348 lines
12 KiB
XML
348 lines
12 KiB
XML
<?xml version="1.0" ?>
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<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
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<link name="body">
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<inertial>
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<mass value="3.3"/>
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<origin xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_body.obj"/>
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_body.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="torso_to_abduct_fr_j" type="continuous">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
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<parent link="body"/>
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<child link="abduct_fr"/>
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</joint>
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<link name="abduct_fr">
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<inertial>
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<mass value="0.54"/>
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<origin xyz="0.0 0.036 0."/>
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="3.141592 0 1.5708" xyz="-0.055 0 0"/>
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</collision>
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</link>
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<joint name="abduct_fr_to_thigh_fr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
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<parent link="abduct_fr"/>
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<child link="thigh_fr"/>
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</joint>
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<link name="thigh_fr">
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<inertial>
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<mass value="0.634"/>
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<origin xyz="0.0 0.016 -0.02"/>
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="thigh_fr_to_knee_fr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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<parent link="thigh_fr"/>
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<child link="shank_fr"/>
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</joint>
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<link name="shank_fr">
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<inertial>
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<mass value="0.064"/>
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<origin xyz="0.0 0.0 -0.209"/>
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0 3.141592 0" xyz="0 0 0"/>
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</collision>
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</link>
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<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="torso_to_abduct_fl_j" type="continuous">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
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<parent link="body"/>
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<child link="abduct_fl"/>
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</joint>
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<link name="abduct_fl">
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<inertial>
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<mass value="0.54"/>
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<origin xyz="0.0 0.036 0."/>
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="0. 0. -1.5708" xyz="-0.055 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/>
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</collision>
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</link>
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<joint name="abduct_fl_to_thigh_fl_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
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<parent link="abduct_fl"/>
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<child link="thigh_fl"/>
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</joint>
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<link name="thigh_fl">
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<inertial>
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<mass value="0.634"/>
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<origin xyz="0.0 0.016 -0.02"/>
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="thigh_fl_to_knee_fl_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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<parent link="thigh_fl"/>
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<child link="shank_fl"/>
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</joint>
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<link name="shank_fl">
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<inertial>
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<mass value="0.064"/>
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<origin xyz="0.0 0.0 -0.209"/>
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0 3.141592 0" xyz="0 0 0"/>
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</collision>
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</link>
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<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="torso_to_abduct_hr_j" type="continuous">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
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<parent link="body"/>
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<child link="abduct_hr"/>
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</joint>
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<link name="abduct_hr">
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<inertial>
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<mass value="0.54"/>
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<origin xyz="0.0 0.036 0."/>
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="0 0 1.5708" xyz="0.055 0 0"/>
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</collision>
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</link>
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<joint name="abduct_hr_to_thigh_hr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
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<parent link="abduct_hr"/>
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<child link="thigh_hr"/>
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</joint>
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<link name="thigh_hr">
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<inertial>
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<mass value="0.634"/>
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<origin xyz="0.0 0.016 -0.02"/>
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="thigh_hr_to_knee_hr_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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<parent link="thigh_hr"/>
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<child link="shank_hr"/>
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</joint>
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<link name="shank_hr">
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<inertial>
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<mass value="0.064"/>
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<origin xyz="0.0 0.0 -0.209"/>
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0 3.141592 0" xyz="0 0 0"/>
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</collision>
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</link>
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<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
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<joint name="torso_to_abduct_hl_j" type="continuous">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
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<parent link="body"/>
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<child link="abduct_hl"/>
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</joint>
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<link name="abduct_hl">
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<inertial>
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<mass value="0.54"/>
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<origin xyz="0.0 0.036 0."/>
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<inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
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iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_abad.obj"/>
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</geometry>
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<origin rpy="3.141592 0 -1.5708" xyz="0.055 0 0"/>
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</collision>
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</link>
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<joint name="abduct_hl_to_thigh_hl_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
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<parent link="abduct_hl"/>
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<child link="thigh_hl"/>
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</joint>
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<link name="thigh_hl">
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<inertial>
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<mass value="0.634"/>
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<origin xyz="0.0 0.016 -0.02"/>
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<inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
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iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_upper_link.obj"/>
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</geometry>
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<origin rpy="0 -1.5708 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="thigh_hl_to_knee_hl_j" type="continuous">
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<axis xyz="0 -1 0"/>
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<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
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<parent link="thigh_hl"/>
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<child link="shank_hl"/>
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</joint>
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<link name="shank_hl">
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<inertial>
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<mass value="0.064"/>
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<origin xyz="0.0 0.0 -0.209"/>
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<inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="meshes/mini_lower_link.obj"/>
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</geometry>
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<origin rpy="0 3.141592 0" xyz="0 0 0"/>
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</collision>
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</link>
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</robot>
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