b027bc92df
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
478 lines
13 KiB
XML
478 lines
13 KiB
XML
<?xml version="1.0" ?>
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<robot name="plane">
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<link name="chassis">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
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<mass value="13.715"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.043794"/>
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<geometry>
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<mesh filename="chassis.stl" scale="1 1 1"/>
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</geometry>
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<material name="yellow">
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<color rgba="0.95 0.75 0.05 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
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<geometry>
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<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<link name="FR_hip_motor">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0.02 0 0"/>
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<mass value="1.095"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="green"/>
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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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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
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<axis xyz="0 0 -1"/>
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<parent link="chassis"/>
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<child link="FR_hip_motor"/>
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<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FR_upper_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
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<mass value="1.527"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="blue"/>
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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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<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FR_hip_motor"/>
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<child link="FR_upper_leg"/>
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<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FR_lower_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
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<mass value="0.241"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FR_upper_leg"/>
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<child link="FR_lower_leg"/>
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<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FL_hip_motor">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="-.02 0 0"/>
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<mass value="1.095"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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</geometry>
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<material name="green">
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<color rgba="0.23 0.73 0.33 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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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis"/>
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<child link="FL_hip_motor"/>
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<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FL_upper_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
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<mass value="1.527"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg.stl" scale="1 1 1"/>
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</geometry>
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<material name="blue">
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<color rgba="0.28 0.52 0.93 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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<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FL_hip_motor"/>
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<child link="FL_upper_leg"/>
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<origin rpy="0 0 0" xyz="0.055855 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="FL_lower_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
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<mass value="0.241"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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<material name="red">
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<color rgba="0.85 0.19 0.21 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="FL_upper_leg"/>
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<child link="FL_lower_leg"/>
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<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RR_hip_motor">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0.02 0 0"/>
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<mass value="1.095"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="green"/>
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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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<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
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<axis xyz="0 0 -1"/>
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<parent link="chassis"/>
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<child link="RR_hip_motor"/>
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<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RR_upper_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
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<mass value="1.527"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
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</geometry>
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<material name="blue"/>
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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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<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="RR_hip_motor"/>
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<child link="RR_upper_leg"/>
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<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RR_lower_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
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<mass value="0.241"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="RR_upper_leg"/>
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<child link="RR_lower_leg"/>
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<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RL_hip_motor">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="-.02 0 0"/>
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<mass value="1.095"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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</geometry>
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<material name="green"/>
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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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<mesh filename="hip_motor.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis"/>
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<child link="RL_hip_motor"/>
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<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RL_upper_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
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<mass value="1.527"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="upper_leg.stl" scale="1 1 1"/>
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</geometry>
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<material name="blue"/>
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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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<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="RL_hip_motor"/>
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<child link="RL_upper_leg"/>
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<origin rpy="0 0 0" xyz="0.055855 0 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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<link name="RL_lower_leg">
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<contact>
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<lateral_friction value="1"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
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<mass value="0.241"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="RL_upper_leg"/>
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<child link="RL_lower_leg"/>
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<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping=".0" friction=".0"/>
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</joint>
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</robot>
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