update Laikago robot with textures, and a version with toes to enable inverse kinematics.
This commit is contained in:
Erwin Coumans
@@ -1,477 +1,474 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="plane">
|
||||
<link name="chassis">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
|
||||
<mass value="13.715"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="chassis.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="yellow">
|
||||
<color rgba="0.95 0.75 0.05 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<link name="FR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FR_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_hip_motor"/>
|
||||
<child link="FR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_upper_leg"/>
|
||||
<child link="FR_lower_leg"/>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green">
|
||||
<color rgba="0.23 0.73 0.33 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FL_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="upper_leg.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0.28 0.52 0.93 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_hip_motor"/>
|
||||
<child link="FL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="0.85 0.19 0.21 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_upper_leg"/>
|
||||
<child link="FL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="RR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RR_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_hip_motor"/>
|
||||
<child link="RR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_upper_leg"/>
|
||||
<child link="RR_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RL_hip_motor"/>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_hip_motor"/>
|
||||
<child link="RL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_upper_leg"/>
|
||||
<child link="RL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="plane">
|
||||
<link name="chassis">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
|
||||
<mass value="13.715"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="chassis.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<link name="FR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FR_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_mirror.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_hip_motor"/>
|
||||
<child link="FR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_upper_leg"/>
|
||||
<child link="FR_lower_leg"/>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FL_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="upper_leg_left.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_hip_motor"/>
|
||||
<child link="FL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_upper_leg"/>
|
||||
<child link="FL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="RR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RR_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_mirror2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_hip_motor"/>
|
||||
<child link="RR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_upper_leg"/>
|
||||
<child link="RR_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RL_hip_motor"/>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_hip_motor"/>
|
||||
<child link="RL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3_collision.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_upper_leg"/>
|
||||
<child link="RL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user