1217 lines
24 KiB
XML
1217 lines
24 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
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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="go2_description">
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<link
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name="base">
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<inertial>
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<origin
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xyz="0.021112 0 -0.005366"
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rpy="0 0 0" />
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<mass
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value="6.921" />
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<inertia
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ixx="0.02448"
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ixy="0.00012166"
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ixz="0.0014849"
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iyy="0.098077"
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iyz="-3.12E-05"
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izz="0.107" />
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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="../dae/base.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 0 0" xyz="0 0 0" />
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<geometry>
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<box size="0.3762 0.0935 0.114" />
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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="Head_upper">
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<inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<mass
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value="0.001" />
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<inertia
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ixx="9.6e-06"
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ixy="0"
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ixz="0"
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iyy="9.6e-06"
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iyz="0"
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izz="9.6e-06" />
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</inertial>
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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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<cylinder radius="0.05" length="0.09" />
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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="Head_upper_joint"
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type="fixed" dont_collapse="true">
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<origin
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xyz="0.285 0 0.01"
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rpy="0 0 0" />
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<parent
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link="base" />
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<child
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link="Head_upper" />
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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_lower">
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<inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<mass
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value="0.001" />
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<inertia
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ixx="9.6e-06"
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ixy="0"
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ixz="0"
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iyy="9.6e-06"
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iyz="0"
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izz="9.6e-06" />
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</inertial>
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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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<sphere radius="0.047" />
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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="Head_lower_joint"
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type="fixed" dont_collapse="true">
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<origin
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xyz="0.008 0 -0.07"
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rpy="0 0 0" />
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<parent
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link="Head_upper" />
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<child
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link="Head_lower" />
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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="-0.0054 0.00194 -0.000105"
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rpy="0 0 0" />
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<mass
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value="0.678" />
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<inertia
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ixx="0.00048"
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ixy="-3.01E-06"
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ixz="1.11E-06"
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iyy="0.000884"
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iyz="-1.42E-06"
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izz="0.000596" />
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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="../dae/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 rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
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<geometry>
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<cylinder length="0.04" radius="0.046" />
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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="0.1934 0.0465 0"
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rpy="0 0 0" />
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<parent
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link="base" />
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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="-1.0472"
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upper="1.0472"
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effort="23.7"
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velocity="30.1" />
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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="-0.00374 -0.0223 -0.0327"
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rpy="0 0 0" />
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<mass
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value="1.152" />
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<inertia
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ixx="0.00584"
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ixy="8.72E-05"
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ixz="-0.000289"
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iyy="0.0058"
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iyz="0.000808"
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izz="0.00103" />
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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="../dae/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 1.5707963267948966 0" xyz="0 0 -0.1065" />
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<geometry>
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<box size="0.11 0.0245 0.034" />
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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 0.0955 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="-1.5708"
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upper="3.4907"
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effort="23.7"
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velocity="30.1" />
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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="0.00548 -0.000975 -0.115"
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rpy="0 0 0" />
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<mass
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value="0.154" />
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<inertia
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ixx="0.00108"
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ixy="3.4E-07"
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ixz="1.72E-05"
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iyy="0.0011"
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iyz="8.28E-06"
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izz="3.29E-05" />
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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="../dae/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 rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
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<geometry>
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<cylinder length="0.12" radius="0.012" />
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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 0 -0.213"
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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="-2.7227"
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upper="-0.83776"
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effort="35.55"
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velocity="20.07" />
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</joint>
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<link
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name="FL_calflower">
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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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<cylinder length="0.065" radius="0.011" />
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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_calflower_joint"
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type="fixed">
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<origin
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xyz="0.020 0 -0.148"
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rpy="0 0.05 0" />
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<parent
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link="FL_calf" />
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<child
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link="FL_calflower" />
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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_calflower1">
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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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<cylinder length="0.03" radius="0.0155" />
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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_calflower1_joint"
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type="fixed">
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<origin
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xyz="-0.01 0 -0.04"
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rpy="0 0.48 0" />
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<parent
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link="FL_calflower" />
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<child
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link="FL_calflower1" />
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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_foot">
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<inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<mass
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value="0.04" />
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<inertia
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ixx="9.6e-06"
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ixy="0"
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ixz="0"
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iyy="9.6e-06"
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iyz="0"
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|
izz="9.6e-06" />
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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="../dae/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 rpy="0 0 0" xyz="-0.002 0 0" />
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<geometry>
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<sphere radius="0.022" />
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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="fixed" dont_collapse="true">
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<origin
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xyz="0 0 -0.213"
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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 0 0" />
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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="-0.0054 -0.00194 -0.000105"
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rpy="0 0 0" />
|
|
<mass
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value="0.678" />
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|
<inertia
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ixx="0.00048"
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|
ixy="3.01E-06"
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ixz="1.11E-06"
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iyy="0.000884"
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|
iyz="1.42E-06"
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|
izz="0.000596" />
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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="3.1415 0 0" />
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<geometry>
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<mesh
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filename="../dae/hip.dae" />
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</geometry>
|
|
<material
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name="">
|
|
<color
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rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
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<collision>
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
|
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<geometry>
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<cylinder length="0.04" radius="0.046" />
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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="FR_hip_joint"
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type="revolute">
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<origin
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xyz="0.1934 -0.0465 0"
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rpy="0 0 0" />
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<parent
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link="base" />
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<child
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link="FR_hip" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-1.0472"
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upper="1.0472"
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effort="23.7"
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velocity="30.1" />
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</joint>
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<link
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name="FR_thigh">
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<inertial>
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<origin
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xyz="-0.00374 0.0223 -0.0327"
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|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.152" />
|
|
<inertia
|
|
ixx="0.00584"
|
|
ixy="-8.72E-05"
|
|
ixz="-0.000289"
|
|
iyy="0.0058"
|
|
iyz="-0.000808"
|
|
izz="0.00103" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
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|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
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filename="../dae/thigh_mirror.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
|
|
<geometry>
|
|
<box size="0.11 0.0245 0.034" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
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|
name="FR_thigh_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.0955 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="FR_hip" />
|
|
<child
|
|
link="FR_thigh" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-1.5708"
|
|
upper="3.4907"
|
|
effort="23.7"
|
|
velocity="30.1" />
|
|
</joint>
|
|
<link
|
|
name="FR_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00548 0.000975 -0.115"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.154" />
|
|
<inertia
|
|
ixx="0.00108"
|
|
ixy="-3.4E-07"
|
|
ixz="1.72E-05"
|
|
iyy="0.0011"
|
|
iyz="-8.28E-06"
|
|
izz="3.29E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/calf_mirror.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
|
|
<geometry>
|
|
<cylinder length="0.12" radius="0.013" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="FR_calf_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.213"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="FR_thigh" />
|
|
<child
|
|
link="FR_calf" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-2.7227"
|
|
upper="-0.83776"
|
|
effort="35.55"
|
|
velocity="20.07" />
|
|
</joint>
|
|
<link
|
|
name="FR_calflower">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.065" radius="0.011" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="FR_calflower_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.020 0 -0.148"
|
|
rpy="0 0.05 0" />
|
|
<parent
|
|
link="FR_calf" />
|
|
<child
|
|
link="FR_calflower" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="FR_calflower1">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.03" radius="0.0155" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="FR_calflower1_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.01 0 -0.04"
|
|
rpy="0 0.48 0" />
|
|
<parent
|
|
link="FR_calflower" />
|
|
<child
|
|
link="FR_calflower1" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="FR_foot">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.04" />
|
|
<inertia
|
|
ixx="9.6e-06"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="9.6e-06"
|
|
iyz="0"
|
|
izz="9.6e-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/foot.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.002 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.022" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="FR_foot_joint"
|
|
type="fixed" dont_collapse="true">
|
|
<origin
|
|
xyz="0 0 -0.213"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="FR_calf" />
|
|
<child
|
|
link="FR_foot" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="RL_hip">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0054 0.00194 -0.000105"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.678" />
|
|
<inertia
|
|
ixx="0.00048"
|
|
ixy="3.01E-06"
|
|
ixz="-1.11E-06"
|
|
iyy="0.000884"
|
|
iyz="-1.42E-06"
|
|
izz="0.000596" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 3.1415 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/hip.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
|
|
<geometry>
|
|
<cylinder length="0.04" radius="0.046" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_hip_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.1934 0.0465 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base" />
|
|
<child
|
|
link="RL_hip" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-1.0472"
|
|
upper="1.0472"
|
|
effort="23.7"
|
|
velocity="30.1" />
|
|
</joint>
|
|
<link
|
|
name="RL_thigh">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00374 -0.0223 -0.0327"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.152" />
|
|
<inertia
|
|
ixx="0.00584"
|
|
ixy="8.72E-05"
|
|
ixz="-0.000289"
|
|
iyy="0.0058"
|
|
iyz="0.000808"
|
|
izz="0.00103" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/thigh.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
|
|
<geometry>
|
|
<box size="0.11 0.0245 0.034" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_thigh_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0.0955 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RL_hip" />
|
|
<child
|
|
link="RL_thigh" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.5236"
|
|
upper="4.5379"
|
|
effort="23.7"
|
|
velocity="30.1" />
|
|
</joint>
|
|
<link
|
|
name="RL_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00548 -0.000975 -0.115"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.154" />
|
|
<inertia
|
|
ixx="0.00108"
|
|
ixy="3.4E-07"
|
|
ixz="1.72E-05"
|
|
iyy="0.0011"
|
|
iyz="8.28E-06"
|
|
izz="3.29E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/calf.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
|
|
<geometry>
|
|
<cylinder length="0.12" radius="0.013" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_calf_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.213"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RL_thigh" />
|
|
<child
|
|
link="RL_calf" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-2.7227"
|
|
upper="-0.83776"
|
|
effort="35.55"
|
|
velocity="20.07" />
|
|
</joint>
|
|
<link
|
|
name="RL_calflower">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.065" radius="0.011" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_calflower_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.020 0 -0.148"
|
|
rpy="0 0.05 0" />
|
|
<parent
|
|
link="RL_calf" />
|
|
<child
|
|
link="RL_calflower" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="RL_calflower1">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.03" radius="0.0155" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_calflower1_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.01 0 -0.04"
|
|
rpy="0 0.48 0" />
|
|
<parent
|
|
link="RL_calflower" />
|
|
<child
|
|
link="RL_calflower1" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="RL_foot">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.04" />
|
|
<inertia
|
|
ixx="9.6e-06"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="9.6e-06"
|
|
iyz="0"
|
|
izz="9.6e-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/foot.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.002 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.022" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RL_foot_joint"
|
|
type="fixed" dont_collapse="true">
|
|
<origin
|
|
xyz="0 0 -0.213"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RL_calf" />
|
|
<child
|
|
link="RL_foot" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="RR_hip">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0054 -0.00194 -0.000105"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.678" />
|
|
<inertia
|
|
ixx="0.00048"
|
|
ixy="-3.01E-06"
|
|
ixz="-1.11E-06"
|
|
iyy="0.000884"
|
|
iyz="1.42E-06"
|
|
izz="0.000596" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="3.1415 3.1415 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/hip.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
|
|
<geometry>
|
|
<cylinder length="0.04" radius="0.046" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_hip_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.1934 -0.0465 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base" />
|
|
<child
|
|
link="RR_hip" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-1.0472"
|
|
upper="1.0472"
|
|
effort="23.7"
|
|
velocity="30.1" />
|
|
</joint>
|
|
<link
|
|
name="RR_thigh">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00374 0.0223 -0.0327"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.152" />
|
|
<inertia
|
|
ixx="0.00584"
|
|
ixy="-8.72E-05"
|
|
ixz="-0.000289"
|
|
iyy="0.0058"
|
|
iyz="-0.000808"
|
|
izz="0.00103" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/thigh_mirror.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
|
|
<geometry>
|
|
<box size="0.11 0.0245 0.034" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_thigh_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.0955 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RR_hip" />
|
|
<child
|
|
link="RR_thigh" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.5236"
|
|
upper="4.5379"
|
|
effort="23.7"
|
|
velocity="30.1" />
|
|
</joint>
|
|
<link
|
|
name="RR_calf">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00548 0.000975 -0.115"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.154" />
|
|
<inertia
|
|
ixx="0.00108"
|
|
ixy="-3.4E-07"
|
|
ixz="1.72E-05"
|
|
iyy="0.0011"
|
|
iyz="-8.28E-06"
|
|
izz="3.29E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/calf_mirror.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
|
|
<geometry>
|
|
<cylinder length="0.12" radius="0.013" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_calf_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.213"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RR_thigh" />
|
|
<child
|
|
link="RR_calf" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-2.7227"
|
|
upper="-0.83776"
|
|
effort="35.55"
|
|
velocity="20.07" />
|
|
</joint>
|
|
<link
|
|
name="RR_calflower">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.065" radius="0.011" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_calflower_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.020 0 -0.148"
|
|
rpy="0 0.05 0" />
|
|
<parent
|
|
link="RR_calf" />
|
|
<child
|
|
link="RR_calflower" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="RR_calflower1">
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.03" radius="0.0155" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_calflower1_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.01 0 -0.04"
|
|
rpy="0 0.48 0" />
|
|
<parent
|
|
link="RR_calflower" />
|
|
<child
|
|
link="RR_calflower1" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="RR_foot">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.04" />
|
|
<inertia
|
|
ixx="9.6e-06"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="9.6e-06"
|
|
iyz="0"
|
|
izz="9.6e-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../dae/foot.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.002 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.022" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="RR_foot_joint"
|
|
type="fixed" dont_collapse="true">
|
|
<origin
|
|
xyz="0 0 -0.213"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="RR_calf" />
|
|
<child
|
|
link="RR_foot" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="imu">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0" />
|
|
<inertia
|
|
ixx="0"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0"
|
|
iyz="0"
|
|
izz="0" />
|
|
</inertial>
|
|
</link>
|
|
<joint
|
|
name="imu_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.02557 0 0.04232"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base" />
|
|
<child
|
|
link="imu" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="radar">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0" />
|
|
<inertia
|
|
ixx="0"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0"
|
|
iyz="0"
|
|
izz="0" />
|
|
</inertial>
|
|
</link>
|
|
<joint
|
|
name="radar_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.28945 0 -0.046825"
|
|
rpy="0 2.8782 0" />
|
|
<parent
|
|
link="base" />
|
|
<child
|
|
link="radar" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
</robot> |