2024-10-01 13:48:49 +08:00
|
|
|
<?xml version="1.0" encoding="utf-8"?>
|
|
|
|
<!-- 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="b2_description">
|
|
|
|
<link
|
|
|
|
name="base_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.000458 0.005261 0.000665"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="35.86" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.27466"
|
|
|
|
ixy="-0.000622"
|
|
|
|
ixz="0.00315"
|
|
|
|
iyy="1.0618"
|
|
|
|
iyz="-0.00139"
|
|
|
|
izz="1.1825" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/base_link.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<box size="0.5 0.28 0.15" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<link
|
|
|
|
name="lidar_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.34218 0 0.17851"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.19E-15" />
|
|
|
|
<inertia
|
|
|
|
ixx="1.68E-27"
|
|
|
|
ixy="-3.2E-45"
|
|
|
|
ixz="7.68E-44"
|
|
|
|
iyy="1.68E-27"
|
|
|
|
iyz="-9.26E-47"
|
|
|
|
izz="1.68E-27" />
|
|
|
|
</inertial>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 -0.02"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.16" radius="0.076" />
|
|
|
|
<!-- <mesh
|
|
|
|
filename="package://b2_description/meshes/lidar_link.STL" /> -->
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_lidar"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0.34218 0 0.17851"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="lidar_link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="f_dc_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="3.47E-18 0 5.55E-17"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.19E-15" />
|
|
|
|
<inertia
|
|
|
|
ixx="1.68E-27"
|
|
|
|
ixy="-9.81E-45"
|
|
|
|
ixz="-2.54E-44"
|
|
|
|
iyy="1.68E-27"
|
|
|
|
iyz="0"
|
|
|
|
izz="1.68E-27" />
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_f_dc"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0.41251 0.024997 0.04765"
|
|
|
|
rpy="-2.3562 0 -1.5708" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="f_dc_link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="r_dc_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-7.46E-16 -3.33E-16 -1.11E-15"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.19E-15" />
|
|
|
|
<inertia
|
|
|
|
ixx="1.68E-27"
|
|
|
|
ixy="-4.31E-44"
|
|
|
|
ixz="2.48E-45"
|
|
|
|
iyy="1.68E-27"
|
|
|
|
iyz="0"
|
|
|
|
izz="1.68E-27" />
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_r_dc"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="-0.4081 -0.025 0.024861"
|
|
|
|
rpy="-2.3557 0 1.5708" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="r_dc_link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="imu_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-2.02E-17 1.73E-17 -1.39E-17"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.19E-15" />
|
|
|
|
<inertia
|
|
|
|
ixx="1.68E-27"
|
|
|
|
ixy="1.84E-44"
|
|
|
|
ixz="-7.35E-44"
|
|
|
|
iyy="1.68E-27"
|
|
|
|
iyz="-3.67E-44"
|
|
|
|
izz="1.68E-27" />
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_imu"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0 -0.02341 0.04927"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="imu_link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="head_Link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.33989 -0.000168 0.12029"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="3.6885" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.026455"
|
|
|
|
ixy="3.15E-05"
|
|
|
|
ixz="0.00166"
|
|
|
|
iyy="0.029221"
|
|
|
|
iyz="-3.27E-05"
|
|
|
|
izz="0.010918" />
|
|
|
|
</inertial>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0.41 0 0.005"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<box size="0.04 0.12 0.14" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_head"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="head_Link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="tail_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.37448 0.000488 0.006495"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.795" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.0028118"
|
|
|
|
ixy="1.95E-05"
|
|
|
|
ixz="-7.87E-06"
|
|
|
|
iyy="0.0047506"
|
|
|
|
iyz="-1.57E-05"
|
|
|
|
izz="0.0029154" />
|
|
|
|
</inertial>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="-0.405 0 0.005"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<box size="0.025 0.12 0.14" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_tail"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="tail_link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FL_hip">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.003841 -0.009068 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="2.673" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.0033188"
|
|
|
|
ixy="7.16E-05"
|
|
|
|
ixz="-3.77E-07"
|
|
|
|
iyy="0.0048743"
|
|
|
|
iyz="4E-09"
|
|
|
|
izz="0.0037087" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/FL_hip.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0.12 0"
|
|
|
|
rpy="1.5707963267948966 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.05" radius="0.07" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FL_hip_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0.3285 0.072 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="FL_hip" />
|
|
|
|
<axis
|
|
|
|
xyz="1 0 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.87"
|
|
|
|
upper="0.87"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="FL_hip_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="FL_hip_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0.20205 0.072 0"/>
|
|
|
|
<parent link="base_link"/>
|
|
|
|
<child link="FL_hip_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FL_thigh">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006279 -0.032049 -0.057835"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.536" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.062299"
|
|
|
|
ixy="0.00087781"
|
|
|
|
ixz="-0.0036475"
|
|
|
|
iyy="0.061399"
|
|
|
|
iyz="0.0083537"
|
|
|
|
izz="0.0081997" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/FL_thigh.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="-0.025 0 -0.16"
|
|
|
|
rpy="0 1.57 0" />
|
|
|
|
<geometry>
|
|
|
|
<box size="0.32 0.0445 0.054" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FL_thigh_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 0.11973 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="FL_hip" />
|
|
|
|
<child
|
|
|
|
link="FL_thigh" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.94"
|
|
|
|
upper="4.69"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="FL_thigh_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="FL_thigh_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 -0.00798 0"/>
|
|
|
|
<parent link="FL_hip"/>
|
|
|
|
<child link="FL_thigh_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FL_calf">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.012422 0 -0.12499"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.404" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.01143"
|
|
|
|
ixy="0"
|
|
|
|
ixz="0.000643"
|
|
|
|
iyy="0.011534"
|
|
|
|
iyz="0"
|
|
|
|
izz="0.000331" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/FL_calf.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.15 0.0245 0.015"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.05 0.028 0.035"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FL_calf_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 -8.6984E-05 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="FL_thigh" />
|
|
|
|
<child
|
|
|
|
link="FL_calf" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-2.82"
|
|
|
|
upper="-0.43"
|
|
|
|
effort="320"
|
|
|
|
velocity="14" />
|
|
|
|
</joint>
|
|
|
|
<link name="FL_calf_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="FL_calf_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 -0.05788 0"/>
|
|
|
|
<parent link="FL_thigh"/>
|
|
|
|
<child link="FL_calf_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FL_foot">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006511 0 -0.010144"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.126" />
|
|
|
|
<inertia
|
|
|
|
ixx="3.8E-05"
|
|
|
|
ixy="0"
|
|
|
|
ixz="1.1E-05"
|
|
|
|
iyy="4.1E-05"
|
|
|
|
iyz="0"
|
|
|
|
izz="4.2E-05" />
|
|
|
|
</inertial>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="1.57 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<sphere radius="0.032" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FL_foot_joint"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0 0 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="FL_calf" />
|
|
|
|
<child
|
|
|
|
link="FL_foot" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FR_hip">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.009305 0.010228 0.000264"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="2.673" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.0026431"
|
|
|
|
ixy="-0.00019234"
|
|
|
|
ixz="-6.76E-06"
|
|
|
|
iyy="0.0046728"
|
|
|
|
iyz="7.16E-06"
|
|
|
|
izz="0.0034208" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/FR_hip.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 -0.12 0"
|
|
|
|
rpy="1.5707963267948966 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.05" radius="0.07" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FR_hip_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0.3285 -0.072 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="FR_hip" />
|
|
|
|
<axis
|
|
|
|
xyz="1 0 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.87"
|
|
|
|
upper="0.87"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="FR_hip_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="FR_hip_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0.20205 -0.072 0"/>
|
|
|
|
<parent link="base_link"/>
|
|
|
|
<child link="FR_hip_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FR_thigh">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006279 0.032049 -0.057835"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.536" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.06229908"
|
|
|
|
ixy="-0.000877808"
|
|
|
|
ixz="-0.003647464"
|
|
|
|
iyy="0.06139927"
|
|
|
|
iyz="-0.008353671"
|
|
|
|
izz="0.008199745" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/FR_thigh.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.25 0.028 0.04"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FR_thigh_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 -0.11973 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="FR_hip" />
|
|
|
|
<child
|
|
|
|
link="FR_thigh" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.94"
|
|
|
|
upper="4.69"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="FR_thigh_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="FR_thigh_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.00798 0"/>
|
|
|
|
<parent link="FR_hip"/>
|
|
|
|
<child link="FR_thigh_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FR_calf">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.012422 0 -0.12499"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.404" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.01143"
|
|
|
|
ixy="0"
|
|
|
|
ixz="0.000643"
|
|
|
|
iyy="0.011534"
|
|
|
|
iyz="0"
|
|
|
|
izz="0.000331" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/FR_calf.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.15 0.0245 0.015"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.05 0.028 0.035"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FR_calf_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 8.6986E-05 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="FR_thigh" />
|
|
|
|
<child
|
|
|
|
link="FR_calf" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-2.82"
|
|
|
|
upper="-0.43"
|
|
|
|
effort="320"
|
|
|
|
velocity="14" />
|
|
|
|
</joint>
|
|
|
|
<link name="FR_calf_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
<material name="green"/>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="FR_calf_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.05788 0"/>
|
|
|
|
<parent link="FR_thigh"/>
|
|
|
|
<child link="FR_calf_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="FR_foot">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006511 0 -0.010144"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.126" />
|
|
|
|
<inertia
|
|
|
|
ixx="3.8E-05"
|
|
|
|
ixy="0"
|
|
|
|
ixz="1.1E-05"
|
|
|
|
iyy="4.1E-05"
|
|
|
|
iyz="0"
|
|
|
|
izz="4.2E-05" />
|
|
|
|
</inertial>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="1.57 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<sphere radius="0.032" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="FR_foot_joint"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0 0 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="FR_calf" />
|
|
|
|
<child
|
|
|
|
link="FR_foot" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RL_hip">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.009305 -0.010228 0.000264"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="2.673" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.0026431"
|
|
|
|
ixy="-0.00019234"
|
|
|
|
ixz="6.76E-06"
|
|
|
|
iyy="0.0046728"
|
|
|
|
iyz="-7.16E-06"
|
|
|
|
izz="0.0034208" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/RL_hip.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0.12 0"
|
|
|
|
rpy="1.5707963267948966 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.05" radius="0.07" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RL_hip_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="-0.3285 0.072 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="RL_hip" />
|
|
|
|
<axis
|
|
|
|
xyz="1 0 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.87"
|
|
|
|
upper="0.87"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="RL_hip_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="RL_hip_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="-0.20205 0.072 0"/>
|
|
|
|
<parent link="base_link"/>
|
|
|
|
<child link="RL_hip_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RL_thigh">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006279 -0.032049 -0.057835"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.536" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.06229908"
|
|
|
|
ixy="0.000877808"
|
|
|
|
ixz="-0.003647464"
|
|
|
|
iyy="0.06139927"
|
|
|
|
iyz="0.008353671"
|
|
|
|
izz="0.008199745" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/RL_thigh.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.25 0.028 0.04"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RL_thigh_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 0.11973 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="RL_hip" />
|
|
|
|
<child
|
|
|
|
link="RL_thigh" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.94"
|
|
|
|
upper="4.69"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="RL_thigh_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="RL_thigh_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 -0.00798 0"/>
|
|
|
|
<parent link="RL_hip"/>
|
|
|
|
<child link="RL_thigh_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RL_calf">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.012422 0 -0.12499"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.404" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.01143"
|
|
|
|
ixy="0"
|
|
|
|
ixz="0.000643"
|
|
|
|
iyy="0.011534"
|
|
|
|
iyz="0"
|
|
|
|
izz="0.000331" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/RL_calf.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.15 0.0245 0.015"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.05 0.028 0.035"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RL_calf_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 -8.6984E-05 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="RL_thigh" />
|
|
|
|
<child
|
|
|
|
link="RL_calf" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-2.82"
|
|
|
|
upper="-0.43"
|
|
|
|
effort="320"
|
|
|
|
velocity="14" />
|
|
|
|
</joint>
|
|
|
|
<link name="RL_calf_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="RL_calf_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 -0.05788 0"/>
|
|
|
|
<parent link="RL_thigh"/>
|
|
|
|
<child link="RL_calf_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RL_foot">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006511 0 -0.010144"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.126" />
|
|
|
|
<inertia
|
|
|
|
ixx="3.8E-05"
|
|
|
|
ixy="0"
|
|
|
|
ixz="1.1E-05"
|
|
|
|
iyy="4.1E-05"
|
|
|
|
iyz="0"
|
|
|
|
izz="4.2E-05" />
|
|
|
|
</inertial>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="1.57 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<sphere radius="0.032" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RL_foot_joint"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0 0 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="RL_calf" />
|
|
|
|
<child
|
|
|
|
link="RL_foot" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RR_hip">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.003841 0.009068 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="2.673" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.0033188"
|
|
|
|
ixy="7.16E-05"
|
|
|
|
ixz="3.77E-07"
|
|
|
|
iyy="0.0048743"
|
|
|
|
iyz="-4E-09"
|
|
|
|
izz="0.0037087" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/RR_hip.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 -0.12 0"
|
|
|
|
rpy="1.5707963267948966 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.05" radius="0.07" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RR_hip_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="-0.3285 -0.072 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="RR_hip" />
|
|
|
|
<axis
|
|
|
|
xyz="1 0 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.87"
|
|
|
|
upper="0.87"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="RR_hip_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="RR_hip_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="-0.20205 -0.072 0"/>
|
|
|
|
<parent link="base_link"/>
|
|
|
|
<child link="RR_hip_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RR_thigh">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006279 0.032049 -0.057835"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.536" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.062299"
|
|
|
|
ixy="-0.00087781"
|
|
|
|
ixz="-0.0036475"
|
|
|
|
iyy="0.061399"
|
|
|
|
iyz="-0.0083537"
|
|
|
|
izz="0.0081997" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/RR_thigh.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.25 0.028 0.04"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RR_thigh_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 -0.11973 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="RR_hip" />
|
|
|
|
<child
|
|
|
|
link="RR_thigh" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-0.94"
|
|
|
|
upper="4.69"
|
|
|
|
effort="200"
|
|
|
|
velocity="23" />
|
|
|
|
</joint>
|
|
|
|
<link name="RR_thigh_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="RR_thigh_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.00798 0"/>
|
|
|
|
<parent link="RR_hip"/>
|
|
|
|
<child link="RR_thigh_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RR_calf">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="0.012422 0 -0.12499"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.404" />
|
|
|
|
<inertia
|
|
|
|
ixx="0.01143"
|
|
|
|
ixy="0"
|
|
|
|
ixz="0.000643"
|
|
|
|
iyy="0.011534"
|
|
|
|
iyz="0"
|
|
|
|
izz="0.000331" />
|
|
|
|
</inertial>
|
|
|
|
<visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/RR_calf.dae" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.1 0.0245 0.018"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.15 0.0245 0.015"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<collision>
|
|
|
|
<origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
|
|
|
|
<geometry>
|
|
|
|
<box size="0.05 0.028 0.035"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RR_calf_joint"
|
|
|
|
type="revolute">
|
|
|
|
<origin
|
|
|
|
xyz="0 8.6986E-05 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="RR_thigh" />
|
|
|
|
<child
|
|
|
|
link="RR_calf" />
|
|
|
|
<axis
|
|
|
|
xyz="0 1 0" />
|
|
|
|
<limit
|
|
|
|
lower="-2.82"
|
|
|
|
upper="-0.43"
|
|
|
|
effort="320"
|
|
|
|
velocity="14" />
|
|
|
|
</joint>
|
|
|
|
<link name="RR_calf_rotor">
|
|
|
|
<!-- <visual>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</visual> -->
|
|
|
|
<collision>
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
<geometry>
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
<inertial>
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
<mass value="0.2734"/>
|
|
|
|
<inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
|
|
|
|
</inertial>
|
|
|
|
</link>
|
|
|
|
<joint name="RR_calf_rotor_joint" type="fixed">
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.05788 0"/>
|
|
|
|
<parent link="RR_thigh"/>
|
|
|
|
<child link="RR_calf_rotor"/>
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="RR_foot">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.006511 0 -0.010144"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="0.126" />
|
|
|
|
<inertia
|
|
|
|
ixx="3.8E-05"
|
|
|
|
ixy="0"
|
|
|
|
ixz="1.1E-05"
|
|
|
|
iyy="4.1E-05"
|
|
|
|
iyz="0"
|
|
|
|
izz="4.2E-05" />
|
|
|
|
</inertial>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="1.57 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<sphere radius="0.032" />
|
|
|
|
</geometry>
|
|
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="RR_foot_joint"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0 -8.6984E-05 -0.35"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<parent
|
|
|
|
link="RR_calf" />
|
|
|
|
<child
|
|
|
|
link="RR_foot" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="f_oc_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-3.39E-15 1.46E-16 -6.11E-16"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.19E-15" />
|
|
|
|
<inertia
|
|
|
|
ixx="1.68E-27"
|
|
|
|
ixy="-3.89E-44"
|
|
|
|
ixz="5.04E-44"
|
|
|
|
iyy="1.68E-27"
|
|
|
|
iyz="2.81E-45"
|
|
|
|
izz="1.68E-27" />
|
|
|
|
</inertial>
|
|
|
|
<!-- <visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/f_oc_link.STL" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/f_oc_link.STL" />
|
|
|
|
</geometry>
|
|
|
|
</collision> -->
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_f_oc"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="0.39079 0 -0.013433"
|
|
|
|
rpy="-1.5708 0 -1.5708" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="f_oc_link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
<link
|
|
|
|
name="r_oc_link">
|
|
|
|
<inertial>
|
|
|
|
<origin
|
|
|
|
xyz="-0.39143 1.52E-07 -0.011961"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<mass
|
|
|
|
value="4.19E-12" />
|
|
|
|
<inertia
|
|
|
|
ixx="1.68E-22"
|
|
|
|
ixy="9.03E-39"
|
|
|
|
ixz="0"
|
|
|
|
iyy="1.68E-22"
|
|
|
|
iyz="-1.2E-38"
|
|
|
|
izz="1.68E-22" />
|
|
|
|
</inertial>
|
|
|
|
<!-- <visual>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/r_oc_link.STL" />
|
|
|
|
</geometry>
|
|
|
|
<material
|
|
|
|
name="">
|
|
|
|
<color
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
</material>
|
|
|
|
</visual>
|
|
|
|
<collision>
|
|
|
|
<origin
|
|
|
|
xyz="0 0 0"
|
|
|
|
rpy="0 0 0" />
|
|
|
|
<geometry>
|
|
|
|
<mesh
|
|
|
|
filename="package://b2_description/meshes/r_oc_link.STL" />
|
|
|
|
</geometry>
|
|
|
|
</collision> -->
|
|
|
|
</link>
|
|
|
|
<joint
|
|
|
|
name="joint_r_oc"
|
|
|
|
type="fixed">
|
|
|
|
<origin
|
|
|
|
xyz="-0.38451 0 -0.023249"
|
|
|
|
rpy="-1.5708 0 1.5708" />
|
|
|
|
<parent
|
|
|
|
link="base_link" />
|
|
|
|
<child
|
|
|
|
link="r_oc_link" />
|
|
|
|
<axis
|
|
|
|
xyz="0 0 0" />
|
|
|
|
</joint>
|
|
|
|
</robot>
|