link name="handle">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/handle.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
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<mass value="0.314"/>
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<inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779"/>
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</inertial>
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</link>
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<!-- Fixed joint base face -->
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<joint name="base_face_front" type="fixed">
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<parent link="base"/>
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<child link="face_front"/>
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<origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
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</joint>
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<!-- Shell link -->
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<link name="face_front">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/face.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.055 0 0"/>
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<geometry>
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<box size="0.11 0.14 0.18"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
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<geometry>
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<cylinder length="0.11" radius="0.09"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
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<geometry>
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<cylinder length="0.11" radius="0.09"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
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<mass value="0.73"/>
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<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
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</inertial>
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</link>
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<!-- Camera joint -->
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<!-- Is located between the two back screw holes at ground level. -->
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<joint name="face_front_to_depth_camera_front_camera" type="fixed">
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<parent link="face_front"/>
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<child link="depth_camera_front_camera"/>
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<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
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</joint>
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<!-- Camera link -->
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<link name="depth_camera_front_camera">
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<visual>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
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<mass value="0.16043"/>
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<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
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</inertial>
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</link>
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<!-- Camera parent joint -->
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<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
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<joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
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<parent link="depth_camera_front_camera"/>
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<child link="depth_camera_front_camera_parent"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
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</joint>
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<!-- Camera parent link -->
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<link name="depth_camera_front_camera_parent"/>
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<!-- Depth optical frame joint -->
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<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
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<parent link="depth_camera_front_camera_parent"/>
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<child link="depth_camera_front_depth_optical_frame"/>
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<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
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</joint>
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<!-- Depth optical frame link -->
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<link name="depth_camera_front_depth_optical_frame"/>
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<!-- Camera color frame joint -->
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<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
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<parent link="depth_camera_front_camera_parent"/>
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<child link="depth_camera_front_color_frame"/>
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<origin rpy="0 0 0" xyz="0 0.015 0"/>
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</joint>
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<!-- Camera color frame link -->
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<link name="depth_camera_front_color_frame"/>
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<!-- Camera color optical joint -->
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<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
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<parent link="depth_camera_front_color_frame"/>
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<child link="depth_camera_front_color_optical_frame"/>
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<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
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</joint>
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<!-- Camera color optical link -->
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<link name="depth_camera_front_color_optical_frame"/>
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<!-- Camera joint -->
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<!-- Is located in the center of the mounting points. -->
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<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
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<parent link="face_front"/>
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<child link="wide_angle_camera_front_camera"/>
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<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
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</joint>
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<!-- Camera link -->
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<link name="wide_angle_camera_front_camera">
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<visual>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="file://$(find anymal_c_description)/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
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<mass value="0.287"/>
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<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
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</inertial>
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</link>
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<!-- Camera parent joint -->
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<joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
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<parent link="wide_angle_camera_front_camera"/>
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<child link="wide_angle_camera_front_camera_parent"/>
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<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
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</joint>
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<!-- Camera parent link -->
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<link name="wide_angle_camera_front_camera_parent"/>
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<!-- Fixed joint base face -->
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<joint name="base_face_rear" type="fixed">
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<parent link="base"/>
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<child link="face_rear"/>
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<origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
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</joint>
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<!-- Shell link -->
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<link name="face_rear">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||
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<geometry>
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||
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<mesh filename="file://$(find anymal_c_description)/meshes/face.dae" scale="1.0 1.0 1.0"/>
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||
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</geometry>
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||
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</visual>
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||
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<collision>
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||
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<origin rpy="0 0 0" xyz="0.055 0 0"/>
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||
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<geometry>
|
||
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<box size="0.11 0.14 0.18"/>
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||
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</geometry>
|
||
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</collision>
|
||
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<collision>
|
||
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<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
|
||
|
|
<geometry>
|
||
|
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<cylinder length="0.11" radius="0.09"/>
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||
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</geometry>
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||
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</collision>
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||
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<collision>
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||
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<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
|
||
|
|
<geometry>
|
||
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<cylinder length="0.11" radius="0.09"/>
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||
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</geometry>
|
||
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</collision>
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<inertial>
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||
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<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
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||
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<mass value="0.73"/>
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||
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<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
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</inertial>
|
||
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</link>
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<!-- Camera joint -->
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||
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<!-- Is located between the two back screw holes at ground level. -->
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||
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<joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
|
||
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<parent link="face_rear"/>
|
||
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<child link="depth_camera_rear_camera"/>
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||
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<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
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||
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</joint>
|
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<!-- Camera link -->
|
||
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<link name="depth_camera_rear_camera">
|
||
|
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<visual>
|
||
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
|
||
|
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</geometry>
|
||
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</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
|
||
|
|
<mass value="0.16043"/>
|
||
|
|
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Camera parent joint -->
|
||
|
|
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
|
||
|
|
<joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
|
||
|
|
<parent link="depth_camera_rear_camera"/>
|
||
|
|
<child link="depth_camera_rear_camera_parent"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera parent link -->
|
||
|
|
<link name="depth_camera_rear_camera_parent"/>
|
||
|
|
<!-- Depth optical frame joint -->
|
||
|
|
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_rear_camera_parent"/>
|
||
|
|
<child link="depth_camera_rear_depth_optical_frame"/>
|
||
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Depth optical frame link -->
|
||
|
|
<link name="depth_camera_rear_depth_optical_frame"/>
|
||
|
|
<!-- Camera color frame joint -->
|
||
|
|
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_rear_camera_parent"/>
|
||
|
|
<child link="depth_camera_rear_color_frame"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.015 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera color frame link -->
|
||
|
|
<link name="depth_camera_rear_color_frame"/>
|
||
|
|
<!-- Camera color optical joint -->
|
||
|
|
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_rear_color_frame"/>
|
||
|
|
<child link="depth_camera_rear_color_optical_frame"/>
|
||
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera color optical link -->
|
||
|
|
<link name="depth_camera_rear_color_optical_frame"/>
|
||
|
|
<!-- Camera joint -->
|
||
|
|
<!-- Is located in the center of the mounting points. -->
|
||
|
|
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
|
||
|
|
<parent link="face_rear"/>
|
||
|
|
<child link="wide_angle_camera_rear_camera"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera link -->
|
||
|
|
<link name="wide_angle_camera_rear_camera">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
|
||
|
|
<mass value="0.287"/>
|
||
|
|
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Camera parent joint -->
|
||
|
|
<joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
|
||
|
|
<parent link="wide_angle_camera_rear_camera"/>
|
||
|
|
<child link="wide_angle_camera_rear_camera_parent"/>
|
||
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera parent link -->
|
||
|
|
<link name="wide_angle_camera_rear_camera_parent"/>
|
||
|
|
<!-- Fixed joint base battery -->
|
||
|
|
<joint name="base_battery" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="battery"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Shell link -->
|
||
|
|
<link name="battery">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/battery.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
|
||
|
|
<mass value="5.53425"/>
|
||
|
|
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Fixed joint to add docking -->
|
||
|
|
<joint name="base_to_docking_hatch_cover" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="docking_hatch_cover"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0.343 0.0 -0.07"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Hatch cover link -->
|
||
|
|
<link name="docking_hatch_cover">
|
||
|
|
<!-- TODO(fgiraldez): add visual -->
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.003 0.0 0.005"/>
|
||
|
|
<mass value="0.065"/>
|
||
|
|
<inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<link name="imu_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.005"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.024 0.024 0.01"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.005"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.024 0.024 0.01"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.01"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="imu_joint" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="imu_link"/>
|
||
|
|
<origin rpy="0.0 0.0 1.57079632679" xyz="0.2488 0.00835 0.04628"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera joint -->
|
||
|
|
<!-- Is located between the two back screw holes at ground level. -->
|
||
|
|
<joint name="base_to_depth_camera_left_camera" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="depth_camera_left_camera"/>
|
||
|
|
<origin rpy="0.0 0.523598775598 1.57079632679" xyz="0.0 0.07646 0.02905"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera link -->
|
||
|
|
<link name="depth_camera_left_camera">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
|
||
|
|
<mass value="0.16043"/>
|
||
|
|
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Camera parent joint -->
|
||
|
|
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
|
||
|
|
<joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
|
||
|
|
<parent link="depth_camera_left_camera"/>
|
||
|
|
<child link="depth_camera_left_camera_parent"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera parent link -->
|
||
|
|
<link name="depth_camera_left_camera_parent"/>
|
||
|
|
<!-- Depth optical frame joint -->
|
||
|
|
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_left_camera_parent"/>
|
||
|
|
<child link="depth_camera_left_depth_optical_frame"/>
|
||
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Depth optical frame link -->
|
||
|
|
<link name="depth_camera_left_depth_optical_frame"/>
|
||
|
|
<!-- Camera color frame joint -->
|
||
|
|
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_left_camera_parent"/>
|
||
|
|
<child link="depth_camera_left_color_frame"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.015 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera color frame link -->
|
||
|
|
<link name="depth_camera_left_color_frame"/>
|
||
|
|
<!-- Camera color optical joint -->
|
||
|
|
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_left_color_frame"/>
|
||
|
|
<child link="depth_camera_left_color_optical_frame"/>
|
||
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera color optical link -->
|
||
|
|
<link name="depth_camera_left_color_optical_frame"/>
|
||
|
|
<!-- Camera joint -->
|
||
|
|
<!-- Is located between the two back screw holes at ground level. -->
|
||
|
|
<joint name="base_to_depth_camera_right_camera" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="depth_camera_right_camera"/>
|
||
|
|
<origin rpy="0.0 0.523598775598 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera link -->
|
||
|
|
<link name="depth_camera_right_camera">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
|
||
|
|
<mass value="0.16043"/>
|
||
|
|
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Camera parent joint -->
|
||
|
|
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
|
||
|
|
<joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
|
||
|
|
<parent link="depth_camera_right_camera"/>
|
||
|
|
<child link="depth_camera_right_camera_parent"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera parent link -->
|
||
|
|
<link name="depth_camera_right_camera_parent"/>
|
||
|
|
<!-- Depth optical frame joint -->
|
||
|
|
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_right_camera_parent"/>
|
||
|
|
<child link="depth_camera_right_depth_optical_frame"/>
|
||
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Depth optical frame link -->
|
||
|
|
<link name="depth_camera_right_depth_optical_frame"/>
|
||
|
|
<!-- Camera color frame joint -->
|
||
|
|
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_right_camera_parent"/>
|
||
|
|
<child link="depth_camera_right_color_frame"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.015 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera color frame link -->
|
||
|
|
<link name="depth_camera_right_color_frame"/>
|
||
|
|
<!-- Camera color optical joint -->
|
||
|
|
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
|
||
|
|
<parent link="depth_camera_right_color_frame"/>
|
||
|
|
<child link="depth_camera_right_color_optical_frame"/>
|
||
|
|
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Camera color optical link -->
|
||
|
|
<link name="depth_camera_right_color_optical_frame"/>
|
||
|
|
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
|
||
|
|
<joint name="base_to_lidar_cage" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="lidar_cage"/>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Velodyne cage link -->
|
||
|
|
<link name="lidar_cage">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/lidar_cage.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.06"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.12" radius="0.07"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.002 0.0 0.099"/>
|
||
|
|
<mass value="0.545"/>
|
||
|
|
<inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- parent to sensor joint -->
|
||
|
|
<joint name="lidar_cage_to_lidar" type="fixed">
|
||
|
|
<parent link="lidar_cage"/>
|
||
|
|
<child link="lidar"/>
|
||
|
|
<origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Velodyne sensor link -->
|
||
|
|
<link name="lidar">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="-0.012 0.001 -0.008"/>
|
||
|
|
<mass value="0.695"/>
|
||
|
|
<inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/lidar.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<!-- joint base HAA -->
|
||
|
|
<joint name="base_LF_HAA" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="LF_HAA"/>
|
||
|
|
<origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="LF_HAA">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="LF_HAA" type="revolute">
|
||
|
|
<parent link="LF_HAA"/>
|
||
|
|
<child link="LF_HIP"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="LF_HIP">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HAA hip -->
|
||
|
|
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
|
||
|
|
<parent link="LF_HIP"/>
|
||
|
|
<child link="LF_hip_fixed"/>
|
||
|
|
<origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Hip link -->
|
||
|
|
<link name="LF_hip_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.048 0.008 -0.003"/>
|
||
|
|
<mass value="0.74"/>
|
||
|
|
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint hip HFE -->
|
||
|
|
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
|
||
|
|
<parent link="LF_hip_fixed"/>
|
||
|
|
<child link="LF_HFE"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="LF_HFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="LF_HFE" type="revolute">
|
||
|
|
<parent link="LF_HFE"/>
|
||
|
|
<child link="LF_THIGH"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="LF_THIGH">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HFE thigh -->
|
||
|
|
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
|
||
|
|
<parent link="LF_THIGH"/>
|
||
|
|
<child link="LF_thigh_fixed"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Thigh link -->
|
||
|
|
<link name="LF_thigh_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Thigh collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.08" radius="0.065"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.075 0.06 0.282627"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0 0.018 -0.169"/>
|
||
|
|
<mass value="1.03"/>
|
||
|
|
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint thigh KFE -->
|
||
|
|
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
|
||
|
|
<parent link="LF_thigh_fixed"/>
|
||
|
|
<child link="LF_KFE"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="LF_KFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="LF_KFE" type="revolute">
|
||
|
|
<parent link="LF_KFE"/>
|
||
|
|
<child link="LF_SHANK"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="LF_SHANK">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint KFE shank -->
|
||
|
|
<joint name="LF_shank_LF_shank_fixed" type="fixed">
|
||
|
|
<parent link="LF_SHANK"/>
|
||
|
|
<child link="LF_shank_fixed"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Shank link -->
|
||
|
|
<link name="LF_shank_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Shank collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.06"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0.057499 0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.114998 0.0675 0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
|
||
|
|
<mass value="0.33742"/>
|
||
|
|
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
|
||
|
|
<!-- joint shank foot -->
|
||
|
|
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
|
||
|
|
<parent link="LF_shank_fixed"/>
|
||
|
|
<child link="LF_FOOT"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Foot link -->
|
||
|
|
<link name="LF_FOOT">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/foot.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Adapter collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.282504" radius="0.0175"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- Foot collision -->
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0.0225"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
|
||
|
|
<mass value="0.25"/>
|
||
|
|
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint base HAA -->
|
||
|
|
<joint name="base_RF_HAA" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="RF_HAA"/>
|
||
|
|
<origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="RF_HAA">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="RF_HAA" type="revolute">
|
||
|
|
<parent link="RF_HAA"/>
|
||
|
|
<child link="RF_HIP"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="RF_HIP">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HAA hip -->
|
||
|
|
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
|
||
|
|
<parent link="RF_HIP"/>
|
||
|
|
<child link="RF_hip_fixed"/>
|
||
|
|
<origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Hip link -->
|
||
|
|
<link name="RF_hip_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.048 -0.008 -0.003"/>
|
||
|
|
<mass value="0.74"/>
|
||
|
|
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint hip HFE -->
|
||
|
|
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
|
||
|
|
<parent link="RF_hip_fixed"/>
|
||
|
|
<child link="RF_HFE"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="RF_HFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="RF_HFE" type="revolute">
|
||
|
|
<parent link="RF_HFE"/>
|
||
|
|
<child link="RF_THIGH"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="-1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="RF_THIGH">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HFE thigh -->
|
||
|
|
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
|
||
|
|
<parent link="RF_THIGH"/>
|
||
|
|
<child link="RF_thigh_fixed"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Thigh link -->
|
||
|
|
<link name="RF_thigh_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Thigh collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.08" radius="0.065"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.075 0.06 0.282627"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0 -0.018 -0.169"/>
|
||
|
|
<mass value="1.03"/>
|
||
|
|
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint thigh KFE -->
|
||
|
|
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
|
||
|
|
<parent link="RF_thigh_fixed"/>
|
||
|
|
<child link="RF_KFE"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="RF_KFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="RF_KFE" type="revolute">
|
||
|
|
<parent link="RF_KFE"/>
|
||
|
|
<child link="RF_SHANK"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="-1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="RF_SHANK">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint KFE shank -->
|
||
|
|
<joint name="RF_shank_RF_shank_fixed" type="fixed">
|
||
|
|
<parent link="RF_SHANK"/>
|
||
|
|
<child link="RF_shank_fixed"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Shank link -->
|
||
|
|
<link name="RF_shank_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Shank collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.06"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0.057499 -0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.114998 0.0675 0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.03463 -0.00688 0.00098"/>
|
||
|
|
<mass value="0.33742"/>
|
||
|
|
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
|
||
|
|
<!-- joint shank foot -->
|
||
|
|
<joint name="RF_shank_fixed_RF_FOOT" type="fixed">
|
||
|
|
<parent link="RF_shank_fixed"/>
|
||
|
|
<child link="RF_FOOT"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0.08795 -0.01305 -0.33797"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Foot link -->
|
||
|
|
<link name="RF_FOOT">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/foot.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Adapter collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.282504" radius="0.0175"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- Foot collision -->
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0.0225"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00948 0.00948 0.1468"/>
|
||
|
|
<mass value="0.25"/>
|
||
|
|
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint base HAA -->
|
||
|
|
<joint name="base_LH_HAA" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="LH_HAA"/>
|
||
|
|
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="-0.2999 0.104 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="LH_HAA">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="LH_HAA" type="revolute">
|
||
|
|
<parent link="LH_HAA"/>
|
||
|
|
<child link="LH_HIP"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="-1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="LH_HIP">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HAA hip -->
|
||
|
|
<joint name="LH_HIP_LH_hip_fixed" type="fixed">
|
||
|
|
<parent link="LH_HIP"/>
|
||
|
|
<child link="LH_hip_fixed"/>
|
||
|
|
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Hip link -->
|
||
|
|
<link name="LH_hip_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.048 0.008 -0.003"/>
|
||
|
|
<mass value="0.74"/>
|
||
|
|
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint hip HFE -->
|
||
|
|
<joint name="LH_hip_fixed_LH_HFE" type="fixed">
|
||
|
|
<parent link="LH_hip_fixed"/>
|
||
|
|
<child link="LH_HFE"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.0599 0.08381 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="LH_HFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="LH_HFE" type="revolute">
|
||
|
|
<parent link="LH_HFE"/>
|
||
|
|
<child link="LH_THIGH"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="LH_THIGH">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HFE thigh -->
|
||
|
|
<joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
|
||
|
|
<parent link="LH_THIGH"/>
|
||
|
|
<child link="LH_thigh_fixed"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Thigh link -->
|
||
|
|
<link name="LH_thigh_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0.0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Thigh collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.08" radius="0.065"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.075 0.06 0.282627"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0 0.018 -0.169"/>
|
||
|
|
<mass value="1.03"/>
|
||
|
|
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint thigh KFE -->
|
||
|
|
<joint name="LH_thigh_fixed_LH_KFE" type="fixed">
|
||
|
|
<parent link="LH_thigh_fixed"/>
|
||
|
|
<child link="LH_KFE"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.0 0.1003 -0.285"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="LH_KFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="LH_KFE" type="revolute">
|
||
|
|
<parent link="LH_KFE"/>
|
||
|
|
<child link="LH_SHANK"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="LH_SHANK">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint KFE shank -->
|
||
|
|
<joint name="LH_shank_LH_shank_fixed" type="fixed">
|
||
|
|
<parent link="LH_SHANK"/>
|
||
|
|
<child link="LH_shank_fixed"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Shank link -->
|
||
|
|
<link name="LH_shank_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Shank collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.06"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="-0.057499 0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.114998 0.0675 0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.03463 0.00688 0.00098"/>
|
||
|
|
<mass value="0.33742"/>
|
||
|
|
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
|
||
|
|
<!-- joint shank foot -->
|
||
|
|
<joint name="LH_shank_fixed_LH_FOOT" type="fixed">
|
||
|
|
<parent link="LH_shank_fixed"/>
|
||
|
|
<child link="LH_FOOT"/>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.08795 0.01305 -0.33797"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Foot link -->
|
||
|
|
<link name="LH_FOOT">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -2.35619449019" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/foot.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Adapter collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.282504" radius="0.0175"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- Foot collision -->
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0.0225"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00948 -0.00948 0.1468"/>
|
||
|
|
<mass value="0.25"/>
|
||
|
|
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint base HAA -->
|
||
|
|
<joint name="base_RH_HAA" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="RH_HAA"/>
|
||
|
|
<origin rpy="2.61799387799 0 -3.14159265359" xyz="-0.2999 -0.104 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="RH_HAA">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="RH_HAA" type="revolute">
|
||
|
|
<parent link="RH_HAA"/>
|
||
|
|
<child link="RH_HIP"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="-1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="RH_HIP">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HAA hip -->
|
||
|
|
<joint name="RH_HIP_RH_hip_fixed" type="fixed">
|
||
|
|
<parent link="RH_HIP"/>
|
||
|
|
<child link="RH_hip_fixed"/>
|
||
|
|
<origin rpy="2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Hip link -->
|
||
|
|
<link name="RH_hip_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.048 -0.008 -0.003"/>
|
||
|
|
<mass value="0.74"/>
|
||
|
|
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint hip HFE -->
|
||
|
|
<joint name="RH_hip_fixed_RH_HFE" type="fixed">
|
||
|
|
<parent link="RH_hip_fixed"/>
|
||
|
|
<child link="RH_HFE"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="-0.0599 -0.08381 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="RH_HFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="RH_HFE" type="revolute">
|
||
|
|
<parent link="RH_HFE"/>
|
||
|
|
<child link="RH_THIGH"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="-1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="RH_THIGH">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint HFE thigh -->
|
||
|
|
<joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
|
||
|
|
<parent link="RH_THIGH"/>
|
||
|
|
<child link="RH_thigh_fixed"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Thigh link -->
|
||
|
|
<link name="RH_thigh_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Thigh collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.08" radius="0.065"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.075 0.06 0.282627"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0 -0.018 -0.169"/>
|
||
|
|
<mass value="1.03"/>
|
||
|
|
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint thigh KFE -->
|
||
|
|
<joint name="RH_thigh_fixed_RH_KFE" type="fixed">
|
||
|
|
<parent link="RH_thigh_fixed"/>
|
||
|
|
<child link="RH_KFE"/>
|
||
|
|
<origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.1003 -0.285"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive link -->
|
||
|
|
<link name="RH_KFE">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/drive.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.14" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
|
||
|
|
<mass value="2.04"/>
|
||
|
|
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint Drive output -->
|
||
|
|
<joint name="RH_KFE" type="revolute">
|
||
|
|
<parent link="RH_KFE"/>
|
||
|
|
<child link="RH_SHANK"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<axis xyz="-1 0 0"/>
|
||
|
|
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Drive output link -->
|
||
|
|
<link name="RH_SHANK">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- joint KFE shank -->
|
||
|
|
<joint name="RH_shank_RH_shank_fixed" type="fixed">
|
||
|
|
<parent link="RH_SHANK"/>
|
||
|
|
<child link="RH_shank_fixed"/>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Shank link -->
|
||
|
|
<link name="RH_shank_fixed">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Shank collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.06"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="-0.057499 -0.02 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.114998 0.0675 0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.03463 -0.00688 0.00098"/>
|
||
|
|
<mass value="0.33742"/>
|
||
|
|
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
|
||
|
|
<!-- joint shank foot -->
|
||
|
|
<joint name="RH_shank_fixed_RH_FOOT" type="fixed">
|
||
|
|
<parent link="RH_shank_fixed"/>
|
||
|
|
<child link="RH_FOOT"/>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.08795 -0.01305 -0.33797"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Foot link -->
|
||
|
|
<link name="RH_FOOT">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 -3.92699081699" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/foot.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<!-- Adapter collision -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.282504" radius="0.0175"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- Foot collision -->
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0.0225"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00948 0.00948 0.1468"/>
|
||
|
|
<mass value="0.25"/>
|
||
|
|
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- Fixed joint base hatch -->
|
||
|
|
<joint name="base_hatch" type="fixed">
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="hatch"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</joint>
|
||
|
|
<!-- Hatch link -->
|
||
|
|
<link name="hatch">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0.116 0 0.073"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find anymal_c_description)/meshes/hatch.dae" scale="1.0 1.0 1.0"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.116 0.0 0.0758"/>
|
||
|
|
<mass value="0.142"/>
|
||
|
|
<inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
</robot>
|