1785 lines
40 KiB
XML
1785 lines
40 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by 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="b2_description">
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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="base_link" />
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</joint>
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="0.000458 0.005261 0.000665"
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rpy="0 0 0" />
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<mass
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value="35.606" />
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<inertia
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ixx="0.27466"
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ixy="-0.000622"
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ixz="0.00315"
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iyy="1.0618"
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iyz="-0.00139"
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izz="1.1825" />
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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="package://b2_description/meshes/base_link.obj" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.7 0.7 0.7 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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<box size="0.5 0.28 0.15" />
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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="logo_left_link">
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<inertial>
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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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<mass
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value="6.55E-08" />
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<inertia
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ixx="1.64E-15"
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ixy="0"
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ixz="-1.09E-47"
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iyy="1.64E-15"
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iyz="-1.32E-47"
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izz="1.64E-15" />
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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="package://b2_description/meshes/logo_left.obj" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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</link>
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<joint
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name="logo_left_joint"
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type="fixed">
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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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<parent
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link="base_link" />
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<child
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link="logo_left_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="logo_right_link">
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<inertial>
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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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<mass
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value="6.55E-08" />
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<inertia
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ixx="1.64E-15"
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ixy="0"
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ixz="-1.09E-47"
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iyy="1.64E-15"
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iyz="-1.32E-47"
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izz="1.64E-15" />
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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="package://b2_description/meshes/logo_right.obj" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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</link>
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<joint
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name="logo_right_joint"
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type="fixed">
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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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<parent
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link="base_link" />
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<child
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link="logo_right_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="lidar_link">
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<inertial>
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<origin
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xyz="4.22E-15 1.05E-14 -3.05E-16"
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rpy="0 0 0" />
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<mass
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value="6.55E-08" />
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<inertia
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ixx="1.64E-15"
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ixy="0"
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ixz="-1.09E-47"
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iyy="1.64E-15"
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iyz="-1.32E-47"
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izz="1.64E-15" />
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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="package://b2_description/meshes/unitree_ladar.obj" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.15 0.15 0.15 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 -0.02"
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rpy="0 0 0" />
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<geometry>
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<cylinder length="0.16" radius="0.076" />
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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="joint_lidar"
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type="fixed">
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<origin
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xyz="0.34218 0 0.17851"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="lidar_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="f_dc_link">
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<inertial>
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<origin
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xyz="-3.47E-18 -1.11E-16 1.11E-16"
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rpy="0 0 0" />
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<mass
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value="6.54E-08" />
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<inertia
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ixx="1.64E-15"
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ixy="1.87E-32"
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ixz="-6.15E-32"
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iyy="1.64E-15"
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iyz="4.93E-32"
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izz="1.64E-15" />
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</inertial>
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<visual>
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<origin
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xyz="0.025 -0.362 0.245"
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rpy="0 0.7805 1.5708" />
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<geometry>
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<mesh
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filename="package://b2_description/meshes/f_dc_link.obj" />
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</geometry>
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<material
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name="">
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<color
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rgba="0 0 0 1" />
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</material>
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</visual>
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</link>
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<joint
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name="joint_f_dc"
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type="fixed">
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<origin
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xyz="0.41251 0.024997 0.04765"
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rpy="-2.3562 0 -1.5708" />
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<parent
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link="base_link" />
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<child
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link="f_dc_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="r_dc_link">
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<inertial>
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<origin
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xyz="1.63E-16 1.39E-16 2.78E-17"
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rpy="0 0 0" />
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<mass
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value="6.55E-08" />
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<inertia
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ixx="1.64E-15"
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ixy="-4.94E-44"
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ixz="4.36E-43"
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iyy="1.64E-15"
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iyz="0"
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izz="1.64E-15" />
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</inertial>
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<visual>
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<origin
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xyz="0.0252 0.3074 0.265"
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rpy="0 -0.7805 1.5708" />
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<geometry>
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<mesh
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filename="package://b2_description/meshes/r_dc_link.obj" />
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</geometry>
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<material
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name="">
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<color
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rgba="0 0 0 1" />
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</material>
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</visual>
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</link>
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<joint
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name="joint_r_dc"
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type="fixed">
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<origin
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xyz="-0.4081 -0.025 0.024861"
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rpy="-2.3557 0 1.5708" />
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<parent
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link="base_link" />
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<child
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link="r_dc_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="imu_link">
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<inertial>
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<origin
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xyz="-1.11E-16 -2.81E-16 -1.32E-16"
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rpy="0 0 0" />
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<mass
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value="6.54E-08" />
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<inertia
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ixx="1.64E-15"
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ixy="0"
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ixz="-1.09E-47"
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iyy="1.64E-15"
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iyz="-1.32E-47"
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izz="1.64E-15" />
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</inertial>
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<visual>
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<origin
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xyz="0.0 0.0 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="package://b2_description/meshes/fake_imu_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0 0 0 1" />
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</material>
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</visual>
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</link>
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<joint
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name="joint_imu"
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type="fixed">
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<origin
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xyz="0 -0.02341 0.04927"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="imu_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="head_Link">
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<inertial>
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<origin
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xyz="0.33989 -0.000168 0.12029"
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rpy="0 0 0" />
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<mass
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value="100.366" />
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<inertia
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ixx="0.026455"
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ixy="3.15E-05"
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ixz="0.00166"
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iyy="0.029221"
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iyz="-3.27E-05"
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izz="0.010918" />
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</inertial>
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<visual>
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<origin
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xyz="0.0 0.0 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="package://b2_description/meshes/fake_head_Link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0 0 0 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="0.41 0 0.005"
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rpy="0 0 0" />
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<geometry>
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<box size="0.04 0.12 0.14" />
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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="joint_head"
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type="fixed">
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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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<parent
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link="base_link" />
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<child
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link="head_Link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="tail_link">
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<inertial>
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<origin
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xyz="-0.37448 0.000488 0.006495"
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rpy="0 0 0" />
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<mass
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value="0.777" />
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<inertia
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ixx="0.0028118"
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ixy="1.95E-05"
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ixz="-7.87E-06"
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iyy="0.0047506"
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iyz="-1.57E-05"
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izz="0.0029154" />
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</inertial>
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<visual>
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<origin
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xyz="0.0 0.0 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="package://b2_description/meshes/fake_tail_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0 0 0 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="-0.405 0 0.005"
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rpy="0 0 0" />
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<geometry>
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<box size="0.025 0.12 0.14" />
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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="joint_tail"
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type="fixed">
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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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<parent
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link="base_link" />
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<child
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link="tail_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="FL_hip">
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<inertial>
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<origin
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xyz="-0.009305 -0.010228 0.000264"
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rpy="0 0 0" />
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<mass
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value="2.256" />
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<inertia
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ixx="0.0026431"
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|
ixy="0.00019234"
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ixz="-6.76E-06"
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iyy="0.0046728"
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iyz="-7.16E-06"
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izz="0.0034208" />
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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="package://b2_description/meshes/FL_hip.obj" />
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</geometry>
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<material
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name="">
|
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<color
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rgba="0.7 0.7 0.7 1" />
|
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</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0.12 0"
|
|
rpy="1.5707963267948966 0 0" />
|
|
<geometry>
|
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<cylinder length="0.05" radius="0.07" />
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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="FL_hip_joint"
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type="revolute">
|
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<origin
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xyz="0.3285 0.072 0"
|
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rpy="0 0 0" />
|
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<parent
|
|
link="base_link" />
|
|
<child
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|
link="FL_hip" />
|
|
<axis
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|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.87"
|
|
upper="0.87"
|
|
effort="200"
|
|
velocity="23" />
|
|
</joint>
|
|
<link name="FL_hip_rotor">
|
|
<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"/>
|
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<parent link="base_link"/>
|
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<child link="FL_hip_rotor"/>
|
|
</joint>
|
|
<link
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|
name="FL_thigh">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.004346 -0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/FL_thigh.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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_thigh_protect">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.004346 -0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/FL_thigh_protect.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.65 0.68 0.65 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint
|
|
name="FL_thigh_protect_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="FL_thigh" />
|
|
<child
|
|
link="FL_thigh_protect" />
|
|
</joint>
|
|
<link
|
|
name="FL_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.012422 0 -0.12499"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.58094" />
|
|
<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.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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="0.098183" />
|
|
<inertia
|
|
ixx="3.8E-05"
|
|
ixy="0"
|
|
ixz="1.1E-05"
|
|
iyy="4.1E-05"
|
|
iyz="0"
|
|
izz="4.2E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0.35"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/FL_foot.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.15 0.15 0.15 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" radius="0.032" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="FL_foot_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 8.6986E-05 -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="2.256" />
|
|
<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.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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="-0.004346 0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="-0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="-0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/FR_thigh.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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_thigh_protect">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.004346 0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="-0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="-0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/FR_thigh_protect.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.65 0.68 0.65 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint
|
|
name="FR_thigh_protect_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="FR_thigh" />
|
|
<child
|
|
link="FR_thigh_protect" />
|
|
</joint>
|
|
<link
|
|
name="FR_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.012422 0 -0.12499"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.58094" />
|
|
<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.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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="0.098183" />
|
|
<inertia
|
|
ixx="3.8E-05"
|
|
ixy="0"
|
|
ixz="1.1E-05"
|
|
iyy="4.1E-05"
|
|
iyz="0"
|
|
izz="4.2E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0.35"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/FR_foot.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.15 0.15 0.15 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" 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="2.256" />
|
|
<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.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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="-0.004346 -0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/RL_thigh.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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_thigh_protect">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.004346 -0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/RL_thigh_protect.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.65 0.68 0.65 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint
|
|
name="RL_thigh_protect_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RL_thigh" />
|
|
<child
|
|
link="RL_thigh_protect" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.94"
|
|
upper="4.69"
|
|
effort="200"
|
|
velocity="23" />
|
|
</joint>
|
|
<link
|
|
name="RL_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.012422 0 -0.12499"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.58094" />
|
|
<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.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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="0.098183" />
|
|
<inertia
|
|
ixx="3.8E-05"
|
|
ixy="0"
|
|
ixz="1.1E-05"
|
|
iyy="4.1E-05"
|
|
iyz="0"
|
|
izz="4.2E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0.35"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/RL_foot.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.15 0.15 0.15 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" radius="0.032" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_foot_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 8.6986E-05 -0.35"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RL_calf" />
|
|
<child
|
|
link="RL_foot" />
|
|
</joint>
|
|
<link
|
|
name="RR_hip">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.009305 -0.010228 0.000264"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="2.256" />
|
|
<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/RR_hip.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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="-0.004346 0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="-0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="-0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/RR_thigh.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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_thigh_protect">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.004346 0.035797 -0.044921"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.591" />
|
|
<inertia
|
|
ixx="0.041718"
|
|
ixy="-0.00055623"
|
|
ixz="-0.0022768"
|
|
iyy="0.041071"
|
|
iyz="-0.005796"
|
|
izz="0.0065677" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/RR_thigh_protect.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.65 0.68 0.65 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint
|
|
name="RR_thigh_protect_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RR_thigh" />
|
|
<child
|
|
link="RR_thigh_protect" />
|
|
</joint>
|
|
<link
|
|
name="RR_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.012422 0 -0.12499"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.58094" />
|
|
<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.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.7 0.7 0.7 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">
|
|
<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="0.098183" />
|
|
<inertia
|
|
ixx="3.8E-05"
|
|
ixy="0"
|
|
ixz="1.1E-05"
|
|
iyy="4.1E-05"
|
|
iyz="0"
|
|
izz="4.2E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0.35"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/RR_foot.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.15 0.15 0.15 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" 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="-2.78E-17 1.73E-18 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="6.55E-08" />
|
|
<inertia
|
|
ixx="1.64E-15"
|
|
ixy="-1.32E-47"
|
|
ixz="0"
|
|
iyy="1.64E-15"
|
|
iyz="1.09E-47"
|
|
izz="1.64E-15" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0.013433 0 0.45079"
|
|
rpy="0 1.5708 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/f_oc_link.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0 0 0 1" />
|
|
</material>
|
|
</visual>
|
|
</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="-1.3E-19 3.47E-18 -5.55E-17"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="6.55E-08" />
|
|
<inertia
|
|
ixx="1.64E-15"
|
|
ixy="1.33E-47"
|
|
ixz="-6.38E-33"
|
|
iyy="1.64E-15"
|
|
iyz="-1.64E-47"
|
|
izz="1.64E-15" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0.025249 0.003 -0.38"
|
|
rpy="0 1.5708 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2_description/meshes/r_oc_link.obj" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0 0 0 1" />
|
|
</material>
|
|
</visual>
|
|
</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>
|
|
<mujoco>
|
|
<compiler
|
|
meshdir="package://b2_description/meshes/"
|
|
discardvisual="false" />
|
|
</mujoco>
|
|
</robot>
|