1248 lines
26 KiB
XML
1248 lines
26 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="b2w_description">
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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://b2w_description/meshes/base_link.dae" />
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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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<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="lidar_link">
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<inertial>
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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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<mass
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value="4.19E-15" />
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<inertia
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ixx="1.68E-27"
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ixy="-3.2E-45"
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ixz="7.68E-44"
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iyy="1.68E-27"
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iyz="-9.26E-47"
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izz="1.68E-27" />
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</inertial>
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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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<!-- <mesh
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filename="package://b2_description/meshes/lidar_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="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 0 5.55E-17"
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rpy="0 0 0" />
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<mass
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value="4.19E-15" />
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<inertia
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ixx="1.68E-27"
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ixy="-9.81E-45"
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ixz="-2.54E-44"
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iyy="1.68E-27"
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iyz="0"
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izz="1.68E-27" />
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</inertial>
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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="0.42161 0.025 0.061851"
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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="-7.46E-16 -3.33E-16 -1.11E-15"
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rpy="0 0 0" />
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<mass
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value="4.19E-15" />
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<inertia
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ixx="1.68E-27"
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ixy="-4.31E-44"
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ixz="2.48E-45"
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iyy="1.68E-27"
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iyz="0"
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izz="1.68E-27" />
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</inertial>
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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="-0.42244 -0.025 0.038026"
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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="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="-2.02E-17 1.73E-17 -1.39E-17"
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rpy="0 0 0" />
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<mass
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value="4.19E-15" />
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<inertia
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ixx="1.68E-27"
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ixy="1.84E-44"
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ixz="-7.35E-44"
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iyy="1.68E-27"
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iyz="-3.67E-44"
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izz="1.68E-27" />
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</inertial>
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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="3.366" />
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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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<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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<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://b2w_description/meshes/FL_hip.dae" />
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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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<collision>
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<origin
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xyz="0 0.12 0"
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rpy="1.5707963267948966 0 0" />
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<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
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link="base_link" />
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<child
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link="FL_hip" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-0.87"
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upper="0.87"
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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="FL_thigh">
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<inertial>
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<origin
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xyz="-0.004346 -0.035797 -0.044921"
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rpy="0 0 0" />
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<mass
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value="3.591" />
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<inertia
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ixx="0.041718"
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ixy="0.00055623"
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ixz="-0.0022768"
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iyy="0.041071"
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iyz="0.005796"
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izz="0.0065677" />
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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://b2w_description/meshes/FL_thigh.dae" />
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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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<collision>
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<origin
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xyz="-0.025 0 -0.16"
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rpy="0 1.57 0" />
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<geometry>
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<box size="0.32 0.0445 0.054" />
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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_thigh_joint"
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type="revolute">
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<origin
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xyz="0 0.11973 0"
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rpy="0 0 0" />
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<parent
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link="FL_hip" />
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<child
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link="FL_thigh" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-0.94"
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upper="4.69"
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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="FL_calf">
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<inertial>
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<origin
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xyz="0.006095 0.012046 -0.29122"
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rpy="0 0 0" />
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<mass
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value="2.053" />
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<inertia
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ixx="0.028133"
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ixy="0.00016307"
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ixz="-0.0010034"
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iyy="0.029251"
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iyz="0.0014765"
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izz="0.0028379" />
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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://b2w_description/meshes/FL_calf.dae" />
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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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<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="package://b2w_description/meshes/FL_calf.dae" />
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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_calf_joint"
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type="revolute">
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<origin
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xyz="0 -8.8203E-05 -0.35"
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rpy="0 0 0" />
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<parent
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link="FL_thigh" />
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<child
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link="FL_calf" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-2.82"
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upper="-0.43"
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effort="320"
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velocity="14" />
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</joint>
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<link
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name="FL_foot">
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<inertial>
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<origin
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xyz="0 0.051576 0"
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rpy="0 0 0" />
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<mass
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value="0.918" />
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<inertia
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ixx="0.0032475"
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ixy="0"
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ixz="0"
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iyy="0.0061101"
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iyz="0"
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izz="0.003235" />
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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://b2w_description/meshes/FL_foot.dae" />
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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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<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="package://b2w_description/meshes/FL_foot.dae" />
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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_foot_joint"
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type="continuous">
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<origin
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xyz="0 0 -0.35"
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rpy="0 0 0" />
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<parent
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link="FL_calf" />
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<child
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link="FL_foot" />
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<axis
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xyz="0 1 0" />
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<limit
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effort="20"
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velocity="50" />
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</joint>
|
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<link
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name="FR_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://b2w_description/meshes/FR_hip.dae" />
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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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<collision>
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|
<origin
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|
xyz="0 -0.12 0"
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rpy="1.5707963267948966 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.07" />
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</geometry>
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|
</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
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|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.87"
|
|
upper="0.87"
|
|
effort="200"
|
|
velocity="23" />
|
|
</joint>
|
|
<link
|
|
name="FR_thigh">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.004346 0.035797 -0.044921"
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|
rpy="0 0 0" />
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|
<mass
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value="3.591" />
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<inertia
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|
ixx="0.041718"
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ixy="-0.00055623"
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ixz="-0.0022768"
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|
iyy="0.041071"
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|
iyz="-0.005796"
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izz="0.0065677" />
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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://b2w_description/meshes/FR_thigh.dae" />
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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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<collision>
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<origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
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<geometry>
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<box size="0.25 0.028 0.04"/>
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</geometry>
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</collision>
|
|
</link>
|
|
<joint
|
|
name="FR_thigh_joint"
|
|
type="revolute">
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<origin
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xyz="0 -0.11973 0"
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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_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.006095 -0.012046 -0.29122"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="2.053" />
|
|
<inertia
|
|
ixx="0.028133"
|
|
ixy="-0.00016307"
|
|
ixz="-0.0010034"
|
|
iyy="0.029251"
|
|
iyz="-0.0014765"
|
|
izz="0.0028379" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/FR_calf.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/FR_calf.dae" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="FR_calf_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 8.8205E-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_foot">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 -0.051576 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.918" />
|
|
<inertia
|
|
ixx="0.0032475"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.0061101"
|
|
iyz="0"
|
|
izz="0.003235" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/FR_foot.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/FR_foot.dae" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="FR_foot_joint"
|
|
type="continuous">
|
|
<origin
|
|
xyz="0 -0.001 -0.35"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="FR_calf" />
|
|
<child
|
|
link="FR_foot" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
effort="20"
|
|
velocity="50" />
|
|
</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://b2w_description/meshes/RL_hip.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0.12 0"
|
|
rpy="1.5707963267948966 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" radius="0.07" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_hip_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.3285 0.072 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="RL_hip" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.87"
|
|
upper="0.87"
|
|
effort="200"
|
|
velocity="23" />
|
|
</joint>
|
|
<link
|
|
name="RL_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://b2w_description/meshes/RL_thigh.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
|
|
<geometry>
|
|
<box size="0.25 0.028 0.04"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_thigh_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0.11973 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RL_hip" />
|
|
<child
|
|
link="RL_thigh" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.94"
|
|
upper="4.69"
|
|
effort="200"
|
|
velocity="23" />
|
|
</joint>
|
|
<link
|
|
name="RL_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.006095 0.012046 -0.29122"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="2.053" />
|
|
<inertia
|
|
ixx="0.028133"
|
|
ixy="0.00016307"
|
|
ixz="-0.0010034"
|
|
iyy="0.029251"
|
|
iyz="0.0014765"
|
|
izz="0.0028379" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RL_calf.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RL_calf.dae" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_calf_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -8.8205E-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_foot">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0.051576 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.918" />
|
|
<inertia
|
|
ixx="0.0032475"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.0061101"
|
|
iyz="0"
|
|
izz="0.003235" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RL_foot.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RL_foot.dae" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_foot_joint"
|
|
type="continuous">
|
|
<origin
|
|
xyz="0 0 -0.35"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RL_calf" />
|
|
<child
|
|
link="RL_foot" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
effort="20"
|
|
velocity="50" />
|
|
</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://b2w_description/meshes/RR_hip.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 -0.12 0"
|
|
rpy="1.5707963267948966 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" radius="0.07" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_hip_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.3285 -0.072 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="RR_hip" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.87"
|
|
upper="0.87"
|
|
effort="200"
|
|
velocity="23" />
|
|
</joint>
|
|
<link
|
|
name="RR_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://b2w_description/meshes/RR_thigh.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
|
|
<geometry>
|
|
<box size="0.25 0.028 0.04"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_thigh_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.11973 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RR_hip" />
|
|
<child
|
|
link="RR_thigh" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.94"
|
|
upper="4.69"
|
|
effort="200"
|
|
velocity="23" />
|
|
</joint>
|
|
<link
|
|
name="RR_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.006095 -0.012046 -0.29122"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="2.053" />
|
|
<inertia
|
|
ixx="0.028133"
|
|
ixy="-0.00016307"
|
|
ixz="-0.0010034"
|
|
iyy="0.029251"
|
|
iyz="-0.0014765"
|
|
izz="0.0028379" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RR_calf.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RR_calf.dae" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_calf_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 8.8205E-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_foot">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 -0.051576 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.918" />
|
|
<inertia
|
|
ixx="0.0032475"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.0061101"
|
|
iyz="0"
|
|
izz="0.003235" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RR_foot.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://b2w_description/meshes/RR_foot.dae" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_foot_joint"
|
|
type="continuous">
|
|
<origin
|
|
xyz="0 -0.001 -0.35"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RR_calf" />
|
|
<child
|
|
link="RR_foot" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
effort="20"
|
|
velocity="50" />
|
|
</joint>
|
|
<link
|
|
name="f_oc_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.39E-15 1.46E-16 -6.11E-16"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="4.19E-15" />
|
|
<inertia
|
|
ixx="1.68E-27"
|
|
ixy="-3.89E-44"
|
|
ixz="5.04E-44"
|
|
iyy="1.68E-27"
|
|
iyz="2.81E-45"
|
|
izz="1.68E-27" />
|
|
</inertial>
|
|
</link>
|
|
<joint
|
|
name="f_oc_link"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.3993 0 -0.01576"
|
|
rpy="-1.5708 0 -1.5708" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="f_oc_link" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="logo_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 -2.3E-23 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="4.19E-15" />
|
|
<inertia
|
|
ixx="1.68E-27"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="1.68E-27"
|
|
iyz="0"
|
|
izz="1.68E-27" />
|
|
</inertial>
|
|
</link>
|
|
<joint
|
|
name="joint_logo"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="logo_link" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="r_oc_ink">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.39143 1.52E-07 -0.011961"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="4.19E-12" />
|
|
<inertia
|
|
ixx="1.68E-22"
|
|
ixy="9.03E-39"
|
|
ixz="0"
|
|
iyy="1.68E-22"
|
|
iyz="-1.2E-38"
|
|
izz="1.68E-22" />
|
|
</inertial>
|
|
</link>
|
|
<joint
|
|
name="joint_r_oc"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.39143 0 -0.026131"
|
|
rpy="-1.5708 0 1.5708" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="r_oc_ink" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
</robot> |