1357 lines
39 KiB
XML
1357 lines
39 KiB
XML
<?xml version="1.0"?>
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<!-- ======================================================================= -->
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<!--LICENSE: -->
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<!--Copyright (c) 2019, Erwin Coumans -->
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<!--Google Inc. -->
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<!--All rights reserved. -->
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<!-- -->
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<!--Redistribution and use in source and binary forms, with or without -->
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<!--modification, are permitted provided that the following conditions are -->
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<!--met: -->
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<!-- -->
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<!--1. Redistributions or derived work must retain this copyright notice, -->
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<!-- this list of conditions and the following disclaimer. -->
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<!-- -->
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<!--2. Redistributions in binary form must reproduce the above copyright -->
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<!-- notice, this list of conditions and the following disclaimer in the -->
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<!-- documentation and/or other materials provided with the distribution. -->
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<!-- -->
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<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
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<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
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<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
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<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
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<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
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<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
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<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
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<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
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<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
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<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
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<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
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<robot name="microtaur">
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<link name="base_chassis_link">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 -1.57079" xyz="0 0 0.036"/>
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<mass value="0.64"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 -1.57079" xyz="-0.045 0.045 0.018"/>
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<geometry>
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<mesh filename="xavier.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 -1.57079" xyz="0 0 0.033"/>
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<geometry>
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<box size="0.092 0.105 0.045"/>
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</geometry>
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</collision>
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</link>
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<link name="plate0">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.08"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
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<geometry>
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<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black1">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.074 0.009 0.138"/>
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</geometry>
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</collision>
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</link>
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<joint name="plate0_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="plate0"/>
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<origin rpy="-1.57079 0 -1.57079" xyz="0.063 0.028 0.005"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="plate1">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.08"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
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<geometry>
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<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black1">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.074 0.009 0.138"/>
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</geometry>
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</collision>
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</link>
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<joint name="plate1_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="plate1"/>
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<origin rpy="-1.57079 0 -1.57079" xyz="-0.063 0.028 0.005"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="plate2">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.08"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
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<geometry>
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<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black1">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.074 0.009 0.138"/>
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</geometry>
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</collision>
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</link>
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<joint name="plate2_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="plate2"/>
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<origin rpy="-1.57079 0 1.57079" xyz="0.063 -0.028 0.005"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="plate3">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.08"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
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<geometry>
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<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black1">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.074 0.009 0.138"/>
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</geometry>
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</collision>
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</link>
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<joint name="plate3_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="plate3"/>
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<origin rpy="-1.57079 0 1.57079" xyz="-0.063 -0.028 0.005"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="chassis_right">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
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<mass value="0.13"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/>
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<geometry>
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<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
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<geometry>
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<box size="0.038 0.038 0.305"/>
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</geometry>
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</collision>
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</link>
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<joint name="chassis_right_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_right"/>
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<origin rpy="0 0 0" xyz="0.0 -0.0955 0.019"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="chassis_front">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="-1.57079 0 0" xyz="0 0 0"/>
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<mass value="0.13"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/>
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<geometry>
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<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="bla">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="-1.57079 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.038 0.038 0.305"/>
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</geometry>
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</collision>
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</link>
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<joint name="chassis_front_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_front"/>
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<origin rpy="0 0 0" xyz="0.1335 0.0 -0.019"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="dynamixel4">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.082"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.011 0"/>
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<geometry>
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<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black">
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<color rgba=".3 .3 .3 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.024 0.047 0.034"/>
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</geometry>
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</collision>
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</link>
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<joint name="dynamixel4_chassis_front" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="chassis_front"/>
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<child link="dynamixel4"/>
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<origin rpy="-1.57079 0 3.141592" xyz="0 0.135 -0.03"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="dynamixel12">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.082"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.011 0"/>
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<geometry>
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<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black">
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<color rgba=".3 .3 .3 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.024 0.047 0.034"/>
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</geometry>
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</collision>
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</link>
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<joint name="dynamixel12_chassis_front" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="chassis_front"/>
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<child link="dynamixel12"/>
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<origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="dynamixel3">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.082"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.011 0"/>
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<geometry>
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<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black">
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<color rgba=".3 .3 .3 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.024 0.047 0.034"/>
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</geometry>
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</collision>
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</link>
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<joint name="dynamixel3_chassis_front" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="chassis_front"/>
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<child link="dynamixel3"/>
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<origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="dynamixel5">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.082"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.011 0"/>
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<geometry>
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<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
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</geometry>
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<material name="black">
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<color rgba=".3 .3 .3 1"/>
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</material>
|
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</visual>
|
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<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
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<box size="0.024 0.047 0.034"/>
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</geometry>
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</collision>
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</link>
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|
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<joint name="dynamixel5_chassis_front" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="chassis_front"/>
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<child link="dynamixel5"/>
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<origin rpy="-1.57079 0 3.141592" xyz="0 -0.055 -0.03"/>
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<limit effort="100" velocity="100"/>
|
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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|
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<link name="dynamixel8">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.082"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
|
|
<visual>
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|
<origin rpy="0 0 0" xyz="0 0.011 0"/>
|
|
<geometry>
|
|
<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba=".3 .3 .3 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
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<box size="0.024 0.047 0.034"/>
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</geometry>
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</collision>
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</link>
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<joint name="dynamixel8_chassis_rear" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="chassis_rear"/>
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|
<child link="dynamixel8"/>
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|
<origin rpy="-1.57079 0 3.141592" xyz="0 0.135 -0.03"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="dynamixel10">
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<contact>
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<lateral_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
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<mass value="0.082"/>
|
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0.011 0"/>
|
|
<geometry>
|
|
<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
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</geometry>
|
|
<material name="black">
|
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<color rgba=".3 .3 .3 1"/>
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</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.024 0.047 0.034"/>
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</geometry>
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</collision>
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</link>
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|
|
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<joint name="dynamixel10_chassis_rear" type="fixed">
|
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<axis xyz="0 0 1"/>
|
|
<parent link="chassis_rear"/>
|
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<child link="dynamixel10"/>
|
|
<origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="dynamixel13">
|
|
<contact>
|
|
<lateral_friction value="0.3"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.082"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0.011 0"/>
|
|
<geometry>
|
|
<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba=".3 .3 .3 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.024 0.047 0.034"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="dynamixel13_chassis_rear" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_rear"/>
|
|
<child link="dynamixel13"/>
|
|
<origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="dynamixel7">
|
|
<contact>
|
|
<lateral_friction value="0.3"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.082"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0.011 0"/>
|
|
<geometry>
|
|
<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba=".3 .3 .3 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.024 0.047 0.034"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="dynamixel7_chassis_rear" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_rear"/>
|
|
<child link="dynamixel7"/>
|
|
<origin rpy="-1.57079 0 3.141592" xyz="0 -0.055 -0.03"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="dynamixel9">
|
|
<contact>
|
|
<lateral_friction value="0.3"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.082"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0.011 0"/>
|
|
<geometry>
|
|
<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba=".3 .3 .3 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.024 0.047 0.034"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="dynamixel9_chassis_front" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_front"/>
|
|
<child link="dynamixel9"/>
|
|
<origin rpy="1.57079 0 0" xyz="0 0 0.042"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="d435">
|
|
<contact>
|
|
<lateral_friction value="0.3"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.081"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0.0125"/>
|
|
<geometry>
|
|
<mesh filename="d435i.stl" scale="1.0 1.0 1.0"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.09 0.025 0.025"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
|
|
<joint name="d435_dynamixel9" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="dynamixel9"/>
|
|
<child link="d435"/>
|
|
<origin rpy="0 1.57079 0" xyz="0 0.04 0"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="chassis_rear">
|
|
<contact>
|
|
<lateral_friction value="0.3"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="-1.57079 0 0" xyz="0 0 0"/>
|
|
<mass value="0.13"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/>
|
|
<geometry>
|
|
<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="-1.57079 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.038 0.038 0.305"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="chassis_rear_center" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="chassis_rear"/>
|
|
<origin rpy="0 0 0" xyz="-0.1335 0.0 -0.019"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="chassis_left">
|
|
<contact>
|
|
<lateral_friction value="0.3"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
|
|
<mass value="0.13"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/>
|
|
<geometry>
|
|
<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.038 0.038 0.305"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="chassis_left_center" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="base_chassis_link"/>
|
|
<child link="chassis_left"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0.0955 0.019"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="motor_front_rightR_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry> </collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_front_rightR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="motor_front_rightL_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_rightL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_front_rightL_link"/>
|
|
<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="motor_front_leftL_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_front_leftL_link"/>
|
|
<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="motor_front_leftR_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_leftR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_front_leftR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="motor_back_rightR_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_back_rightR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="motor_back_rightL_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_rightL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_right"/>
|
|
<child link="motor_back_rightL_link"/>
|
|
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="motor_back_leftL_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftL_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_back_leftL_link"/>
|
|
<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="motor_back_leftR_link">
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.003" radius="0.0134"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".002"/>
|
|
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_leftR_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="chassis_left"/>
|
|
<child link="motor_back_leftR_link"/>
|
|
<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_front_rightR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_rightR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_rightR_link"/>
|
|
<child link="upper_leg_front_rightR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_front_rightR_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<mass value=".086"/>
|
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_rightR_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_rightR_link"/>
|
|
<child link="lower_leg_front_rightR_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_front_rightL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_rightL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_rightL_link"/>
|
|
<child link="upper_leg_front_rightL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_front_rightL_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
|
<mass value=".072"/>
|
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_rightL_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_rightL_link"/>
|
|
<child link="lower_leg_front_rightL_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_front_leftR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_leftR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_leftR_link"/>
|
|
<child link="upper_leg_front_leftR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_front_leftR_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
|
<mass value=".072"/>
|
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_leftR_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_leftR_link"/>
|
|
<child link="lower_leg_front_leftR_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_front_leftL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_front_leftL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_leftL_link"/>
|
|
<child link="upper_leg_front_leftL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_front_leftL_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<mass value=".086"/>
|
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_front_leftL_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_leftL_link"/>
|
|
<child link="lower_leg_front_leftL_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_back_rightR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_back_rightR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_rightR_link"/>
|
|
<child link="upper_leg_back_rightR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_back_rightR_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<mass value=".086"/>
|
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_rightR_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_rightR_link"/>
|
|
<child link="lower_leg_back_rightR_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_back_rightL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_back_rightL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_rightL_link"/>
|
|
<child link="upper_leg_back_rightL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_back_rightL_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
|
<mass value=".072"/>
|
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_rightL_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_rightL_link"/>
|
|
<child link="lower_leg_back_rightL_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_back_leftR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_back_leftR_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_leftR_link"/>
|
|
<child link="upper_leg_back_leftR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_back_leftR_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .108"/>
|
|
<geometry>
|
|
<box size=".017 .009 .216"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .1"/>
|
|
<mass value=".072"/>
|
|
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_leftR_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftR_link"/>
|
|
<child link="lower_leg_back_leftR_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="upper_leg_back_leftL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".039 .008 .129"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value=".034"/>
|
|
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="hip_back_leftL_joint" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_leftL_link"/>
|
|
<child link="upper_leg_back_leftL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
<link name="lower_leg_back_leftL_link">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="3000.0"/>
|
|
<damping value="100.0"/>
|
|
<spinning_friction value=".3"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba=".65 .65 .75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<geometry>
|
|
<box size=".017 .009 .240"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 .120"/>
|
|
<mass value=".086"/>
|
|
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="knee_back_leftL_joint" type="continuous">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftL_link"/>
|
|
<child link="lower_leg_back_leftL_link"/>
|
|
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping=".0" friction=".0"/>
|
|
</joint>
|
|
</robot>
|