walk-these-ways-go2/resources/robots/mini_cheetah/urdf/mini_cheetah_simple.urdf

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2024-01-28 17:11:38 +08:00
<?xml version="1.0" ?>
<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="cheetah_material">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<!--!!!!!!!!!!!!!!!!!!BODY!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<!-- <link name="trunk">
<inertial>
<mass value="3.3"/>
<origin xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
</inertial>
<visual>
<geometry>
mesh filename="meshes/mini_body.obj"/!!!
<box size="0.23 0.18 0.1"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
mesh filename="meshes/mini_body.obj"/
<box size="0.23 0.18 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<material name="cheetah_material"/>
</link>
-->
<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>
<origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
<mass value="3.3"/>
<inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
</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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.23 0.18 0.1"/>
</geometry>
<!-- <geometry>
<mesh filename="../meshes/trunk.dae" scale="1 1 1"/>
</geometry> -->
<material name="cheetah_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.23 0.18 0.1"/>
</geometry>
</collision>
<material name="cheetah_material"/>
</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> -->
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</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"/>
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
</joint>
<link name="FL_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. 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" xyz="-0.055 0 0"/-->
<origin rpy="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="0 0 -1.5708" xyz="-0.055 0 0"/-->
<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
</collision>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_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="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"/>
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
</joint>
<link name="FL_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="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"/>
<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
</joint>
<link name="FL_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="FL_foot_fixed" type="fixed">
<parent link="FL_calf"/>
<child link="FL_foot"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
</joint>
<link name="FL_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 0.0" xyz="0 0 0"/>
</collision>
</link>
<!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<!--!!!!Joint!!!!!!!!!!!!-->
<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"/>
<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
</joint>
<link name="FR_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="-0.055 0 0"/>
</collision>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_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="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"/>
<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
</joint>
<link name="FR_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="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>