458 lines
15 KiB
Plaintext
458 lines
15 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
|
||
|
|
|
||
|
|
<material name="black">
|
||
|
|
<color rgba="0.0 0.0 0.0 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="blue">
|
||
|
|
<color rgba="0.0 0.0 0.8 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="green">
|
||
|
|
<color rgba="0.0 0.8 0.0 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="grey">
|
||
|
|
<color rgba="0.2 0.2 0.2 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="silver">
|
||
|
|
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="orange">
|
||
|
|
<!-- <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> -->
|
||
|
|
<color rgba="0.12 0.15 0.2 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="brown">
|
||
|
|
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="red">
|
||
|
|
<color rgba="0.8 0.0 0.0 1.0"/>
|
||
|
|
</material>
|
||
|
|
<material name="white">
|
||
|
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
||
|
|
</material>
|
||
|
|
|
||
|
|
<link name="base">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.001 0.001 0.001"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="3.3"/>
|
||
|
|
<origin xyz="0.0 0.0 0.0"/>
|
||
|
|
<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="floating_base" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="trunk"/>
|
||
|
|
</joint>
|
||
|
|
<link name="trunk">
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_body.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 0.0 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_body.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
</collision> -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.23 0.18 0.1"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="imu_joint" type="fixed">
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="imu_link"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
<link name="imu_link">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.001 0.001 0.001"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="red"/>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
|
||
|
|
<joint name="FR_hip_joint" type="revolute">
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="FR_hip"/>
|
||
|
|
<!-- <actuator gear_ratio="6" voltage="24">
|
||
|
|
<friction damping="0.01" dry_friction="0.2"/>
|
||
|
|
<motor Kt="0.05" R="0.173" TauMax="3"/>
|
||
|
|
<rotor_inertia ixx="33.0e-6" iyy="0.000033" izz="63e-6" iyz="0.0" ixy="0" ixz="0" />
|
||
|
|
</actuator> -->
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
|
||
|
|
|
||
|
|
</joint>
|
||
|
|
<link name="FR_hip">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.54"/>
|
||
|
|
<origin xyz="0.0 0.036 0."/>
|
||
|
|
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
|
||
|
|
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="3.141592 0 1.5708" xyz="-0.055 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="FR_thigh_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
|
||
|
|
<parent link="FR_hip"/>
|
||
|
|
<child link="FR_thigh"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_thigh">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.634"/>
|
||
|
|
<origin xyz="0.0 0.016 -0.02"/>
|
||
|
|
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
|
||
|
|
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 -1.5708 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.105"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.17 0.015 0.030"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="FR_calf_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
|
||
|
|
<parent link="FR_thigh"/>
|
||
|
|
<child link="FR_calf"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_calf">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.064"/>
|
||
|
|
<origin xyz="0.0 0.0 -0.209"/>
|
||
|
|
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 3.141592 0.0" xyz="0 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
|
||
|
|
<joint name="FL_hip_joint" type="revolute">
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="FL_hip"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_hip">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.54"/>
|
||
|
|
<origin xyz="0.0 0.036 0."/>
|
||
|
|
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
|
||
|
|
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0. 0. -1.5708" xyz="-0.055 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="FL_thigh_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
|
||
|
|
<parent link="FL_hip"/>
|
||
|
|
<child link="FL_thigh"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_thigh">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.634"/>
|
||
|
|
<origin xyz="0.0 0.016 -0.02"/>
|
||
|
|
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
|
||
|
|
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.105"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.17 0.015 0.030"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="FL_calf_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
|
||
|
|
<parent link="FL_thigh"/>
|
||
|
|
<child link="FL_calf"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_calf">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.064"/>
|
||
|
|
<origin xyz="0.0 0.0 -0.209"/>
|
||
|
|
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 3.141592 0.0" xyz="0 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
|
||
|
|
<joint name="RR_hip_joint" type="revolute">
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RR_hip"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_hip">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.54"/>
|
||
|
|
<origin xyz="0.0 0.036 0."/>
|
||
|
|
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
|
||
|
|
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 0 1.5708" xyz="0.055 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="RR_thigh_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_thigh">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.634"/>
|
||
|
|
<origin xyz="0.0 0.016 -0.02"/>
|
||
|
|
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
|
||
|
|
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 -1.5708 0.0" xyz="0 0 0"/>
|
||
|
|
</collision> -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.105"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.17 0.015 0.030"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="RR_calf_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
|
||
|
|
<parent link="RR_thigh"/>
|
||
|
|
<child link="RR_calf"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_calf">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.064"/>
|
||
|
|
<origin xyz="0.0 0.0 -0.209"/>
|
||
|
|
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 3.141592 0.0" xyz="0 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
|
||
|
|
<joint name="RL_hip_joint" type="revolute">
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RL_hip"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_hip">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.54"/>
|
||
|
|
<origin xyz="0.0 0.036 0."/>
|
||
|
|
<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
|
||
|
|
iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_abad.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="3.141592 0 -1.5708" xyz="0.055 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="RL_thigh_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_thigh">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.634"/>
|
||
|
|
<origin xyz="0.0 0.016 -0.02"/>
|
||
|
|
<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
|
||
|
|
iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_upper_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 -1.5708 0.0" xyz="0 0 0"/>
|
||
|
|
</collision> -->
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.105"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.17 0.015 0.030"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="RL_calf_joint" type="revolute">
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
|
||
|
|
<parent link="RL_thigh"/>
|
||
|
|
<child link="RL_calf"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_calf">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.064"/>
|
||
|
|
<origin xyz="0.0 0.0 -0.209"/>
|
||
|
|
<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="meshes/mini_lower_link.obj"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0 3.141592 0.0" xyz="0 0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
</robot>
|