705 lines
23 KiB
Plaintext
705 lines
23 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from robot.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="go1_description">
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<mujoco>
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<compiler
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meshdir="../meshes/"
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balanceinertia="true"
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discardvisual="false" />
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</mujoco>
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<material name="silver">
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<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<link name="world"/>
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<joint name="" type="floating">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="trunk"/>
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</joint>
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<link name="trunk">
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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="../meshes/trunk.stl" scale="1 1 1"/>
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</geometry>
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<material name="silver"/>
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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="0.3762 0.0935 0.114"/>
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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="0.011611 0.004437 0.000108"/>
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<mass value="4.8"/>
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<inertia ixx="0.016130741919" ixy="0.000593180607" ixz="7.324662e-06" iyy="0.036507810812" iyz="2.0969537e-05" izz="0.044693872053"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="trunk"/>
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<child link="imu_link"/>
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<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
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</joint>
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<link name="imu_link">
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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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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<box size="0.001 0.001 0.001"/>
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</geometry>
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<material name="red"/>
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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=".001 .001 .001"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.1881 -0.04675 0"/>
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<parent link="trunk"/>
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<child link="FR_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
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</joint>
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<link name="FR_hip">
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<visual>
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<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 -0.045 0"/>
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<geometry>
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<cylinder length="0.04" radius="0.046"/>
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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="-0.00541 0.00074 6e-06"/>
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<mass value="0.510299"/>
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<inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
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</inertial>
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</link>
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<joint name="FR_hip_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 -0.08 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh_shoulder"/>
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</joint>
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<!-- this link is only for collision -->
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<link name="FR_thigh_shoulder">
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.032" radius="0.041"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_thigh_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 -0.08 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
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</joint>
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<link name="FR_thigh">
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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="../meshes/thigh_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
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<geometry>
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<box size="0.213 0.0245 0.034"/>
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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="-0.003468 0.018947 -0.032736"/>
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<mass value="0.898919"/>
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<inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
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</inertial>
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</link>
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<joint name="FR_calf_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 -0.213"/>
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<parent link="FR_thigh"/>
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<child link="FR_calf"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
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</joint>
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<link name="FR_calf">
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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="../meshes/calf.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
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<geometry>
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<box size="0.213 0.016 0.016"/>
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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="0.006286 0.001307 -0.122269"/>
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<mass value="0.158015"/>
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<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
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</inertial>
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</link>
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<joint name="FR_foot_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 -0.213"/>
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<parent link="FR_calf"/>
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<child link="FR_foot"/>
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</joint>
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<link name="FR_foot">
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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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<sphere radius="0.01"/>
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</geometry>
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<material name="black"/>
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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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<sphere radius="0.02"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.06"/>
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<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
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</inertial>
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</link>
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<transmission name="FR_hip_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_hip_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FR_hip_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FR_thigh_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_thigh_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FR_thigh_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FR_calf_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_calf_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FR_calf_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<joint name="FL_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.1881 0.04675 0"/>
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<parent link="trunk"/>
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<child link="FL_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
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</joint>
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<link name="FL_hip">
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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="../meshes/hip.stl" scale="1 1 1"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0.045 0"/>
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<geometry>
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<cylinder length="0.04" radius="0.046"/>
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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="-0.00541 -0.00074 6e-06"/>
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<mass value="0.510299"/>
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||
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|
<inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
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</inertial>
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</link>
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<joint name="FL_hip_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0.08 0"/>
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<parent link="FL_hip"/>
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<child link="FL_thigh_shoulder"/>
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</joint>
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<!-- this link is only for collision -->
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<link name="FL_thigh_shoulder">
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<collision>
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||
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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||
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|
<geometry>
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||
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<cylinder length="0.032" radius="0.041"/>
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</geometry>
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</collision>
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</link>
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<joint name="FL_thigh_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0.08 0"/>
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<parent link="FL_hip"/>
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<child link="FL_thigh"/>
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<axis xyz="0 1 0"/>
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||
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<dynamics damping="0.01" friction="0.2"/>
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||
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<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
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</joint>
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<link name="FL_thigh">
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<visual>
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||
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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="../meshes/thigh.stl" scale="1 1 1"/>
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||
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</geometry>
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||
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<material name="silver"/>
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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 1.57079632679 0" xyz="0 0 -0.1065"/>
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||
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<geometry>
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||
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<box size="0.213 0.0245 0.034"/>
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||
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</geometry>
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||
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</collision>
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<inertial>
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||
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<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
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||
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<mass value="0.898919"/>
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||
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<inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
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</inertial>
|
||
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</link>
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||
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<joint name="FL_calf_joint" type="revolute">
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||
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<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
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<parent link="FL_thigh"/>
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||
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<child link="FL_calf"/>
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||
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<axis xyz="0 1 0"/>
|
||
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<dynamics damping="0.01" friction="0.2"/>
|
||
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<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||
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</joint>
|
||
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<link name="FL_calf">
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||
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<visual>
|
||
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
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<geometry>
|
||
|
|
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="silver"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||
|
|
<mass value="0.158015"/>
|
||
|
|
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="FL_calf"/>
|
||
|
|
<child link="FL_foot"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_foot">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="FL_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FL_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FL_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="RR_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.1881 -0.04675 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RR_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="silver"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.045 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00541 0.00074 6e-06"/>
|
||
|
|
<mass value="0.510299"/>
|
||
|
|
<inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="RR_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="silver"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
|
||
|
|
<mass value="0.898919"/>
|
||
|
|
<inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RR_thigh"/>
|
||
|
|
<child link="RR_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||
|
|
<mass value="0.158015"/>
|
||
|
|
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RR_calf"/>
|
||
|
|
<child link="RR_foot"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_foot">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="RR_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="RL_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.1881 0.04675 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RL_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="silver"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0.045 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00541 -0.00074 6e-06"/>
|
||
|
|
<mass value="0.510299"/>
|
||
|
|
<inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="RL_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="silver"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
|
||
|
|
<mass value="0.898919"/>
|
||
|
|
<inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RL_thigh"/>
|
||
|
|
<child link="RL_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||
|
|
<mass value="0.158015"/>
|
||
|
|
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RL_calf"/>
|
||
|
|
<child link="RL_foot"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_foot">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="RL_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RL_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RL_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
</robot>
|
||
|
|
|