714 lines
24 KiB
Plaintext
714 lines
24 KiB
Plaintext
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<?xml version="1.0" ?>
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<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
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<material name="cheetah_material">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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<!--!!!!!!!!!!!!!!!!!!BODY!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<!-- <link name="trunk">
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<inertial>
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<mass value="3.3"/>
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<origin xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
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</inertial>
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<visual>
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<geometry>
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mesh filename="meshes/mini_body.obj"/!!!
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<box size="0.23 0.18 0.1"/>
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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mesh filename="meshes/mini_body.obj"/
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<box size="0.23 0.18 0.1"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<material name="cheetah_material"/>
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</link>
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-->
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<link name="base">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
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<mass value="3.3"/>
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<inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
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</inertial>
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</link>
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<joint name="floating_base" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base"/>
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<child link="trunk"/>
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</joint>
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<link name="trunk">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.23 0.18 0.1"/>
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</geometry>
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<!-- <geometry>
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<mesh filename="../meshes/trunk.dae" scale="1 1 1"/>
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</geometry> -->
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<material name="cheetah_material"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.23 0.18 0.1"/>
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</geometry>
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</collision>
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<material name="cheetah_material"/>
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</link>
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<!-- <joint name="imu_joint" type="fixed">
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<parent link="trunk"/>
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<child link="imu_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="imu_link">
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<material name="red"/>
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</visual> -->
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<!-- <collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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</link> -->
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<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="FL_hip_joint" type="revolute">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
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<parent link="trunk"/>
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<child link="FL_hip"/>
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<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
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</joint>
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<link name="FL_hip">
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<material name="cheetah_material"/>
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<inertial>
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<mass value="0.54"/>
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<origin xyz="0.0 0.036 0."/>
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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</inertial>
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<visual>
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<geometry>
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.01" radius = "0.0475"/>
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</geometry>
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<origin rpy="0. 1.5708 -1.5708" xyz="-0.055 0.0 0.0"/>
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</visual>
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<visual>
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<geometry>
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.06" radius = "0.0425"/>
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</geometry>
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<!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
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<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.01" radius = "0.0475"/>
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</geometry>
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<!--origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/-->
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<origin rpy="0 1.5708 -1.5708" xyz="-0.055 0.0 0.0"/>
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</collision>
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<collision>
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<geometry>
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.06" radius = "0.0425"/>
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</geometry>
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<!--origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/-->
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<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
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</collision>
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</link>
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<joint name="FL_hip_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0.081 0"/>
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<parent link="FL_hip"/>
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<child link="FL_thigh_shoulder"/>
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</joint>
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<!-- this link is only for collision -->
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<link name="FL_thigh_shoulder">
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<!-- <collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.032" radius="0.041"/>
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</geometry>
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</collision> -->
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</link>
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<joint name="FL_thigh_joint" type="revolute">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
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<parent link="FL_hip"/>
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<child link="FL_thigh"/>
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<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
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</joint>
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<link name="FL_thigh">
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<material name="cheetah_material"/>
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<inertial>
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<mass value="0.634"/>
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<origin xyz="0.0 0.016 -0.02"/>
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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</inertial>
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<visual>
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<geometry>
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<!--mesh filename="meshes/mini_upper_link.obj"/-->
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<cylinder length ="0.17" radius = "0.015"/>
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
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</visual>
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<collision>
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<geometry>
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<!--mesh filename="meshes/mini_upper_link.obj"/-->
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<cylinder length ="0.17" radius = "0.015"/>
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
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</collision>
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</link>
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<joint name="FL_calf_joint" type="revolute">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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<parent link="FL_thigh"/>
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<child link="FL_calf"/>
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<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
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</joint>
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<link name="FL_calf">
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<material name="cheetah_material"/>
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<inertial>
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<mass value="0.064"/>
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<origin xyz="0.0 0.0 -0.209"/>
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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</inertial>
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<visual>
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<geometry>
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<!--mesh filename="meshes/mini_lower_link.obj"/-->
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<cylinder length ="0.15" radius = "0.01"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
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</visual>
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<collision>
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<geometry>
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<!--mesh filename="meshes/mini_lower_link.obj"/-->
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<cylinder length ="0.15" radius = "0.01"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0 0 -0.095"/>
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</collision>
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</link>
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<!-- Adapter to Foot joint -->
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<joint name="FL_foot_fixed" type="fixed">
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<parent link="FL_calf"/>
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<child link="FL_foot"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
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</joint>
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<link name="FL_foot">
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<material name="cheetah_material"/>
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<inertial>
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<mass value="0.0"/>
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<inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
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</inertial>
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<visual>
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<geometry>
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<sphere radius = "0.0175"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<!--mesh filename="meshes/mini_lower_link.obj"/-->
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<sphere radius = "0.0175"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0 0 0"/>
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</collision>
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</link>
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<!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<!--!!!!Joint!!!!!!!!!!!!-->
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<joint name="FR_hip_joint" type="revolute">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
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<parent link="trunk"/>
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<child link="FR_hip"/>
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<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
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</joint>
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<link name="FR_hip">
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<material name="cheetah_material"/>
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<inertial>
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<mass value="0.54"/>
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<origin xyz="0.0 0.036 0."/>
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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</inertial>
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<visual>
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<geometry>
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.01" radius = "0.0475"/>
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</geometry>
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<!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
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<origin rpy="3.141592 1.5708 1.5708" xyz="-0.055 0.0 0.0"/>
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</visual>
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<visual>
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<geometry>
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.06" radius = "0.0425"/>
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</geometry>
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<!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
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<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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||
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<geometry>
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||
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.01" radius = "0.0475"/>
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</geometry>
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<origin rpy="3.141592 1.5708 1.5708" xyz="-0.055 0 0"/>
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</collision>
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<collision>
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<geometry>
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||
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<!--mesh filename="meshes/mini_abad.obj"/-->
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<cylinder length ="0.06" radius = "0.0425"/>
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</geometry>
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<origin rpy="1.5708 0.0 0.0" xyz="-0.055 0 0"/>
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</collision>
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</link>
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<joint name="FR_hip_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0.081 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh_shoulder"/>
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</joint>
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<!-- this link is only for collision -->
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<link name="FR_thigh_shoulder">
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<!-- <collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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||
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<cylinder length="0.032" radius="0.041"/>
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</geometry>
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</collision> -->
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</link>
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<joint name="FR_thigh_joint" type="revolute">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh"/>
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<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
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</joint>
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<link name="FR_thigh">
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<material name="cheetah_material"/>
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<inertial>
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<mass value="0.634"/>
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||
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<origin xyz="0.0 0.016 -0.02"/>
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||
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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||
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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</inertial>
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||
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<visual>
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||
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<geometry>
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||
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<!--mesh filename="meshes/mini_upper_link.obj"/-->
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||
|
|
<cylinder length ="0.17" radius = "0.015"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_upper_link.obj"/-->
|
||
|
|
<cylinder length ="0.17" radius = "0.015"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
|
||
|
|
</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"/>
|
||
|
|
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_calf">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<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"/-->
|
||
|
|
<cylinder length ="0.15" radius = "0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_lower_link.obj"/-->
|
||
|
|
<cylinder length ="0.15" radius = "0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!-- Adapter to Foot joint -->
|
||
|
|
<joint name="FR_foot_fixed" type="fixed">
|
||
|
|
<parent link="FR_calf"/>
|
||
|
|
<child link="FR_foot"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="FR_foot">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.0"/>
|
||
|
|
<inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius = "0.0175"/>
|
||
|
|
</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"/-->
|
||
|
|
<sphere radius = "0.0175"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0" xyz="0.0 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"/>
|
||
|
|
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_hip">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<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"/-->
|
||
|
|
<cylinder length ="0.01" radius = "0.0475"/>
|
||
|
|
</geometry>
|
||
|
|
<!--origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/-->
|
||
|
|
<origin rpy="3.141592 1.5708 -1.5708" xyz="0.055 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_abad.obj"/-->
|
||
|
|
<cylinder length ="0.06" radius = "0.0425"/>
|
||
|
|
</geometry>
|
||
|
|
<!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
|
||
|
|
<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_abad.obj"/-->
|
||
|
|
<cylinder length ="0.01" radius = "0.0475"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="3.141592 1.5708 -1.5708" xyz="0.055 0 0"/>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_abad.obj"/-->
|
||
|
|
<cylinder length ="0.06" radius = "0.0425"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.081 0"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="RL_thigh_shoulder">
|
||
|
|
<!-- <collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="RL_thigh_joint" type="revolute">
|
||
|
|
<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"/>
|
||
|
|
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_thigh">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<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"/-->
|
||
|
|
<cylinder length ="0.17" radius = "0.015"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_upper_link.obj"/-->
|
||
|
|
<cylinder length ="0.17" radius = "0.015"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
|
||
|
|
</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"/>
|
||
|
|
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_calf">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<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"/-->
|
||
|
|
<cylinder length ="0.15" radius = "0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_lower_link.obj"/-->
|
||
|
|
<cylinder length ="0.15" radius = "0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!-- Adapter to Foot joint -->
|
||
|
|
<joint name="RL_foot_fixed" type="fixed">
|
||
|
|
<parent link="RL_calf"/>
|
||
|
|
<child link="RL_foot"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="RL_foot">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.0"/>
|
||
|
|
<inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius = "0.0175"/>
|
||
|
|
</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"/-->
|
||
|
|
<sphere radius = "0.0175"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0" xyz="0.0 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"/>
|
||
|
|
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_hip">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<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"/-->
|
||
|
|
<cylinder length ="0.01" radius = "0.0475"/>
|
||
|
|
</geometry>
|
||
|
|
<!--origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/-->
|
||
|
|
<origin rpy="0.0 1.5708 1.5708" xyz="0.055 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_abad.obj"/-->
|
||
|
|
<cylinder length ="0.06" radius = "0.0425"/>
|
||
|
|
</geometry>
|
||
|
|
<!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
|
||
|
|
<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_abad.obj"/-->
|
||
|
|
<cylinder length ="0.01" radius = "0.0475"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 1.5708 1.5708" xyz="0.055 0.0 0.0"/>
|
||
|
|
</collision>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_abad.obj"/-->
|
||
|
|
<cylinder length ="0.06" radius = "0.0425"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="RR_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.081 0"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="RR_thigh_shoulder">
|
||
|
|
<!-- <collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="RR_thigh_joint" type="revolute">
|
||
|
|
<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"/>
|
||
|
|
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_thigh">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<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"/-->
|
||
|
|
<cylinder length ="0.17" radius = "0.015"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_upper_link.obj"/-->
|
||
|
|
<cylinder length ="0.17" radius = "0.015"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
|
||
|
|
</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"/>
|
||
|
|
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_calf">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<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"/-->
|
||
|
|
<cylinder length ="0.15" radius = "0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<geometry>
|
||
|
|
<!--mesh filename="meshes/mini_lower_link.obj"/-->
|
||
|
|
<cylinder length ="0.15" radius = "0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0.0" xyz="0 0 -0.095"/>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!-- Adapter to Foot joint -->
|
||
|
|
<joint name="RR_foot_fixed" type="fixed">
|
||
|
|
<parent link="RR_calf"/>
|
||
|
|
<child link="RR_foot"/>
|
||
|
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="RR_foot">
|
||
|
|
<material name="cheetah_material"/>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.0"/>
|
||
|
|
<inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius = "0.0175"/>
|
||
|
|
</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"/-->
|
||
|
|
<sphere radius = "0.0175"/>
|
||
|
|
</geometry>
|
||
|
|
<origin rpy="0.0 3.141592 0" xyz="0.0 0.0 0"/>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
</robot>
|