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adjust the minitaur_derpy urdf. Seperate the motor controller and the moving part of the motor.

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Jie
2017-10-27 14:56:45 -07:00
parent c208505800
commit a9600a8c91
1 changed files with 177 additions and 53 deletions
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228
data/quadruped/minitaur_derpy.urdf
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@@ -63,7 +63,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0.0455 0"/> <origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba="0.65 0.65 0.75 1"/>
@@ -72,12 +72,49 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/> <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0.1165 0"/> <origin rpy="0 0 0" xyz="0 0.1165 0"/>
@@ -88,18 +125,43 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0.0455 0"/> <origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
</collision> </collision>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/> <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
</collision> </collision>
<collision>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<inertial> <inertial>
<mass value=".72277"/> <mass value="1.3668"/>
<inertia ixx="0.00125923" ixy="0.0" ixz="0.0" iyy="0.00346491" iyz="0.0" izz="0.00420849"/> <inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
</inertial> </inertial>
</link> </link>
@@ -125,7 +187,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0.0455 0"/> <origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba="0.65 0.65 0.75 1"/>
@@ -134,12 +196,49 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/> <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.65 0.65 0.75 1"/> <color rgba="0.65 0.65 0.75 1"/>
</material> </material>
</visual> </visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0.1165 0"/> <origin rpy="0 0 0" xyz="0 0.1165 0"/>
@@ -150,18 +249,43 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0.0455 0"/> <origin rpy="0 0 0" xyz="0 0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
</collision> </collision>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 -0.0455 0"/> <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
<geometry> <geometry>
<box size=".307 0.009 .050"/> <box size=".356 0.009 .050"/>
</geometry> </geometry>
</collision> </collision>
<collision>
<origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
<geometry>
<box size=".068 0.0373 .060"/>
</geometry>
</collision>
<inertial> <inertial>
<mass value=".72277"/> <mass value="1.3668"/>
<inertia ixx="0.00125923" ixy="0.0" ixz="0.0" iyy="0.00346491" iyz="0.0" izz="0.00420849"/> <inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
</inertial> </inertial>
</link> </link>
@@ -185,19 +309,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_rightR_joint" type="continuous"> <joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_front_rightR_link"/> <child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.20268 -0.0455 0"/> <origin rpy="1.57075 0 0" xyz="0.20268 -0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -213,19 +337,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_rightL_joint" type="continuous"> <joint name="motor_front_rightL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_front_rightL_link"/> <child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.20268 0.0455 0"/> <origin rpy="1.57075 0 3.141592" xyz="0.20268 0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -241,19 +365,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_leftL_joint" type="continuous"> <joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_front_leftL_link"/> <child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.20268 0.0455 0"/> <origin rpy="1.57075 0 3.141592" xyz="0.20268 0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -269,19 +393,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_front_leftR_joint" type="continuous"> <joint name="motor_front_leftR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_front_leftR_link"/> <child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="0.20268 -0.0455 0"/> <origin rpy="1.57075 0 0" xyz="0.20268 -0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -297,19 +421,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_rightR_joint" type="continuous"> <joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_back_rightR_link"/> <child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.20268 -0.0455 0"/> <origin rpy="1.57075 0 0" xyz="-0.20268 -0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -325,19 +449,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_rightL_joint" type="continuous"> <joint name="motor_back_rightL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_right"/> <parent link="chassis_right"/>
<child link="motor_back_rightL_link"/> <child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.0455 0"/> <origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -353,19 +477,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_leftL_joint" type="continuous"> <joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_back_leftL_link"/> <child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.0455 0"/> <origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -381,19 +505,19 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="0.059" radius="0.05268"/> <cylinder length="0.0165" radius="0.0425"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.402"/> <mass value="0.241"/>
<inertia ixx="0.0003378" ixy="0.0" ixz="0.0" iyy="0.0012213" iyz="0.0" izz="0.001058"/> <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
</inertial> </inertial>
</link> </link>
<joint name="motor_back_leftR_joint" type="continuous"> <joint name="motor_back_leftR_joint" type="continuous">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="chassis_left"/> <parent link="chassis_left"/>
<child link="motor_back_leftR_link"/> <child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.20268 -0.0455 0"/> <origin rpy="1.57075 0 0" xyz="-0.20268 -0.03275 0"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -423,7 +547,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/> <parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/> <child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -491,7 +615,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/> <parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/> <child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -560,7 +684,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/> <parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/> <child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -628,7 +752,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/> <parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/> <child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -697,7 +821,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/> <parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/> <child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -765,7 +889,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/> <parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/> <child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -834,7 +958,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/> <parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/> <child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>
@@ -902,7 +1026,7 @@
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/> <parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/> <child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.030"/> <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
<limit effort="100" velocity="100"/> <limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/> <joint_properties damping="0.0" friction="0.0"/>
</joint> </joint>