2024-01-12 10:18:20 +08:00
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
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Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="h1_description">
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<mujoco>
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<compiler meshdir="../meshes" discardvisual="false" />
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</mujoco>
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<!-- [CAUTION] uncomment when convert to mujoco -->
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<!-- <link name="world"></link>
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<joint name="floating_base_joint" type="floating">
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<parent link="world" />
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<child link="pelvis" />
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</joint> -->
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<link
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name="pelvis">
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<inertial>
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<origin
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xyz="-0.0002 4E-05 -0.04522"
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rpy="0 0 0" />
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<mass
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value="5.39" />
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<inertia
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ixx="0.044582"
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ixy="8.7034E-05"
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ixz="-1.9893E-05"
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iyy="0.0082464"
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iyz="4.021E-06"
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izz="0.049021" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/pelvis.STL" />
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</geometry>
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<material
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name="dark">
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2024-01-12 10:18:20 +08:00
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<color
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rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/pelvis.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="left_hip_yaw_link">
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<inertial>
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<origin
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xyz="-0.04923 0.0001 0.0072"
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rpy="0 0 0" />
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<mass
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value="2.244" />
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<inertia
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ixx="0.0025731"
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ixy="9.159E-06"
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ixz="-0.00051948"
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iyy="0.0030444"
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iyz="1.949E-06"
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izz="0.0022883" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_hip_yaw_link.STL" />
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</geometry>
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<material
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name="dark">
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<color
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rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<!-- [CAUTION] use cylinder for hip_yaw_link -->
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<collision>
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<origin
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xyz="-0.067 0 0"
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rpy="0 1.57075 0" />
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<geometry>
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<cylinder length="0.07" radius="0.06" />
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</geometry>
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</collision>
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</link>
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<joint
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name="left_hip_yaw_joint"
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type="revolute">
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<origin
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xyz="0 0.0875 -0.1742"
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rpy="0 0 0" />
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<parent
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link="pelvis" />
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<child
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link="left_hip_yaw_link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-0.43"
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upper="0.43"
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effort="200"
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velocity="23" />
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</joint>
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<link
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name="left_hip_roll_link">
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<inertial>
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<origin
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xyz="-0.0058 -0.00319 -9E-05"
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rpy="0 0 0" />
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<mass
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value="2.232" />
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<inertia
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ixx="0.0020603"
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ixy="3.2115E-05"
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ixz="2.878E-06"
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iyy="0.0022482"
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iyz="-7.813E-06"
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izz="0.0024323" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_hip_roll_link.STL" />
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</geometry>
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<material
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name="dark">
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<color
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rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_hip_roll_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="left_hip_roll_joint"
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type="revolute">
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<origin
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xyz="0.039468 0 0"
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rpy="0 0 0" />
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<parent
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link="left_hip_yaw_link" />
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<child
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link="left_hip_roll_link" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-0.43"
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upper="0.43"
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effort="200"
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velocity="23" />
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</joint>
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<link
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name="left_hip_pitch_link">
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<inertial>
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<origin
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xyz="0.00746 -0.02346 -0.08193"
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rpy="0 0 0" />
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<mass
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value="4.152" />
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<inertia
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ixx="0.082618"
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ixy="-0.00066654"
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ixz="0.0040725"
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iyy="0.081579"
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iyz="0.0072024"
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izz="0.0060081" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_hip_pitch_link.STL" />
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</geometry>
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<material
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name="dark">
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<color
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rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_hip_pitch_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="left_hip_pitch_joint"
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type="revolute">
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<origin
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xyz="0 0.11536 0"
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rpy="0 0 0" />
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<parent
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link="left_hip_roll_link" />
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<child
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link="left_hip_pitch_link" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-1.57"
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upper="1.57"
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effort="200"
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velocity="23" />
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</joint>
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<link
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name="left_knee_link">
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<inertial>
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<origin
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xyz="-0.00136 -0.00512 -0.1384"
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rpy="0 0 0" />
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<mass
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value="1.721" />
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<inertia
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ixx="0.012205"
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ixy="-6.8431E-05"
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ixz="0.0010862"
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iyy="0.012509"
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iyz="0.00022549"
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izz="0.0020629" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_knee_link.STL" />
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</geometry>
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<material
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name="dark">
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<color
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rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_knee_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="left_knee_joint"
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type="revolute">
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<origin
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xyz="0 0 -0.4"
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rpy="0 0 0" />
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<parent
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link="left_hip_pitch_link" />
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<child
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link="left_knee_link" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-0.26"
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upper="2.05"
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effort="300"
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velocity="14" />
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</joint>
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<link
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name="left_ankle_link">
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<inertial>
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<origin
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xyz="0.048568 0 -0.045609"
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rpy="0 0 0" />
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<mass
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value="0.552448" />
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<inertia
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ixx="0.000156"
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ixy="0"
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ixz="0.000143"
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iyy="0.003620"
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iyz="0"
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izz="0.003551" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_ankle_link.STL" />
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</geometry>
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<material
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name="dark">
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2024-01-12 10:18:20 +08:00
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<color
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rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/left_ankle_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="left_ankle_joint"
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type="revolute">
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<origin
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xyz="0 0 -0.4"
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rpy="0 0 0" />
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<parent
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link="left_knee_link" />
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<child
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link="left_ankle_link" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-0.87"
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upper="0.52"
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|
|
effort="40"
|
|
|
|
|
velocity="9" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_hip_yaw_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="-0.04923 -0.0001 0.0072"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="2.244" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.0025731"
|
|
|
|
|
ixy="-9.159E-06"
|
|
|
|
|
ixz="-0.00051948"
|
|
|
|
|
iyy="0.0030444"
|
|
|
|
|
iyz="-1.949E-06"
|
|
|
|
|
izz="0.0022883" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_hip_yaw_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<!-- [CAUTION] use cylinder for hip_yaw_link -->
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="-0.067 0 0"
|
|
|
|
|
rpy="0 1.57075 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.07" radius="0.06" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_hip_yaw_joint"
|
|
|
|
|
type="revolute">
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 -0.0875 -0.1742"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="pelvis" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_hip_yaw_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 0 1" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-0.43"
|
|
|
|
|
upper="0.43"
|
|
|
|
|
effort="200"
|
|
|
|
|
velocity="23" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_hip_roll_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="-0.0058 0.00319 -9E-05"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="2.232" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.0020603"
|
|
|
|
|
ixy="-3.2115E-05"
|
|
|
|
|
ixz="2.878E-06"
|
|
|
|
|
iyy="0.0022482"
|
|
|
|
|
iyz="7.813E-06"
|
|
|
|
|
izz="0.0024323" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_hip_roll_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_hip_roll_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_hip_roll_joint"
|
|
|
|
|
type="revolute">
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.039468 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="right_hip_yaw_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_hip_roll_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="1 0 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-0.43"
|
|
|
|
|
upper="0.43"
|
|
|
|
|
effort="200"
|
|
|
|
|
velocity="23" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_hip_pitch_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.00746 0.02346 -0.08193"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="4.152" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.082618"
|
|
|
|
|
ixy="0.00066654"
|
|
|
|
|
ixz="0.0040725"
|
|
|
|
|
iyy="0.081579"
|
|
|
|
|
iyz="-0.0072024"
|
|
|
|
|
izz="0.0060081" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_hip_pitch_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_hip_pitch_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_hip_pitch_joint"
|
|
|
|
|
type="revolute">
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 -0.11536 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="right_hip_roll_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_hip_pitch_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 1 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-1.57"
|
|
|
|
|
upper="1.57"
|
|
|
|
|
effort="200"
|
|
|
|
|
velocity="23" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_knee_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="-0.00136 0.00512 -0.1384"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="1.721" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.012205"
|
|
|
|
|
ixy="6.8431E-05"
|
|
|
|
|
ixz="0.0010862"
|
|
|
|
|
iyy="0.012509"
|
|
|
|
|
iyz="-0.00022549"
|
|
|
|
|
izz="0.0020629" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_knee_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_knee_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_knee_joint"
|
|
|
|
|
type="revolute">
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 -0.4"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="right_hip_pitch_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_knee_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 1 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-0.26"
|
|
|
|
|
upper="2.05"
|
|
|
|
|
effort="300"
|
|
|
|
|
velocity="14" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_ankle_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.048568 0 -0.045609"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="0.552448" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.000156"
|
|
|
|
|
ixy="0"
|
|
|
|
|
ixz="0.000143"
|
|
|
|
|
iyy="0.003620"
|
|
|
|
|
iyz="0"
|
|
|
|
|
izz="0.003551" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_ankle_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_ankle_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_ankle_joint"
|
|
|
|
|
type="revolute">
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 -0.4"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="right_knee_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_ankle_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 1 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-0.87"
|
|
|
|
|
upper="0.52"
|
|
|
|
|
effort="40"
|
|
|
|
|
velocity="9" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="torso_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.000489 0.002797 0.20484"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="17.789" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.4873"
|
|
|
|
|
ixy="-0.00053763"
|
|
|
|
|
ixz="0.0020276"
|
|
|
|
|
iyy="0.40963"
|
|
|
|
|
iyz="-0.00074582"
|
|
|
|
|
izz="0.12785" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/torso_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/torso_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="torso_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="pelvis" />
|
|
|
|
|
<child
|
|
|
|
|
link="torso_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 0 1" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-2.35"
|
|
|
|
|
upper="2.35"
|
|
|
|
|
effort="200"
|
|
|
|
|
velocity="23" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="left_shoulder_pitch_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.005045 0.053657 -0.015715"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="1.033" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.0012985"
|
|
|
|
|
ixy="-1.7333E-05"
|
|
|
|
|
ixz="8.683E-06"
|
|
|
|
|
iyy="0.00087279"
|
|
|
|
|
iyz="3.9656E-05"
|
|
|
|
|
izz="0.00097338" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_shoulder_pitch_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_shoulder_pitch_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="left_shoulder_pitch_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="0.0055 0.15535 0.42999"
|
|
|
|
|
rpy="0.43633 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="torso_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="left_shoulder_pitch_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 1 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-2.87"
|
|
|
|
|
upper="2.87"
|
|
|
|
|
effort="40"
|
|
|
|
|
velocity="9" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="left_shoulder_roll_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.000679 0.00115 -0.094076"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="0.793" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.0015742"
|
|
|
|
|
ixy="2.298E-06"
|
|
|
|
|
ixz="-7.2265E-05"
|
|
|
|
|
iyy="0.0016973"
|
|
|
|
|
iyz="-6.3691E-05"
|
|
|
|
|
izz="0.0010183" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_shoulder_roll_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_shoulder_roll_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="left_shoulder_roll_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="-0.0055 0.0565 -0.0165"
|
|
|
|
|
rpy="-0.43633 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="left_shoulder_pitch_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="left_shoulder_roll_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="1 0 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-0.34"
|
|
|
|
|
upper="3.11"
|
|
|
|
|
effort="40"
|
|
|
|
|
velocity="9" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="left_shoulder_yaw_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.01365 0.002767 -0.16266"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="0.839" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.003664"
|
|
|
|
|
ixy="-1.0671E-05"
|
|
|
|
|
ixz="0.00034733"
|
|
|
|
|
iyy="0.0040789"
|
|
|
|
|
iyz="7.0213E-05"
|
|
|
|
|
izz="0.00066383" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_shoulder_yaw_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_shoulder_yaw_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="left_shoulder_yaw_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="0 0 -0.1343"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="left_shoulder_roll_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="left_shoulder_yaw_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 0 1" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-1.3"
|
|
|
|
|
upper="4.45"
|
|
|
|
|
effort="18"
|
|
|
|
|
velocity="20" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="left_elbow_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.15908 -0.000144 -0.015776"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="0.669" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.00042388"
|
|
|
|
|
ixy="-3.6086E-05"
|
|
|
|
|
ixz="0.00029293"
|
|
|
|
|
iyy="0.0060062"
|
|
|
|
|
iyz="4.664E-06"
|
|
|
|
|
izz="0.0060023" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_elbow_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/left_elbow_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="left_elbow_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="0.0185 0 -0.198"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="left_shoulder_yaw_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="left_elbow_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 1 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-1.25"
|
|
|
|
|
upper="2.61"
|
|
|
|
|
effort="18"
|
|
|
|
|
velocity="20" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_shoulder_pitch_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.005045 -0.053657 -0.015715"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="1.033" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.0012985"
|
|
|
|
|
ixy="1.7333E-05"
|
|
|
|
|
ixz="8.683E-06"
|
|
|
|
|
iyy="0.00087279"
|
|
|
|
|
iyz="-3.9656E-05"
|
|
|
|
|
izz="0.00097338" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_shoulder_pitch_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_shoulder_pitch_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_shoulder_pitch_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="0.0055 -0.15535 0.42999"
|
|
|
|
|
rpy="-0.43633 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="torso_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_shoulder_pitch_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 1 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-2.87"
|
|
|
|
|
upper="2.87"
|
|
|
|
|
effort="40"
|
|
|
|
|
velocity="9" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_shoulder_roll_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.000679 -0.00115 -0.094076"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="0.793" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.0015742"
|
|
|
|
|
ixy="-2.298E-06"
|
|
|
|
|
ixz="-7.2265E-05"
|
|
|
|
|
iyy="0.0016973"
|
|
|
|
|
iyz="6.3691E-05"
|
|
|
|
|
izz="0.0010183" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_shoulder_roll_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_shoulder_roll_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_shoulder_roll_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="-0.0055 -0.0565 -0.0165"
|
|
|
|
|
rpy="0.43633 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="right_shoulder_pitch_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_shoulder_roll_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="1 0 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-3.11"
|
|
|
|
|
upper="0.34"
|
|
|
|
|
effort="40"
|
|
|
|
|
velocity="9" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_shoulder_yaw_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.01365 -0.002767 -0.16266"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="0.839" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.003664"
|
|
|
|
|
ixy="1.0671E-05"
|
|
|
|
|
ixz="0.00034733"
|
|
|
|
|
iyy="0.0040789"
|
|
|
|
|
iyz="-7.0213E-05"
|
|
|
|
|
izz="0.00066383" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_shoulder_yaw_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_shoulder_yaw_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_shoulder_yaw_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="0 0 -0.1343"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="right_shoulder_roll_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_shoulder_yaw_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 0 1" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-4.45"
|
|
|
|
|
upper="1.3"
|
|
|
|
|
effort="18"
|
|
|
|
|
velocity="20" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="right_elbow_link">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0.15908 0.000144 -0.015776"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<mass
|
|
|
|
|
value="0.669" />
|
|
|
|
|
<inertia
|
|
|
|
|
ixx="0.00042388"
|
|
|
|
|
ixy="3.6086E-05"
|
|
|
|
|
ixz="0.00029293"
|
|
|
|
|
iyy="0.0060062"
|
|
|
|
|
iyz="-4.664E-06"
|
|
|
|
|
izz="0.0060023" />
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_elbow_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="dark">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="0.1 0.1 0.1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/right_elbow_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="right_elbow_joint"
|
2024-01-12 15:41:58 +08:00
|
|
|
type="fixed">
|
2024-01-12 10:18:20 +08:00
|
|
|
<origin
|
|
|
|
|
xyz="0.0185 0 -0.198"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="right_shoulder_yaw_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="right_elbow_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 1 0" />
|
|
|
|
|
<limit
|
|
|
|
|
lower="-1.25"
|
|
|
|
|
upper="2.61"
|
|
|
|
|
effort="18"
|
|
|
|
|
velocity="20" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="imu_link"></link>
|
|
|
|
|
<joint
|
|
|
|
|
name="imu_joint"
|
|
|
|
|
type="fixed">
|
|
|
|
|
<origin
|
|
|
|
|
xyz="-0.04452 -0.01891 0.27756"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="torso_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="imu_link" />
|
|
|
|
|
</joint>
|
|
|
|
|
<link
|
|
|
|
|
name="logo_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh
|
|
|
|
|
filename="../meshes/logo_link.STL" />
|
|
|
|
|
</geometry>
|
|
|
|
|
<material
|
2024-07-18 15:34:02 +08:00
|
|
|
name="white">
|
2024-01-12 10:18:20 +08:00
|
|
|
<color
|
|
|
|
|
rgba="1 1 1 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
</link>
|
|
|
|
|
<joint
|
|
|
|
|
name="logo_joint"
|
|
|
|
|
type="fixed">
|
|
|
|
|
<origin
|
|
|
|
|
xyz="0 0 0"
|
|
|
|
|
rpy="0 0 0" />
|
|
|
|
|
<parent
|
|
|
|
|
link="torso_link" />
|
|
|
|
|
<child
|
|
|
|
|
link="logo_link" />
|
|
|
|
|
<axis
|
|
|
|
|
xyz="0 0 0" />
|
|
|
|
|
</joint>
|
|
|
|
|
</robot>
|
