Darkages/SpotMicroESP32-Leika
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🧹 Formats urdf

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Rune Harlyk
2024-08-10 00:08:35 +02:00
committed by Rune Harlyk
parent fb9313913d
commit 80c74dc745
1 changed files with 575 additions and 602 deletions
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simulation/resources/spot.urdf
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@@ -1,13 +1,13 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<robot name="rex" xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot name="rex" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="yellow"> <material name="white">
<color rgba="0.92 0.83 0.0 1"/> <color rgba="1 1 1 1" />
</material> </material>
<material name="black"> <material name="black">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1" />
</material> </material>
<material name="grey"> <material name="grey">
<color rgba="0.6 0.6 0.6 1"/> <color rgba="0.6 0.6 0.6 1" />
</material> </material>
<!-- Params --> <!-- Params -->
<!-- Macros --> <!-- Macros -->
@@ -15,596 +15,569 @@
<link name="base_link"> <link name="base_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/mainbody.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/mainbody.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<material name="black"/> <material name="black" />
<origin rpy="0 0 0" xyz="-0.045 -0.060 -0.015"/> <origin rpy="0 0 0" xyz="-0.045 -0.060 -0.015" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.14 0.11 0.07"/> <box size="0.14 0.11 0.07" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0" />
</collision> </collision>
<inertial> <inertial>
<mass value="1.20"/> <mass value="1.20" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<!-- @TODO add lidar sensor-->
<!-- Lidar Backpack -->
<!-- <link name="lidar_link">-->
<!-- <visual>-->
<!-- <geometry>-->
<!-- <mesh filename="stl/rplidar_main.STL" scale="0.001 0.001 0.001"/>-->
<!-- </geometry>-->
<!-- <material name="black"/>-->
<!-- <origin rpy="1.57075 0 0" xyz="-0.06425 0.02885 0"/>-->
<!-- </visual>-->
<!-- <collision>-->
<!-- <geometry>-->
<!-- <box size="0.0985 0.0577 0.07"/>-->
<!-- </geometry>-->
<!-- <origin rpy="0 0 0" xyz="0 0 0"/>-->
<!-- </collision>-->
<!-- <inertial>-->
<!-- <mass value="0.50"/>-->
<!-- <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>-->
<!-- </inertial>-->
<!-- </link>-->
<!-- <joint name="base_lidar" type="fixed">-->
<!-- <parent link="base_link"/>-->
<!-- <child link="lidar_link"/>-->
<!-- <origin xyz="0 0 0.035"/>-->
<!-- </joint>-->
<!-- create head & tail --> <!-- create head & tail -->
<link name="chassis_front_link"> <link name="chassis_front_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/frontpart.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/frontpart.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/> <origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140" />
<material name="yellow"/> <material name="white" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.058 0.11 0.07"/> <box size="0.058 0.11 0.07" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.145 0 0"/> <origin rpy="0 0 0" xyz="-0.145 0 0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value="0.05" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<joint name="chassis_base_front" type="fixed"> <joint name="chassis_base_front" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="chassis_front_link"/> <child link="chassis_front_link" />
</joint> </joint>
<link name="chassis_rear_link"> <link name="chassis_rear_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/backpart.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/backpart.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/> <origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140" />
<material name="yellow"/> <material name="white" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.04 0.11 0.07"/> <box size="0.04 0.11 0.07" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0.135 0 0"/> <origin rpy="0 0 0" xyz="0.135 0 0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.05"/> <mass value="0.05" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<joint name="chassis_base_rear" type="fixed"> <joint name="chassis_base_rear" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="chassis_rear_link"/> <child link="chassis_rear_link" />
</joint> </joint>
<!-- create Legs --> <!-- create Legs -->
<link name="front_left_shoulder_link"> <link name="front_left_shoulder_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/> <origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.044 0.038 0.07"/> <box size="0.044 0.038 0.07" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.10"/> <mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_left_leg_link_cover"> <link name="front_left_leg_link_cover">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
<material name="yellow"/> <material name="white" />
</visual> </visual>
<inertial> <inertial>
<mass value="0.5"/> <mass value="0.5" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_left_leg_link"> <link name="front_left_leg_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/larm.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
<geometry> <geometry>
<box size="0.028 0.036 0.12"/> <box size="0.028 0.036 0.12" />
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.1"/> <mass value="0.1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_left_foot_link"> <link name="front_left_foot_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/> <origin rpy="0 0 0" xyz="-0.120 0.04 0.1" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.026 0.020 0.115"/> <box size="0.026 0.020 0.115" />
</geometry> </geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.1"/> <mass value="0.1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_left_toe_link"> <link name="front_left_toe_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<material name="grey"/> <material name="grey" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<contact_coefficients mu="100.0"/> <contact_coefficients mu="100.0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.005"/> <mass value="0.005" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<joint name="motor_front_left_shoulder" type="revolute"> <joint name="motor_front_left_shoulder" type="revolute">
<parent link="base_link"/> <parent link="base_link" />
<child link="front_left_shoulder_link"/> <child link="front_left_shoulder_link" />
<axis xyz="1 0 0"/> <axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="-0.093 -0.036 0"/> <origin rpy="0 0 0" xyz="-0.093 -0.036 0" />
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/> <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="motor_front_left_leg" type="revolute"> <joint name="motor_front_left_leg" type="revolute">
<parent link="front_left_shoulder_link"/> <parent link="front_left_shoulder_link" />
<child link="front_left_leg_link"/> <child link="front_left_leg_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0 -0.052 0"/> <origin rpy="0 0 0" xyz="0 -0.052 0" />
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/> <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5" />
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0" />
</joint> </joint>
<joint name="front_left_leg_cover_joint" type="fixed"> <joint name="front_left_leg_cover_joint" type="fixed">
<parent link="front_left_leg_link"/> <parent link="front_left_leg_link" />
<child link="front_left_leg_link_cover"/> <child link="front_left_leg_link_cover" />
<origin xyz="0 0 0"/> <origin xyz="0 0 0" />
</joint> </joint>
<joint name="foot_motor_front_left" type="revolute"> <joint name="foot_motor_front_left" type="revolute">
<parent link="front_left_leg_link"/> <parent link="front_left_leg_link" />
<child link="front_left_foot_link"/> <child link="front_left_foot_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/> <origin rpy="0 0 0" xyz="-0.01 0 -0.12" />
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/> <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="front_left_toe" type="fixed"> <joint name="front_left_toe" type="fixed">
<parent link="front_left_foot_link"/> <parent link="front_left_foot_link" />
<child link="front_left_toe_link"/> <child link="front_left_toe_link" />
<origin xyz="0 0 -0.115"/> <origin xyz="0 0 -0.115" />
</joint> </joint>
<link name="front_right_shoulder_link"> <link name="front_right_shoulder_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/> <origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.044 0.038 0.07"/> <box size="0.044 0.038 0.07" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.10"/> <mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_right_leg_link_cover"> <link name="front_right_leg_link_cover">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
<material name="yellow"/> <material name="white" />
</visual> </visual>
<inertial> <inertial>
<mass value="0.5"/> <mass value="0.5" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_right_leg_link"> <link name="front_right_leg_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
<geometry> <geometry>
<box size="0.028 0.036 0.12"/> <box size="0.028 0.036 0.12" />
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.1"/> <mass value="0.1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_right_foot_link"> <link name="front_right_foot_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/> <origin rpy="0 0 0" xyz="-0.120 -0.15 0.1" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.026 0.020 0.115"/> <box size="0.026 0.020 0.115" />
</geometry> </geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.1"/> <mass value="0.1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="front_right_toe_link"> <link name="front_right_toe_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<material name="grey"/> <material name="grey" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<contact_coefficients mu="100.0"/> <contact_coefficients mu="100.0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.005"/> <mass value="0.005" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<joint name="motor_front_right_shoulder" type="revolute"> <joint name="motor_front_right_shoulder" type="revolute">
<parent link="base_link"/> <parent link="base_link" />
<child link="front_right_shoulder_link"/> <child link="front_right_shoulder_link" />
<axis xyz="1 0 0"/> <axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="-0.093 0.036 0"/> <origin rpy="0 0 0" xyz="-0.093 0.036 0" />
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/> <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="motor_front_right_leg" type="revolute"> <joint name="motor_front_right_leg" type="revolute">
<parent link="front_right_shoulder_link"/> <parent link="front_right_shoulder_link" />
<child link="front_right_leg_link"/> <child link="front_right_leg_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0 0.052 0"/> <origin rpy="0 0 0" xyz="0 0.052 0" />
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/> <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5" />
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0" />
</joint> </joint>
<joint name="front_right_leg_cover_joint" type="fixed"> <joint name="front_right_leg_cover_joint" type="fixed">
<parent link="front_right_leg_link"/> <parent link="front_right_leg_link" />
<child link="front_right_leg_link_cover"/> <child link="front_right_leg_link_cover" />
<origin xyz="0 0 0"/> <origin xyz="0 0 0" />
</joint> </joint>
<joint name="foot_motor_front_right" type="revolute"> <joint name="foot_motor_front_right" type="revolute">
<parent link="front_right_leg_link"/> <parent link="front_right_leg_link" />
<child link="front_right_foot_link"/> <child link="front_right_foot_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/> <origin rpy="0 0 0" xyz="-0.01 0 -0.12" />
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/> <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="front_right_toe" type="fixed"> <joint name="front_right_toe" type="fixed">
<parent link="front_right_foot_link"/> <parent link="front_right_foot_link" />
<child link="front_right_toe_link"/> <child link="front_right_toe_link" />
<origin xyz="0 0 -0.115"/> <origin xyz="0 0 -0.115" />
</joint> </joint>
<link name="rear_left_shoulder_link"> <link name="rear_left_shoulder_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/> <origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.044 0.038 0.07"/> <box size="0.044 0.038 0.07" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.10"/> <mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_left_leg_link_cover"> <link name="rear_left_leg_link_cover">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
<material name="yellow"/> <material name="white" />
</visual> </visual>
<inertial> <inertial>
<mass value="0.5"/> <mass value="0.5" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_left_leg_link"> <link name="rear_left_leg_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/larm.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
<geometry> <geometry>
<box size="0.028 0.036 0.12"/> <box size="0.028 0.036 0.12" />
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.10"/> <mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_left_foot_link"> <link name="rear_left_foot_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/> <origin rpy="0 0 0" xyz="-0.120 0.04 0.1" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.026 0.020 0.115"/> <box size="0.026 0.020 0.115" />
</geometry> </geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.1"/> <mass value="0.1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_left_toe_link"> <link name="rear_left_toe_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<material name="grey"/> <material name="grey" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<contact_coefficients mu="100.0"/> <contact_coefficients mu="100.0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.005"/> <mass value="0.005" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<joint name="motor_rear_left_shoulder" type="revolute"> <joint name="motor_rear_left_shoulder" type="revolute">
<parent link="base_link"/> <parent link="base_link" />
<child link="rear_left_shoulder_link"/> <child link="rear_left_shoulder_link" />
<axis xyz="1 0 0"/> <axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="0.093 -0.036 0"/> <origin rpy="0 0 0" xyz="0.093 -0.036 0" />
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/> <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="motor_rear_left_leg" type="revolute"> <joint name="motor_rear_left_leg" type="revolute">
<parent link="rear_left_shoulder_link"/> <parent link="rear_left_shoulder_link" />
<child link="rear_left_leg_link"/> <child link="rear_left_leg_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0 -0.052 0"/> <origin rpy="0 0 0" xyz="0 -0.052 0" />
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/> <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5" />
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0" />
</joint> </joint>
<joint name="rear_left_leg_cover_joint" type="fixed"> <joint name="rear_left_leg_cover_joint" type="fixed">
<parent link="rear_left_leg_link"/> <parent link="rear_left_leg_link" />
<child link="rear_left_leg_link_cover"/> <child link="rear_left_leg_link_cover" />
<origin xyz="0 0 0"/> <origin xyz="0 0 0" />
</joint> </joint>
<joint name="foot_motor_rear_left" type="revolute"> <joint name="foot_motor_rear_left" type="revolute">
<parent link="rear_left_leg_link"/> <parent link="rear_left_leg_link" />
<child link="rear_left_foot_link"/> <child link="rear_left_foot_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/> <origin rpy="0 0 0" xyz="-0.01 0 -0.12" />
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/> <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="rear_left_toe" type="fixed"> <joint name="rear_left_toe" type="fixed">
<parent link="rear_left_foot_link"/> <parent link="rear_left_foot_link" />
<child link="rear_left_toe_link"/> <child link="rear_left_toe_link" />
<origin xyz="0 0 -0.115"/> <origin xyz="0 0 -0.115" />
</joint> </joint>
<link name="rear_right_shoulder_link"> <link name="rear_right_shoulder_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/> <origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.044 0.038 0.07"/> <box size="0.044 0.038 0.07" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.10"/> <mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_right_leg_link_cover"> <link name="rear_right_leg_link_cover">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
<material name="yellow"/> <material name="white" />
</visual> </visual>
<inertial> <inertial>
<mass value="0.5"/> <mass value="0.5" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_right_leg_link"> <link name="rear_right_leg_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/> <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
<geometry> <geometry>
<box size="0.028 0.036 0.12"/> <box size="0.028 0.036 0.12" />
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.10"/> <mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_right_foot_link"> <link name="rear_right_foot_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/> <origin rpy="0 0 0" xyz="-0.120 -0.15 0.1" />
<material name="black"/> <material name="black" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<box size="0.026 0.020 0.115"/> <box size="0.026 0.020 0.115" />
</geometry> </geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.1"/> <mass value="0.1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<link name="rear_right_toe_link"> <link name="rear_right_toe_link">
<visual> <visual>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<material name="grey"/> <material name="grey" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/> <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/> <origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
<contact_coefficients mu="100.0"/> <contact_coefficients mu="100.0" />
</collision> </collision>
<inertial> <inertial>
<mass value="0.005"/> <mass value="0.005" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial> </inertial>
</link> </link>
<joint name="motor_rear_right_shoulder" type="revolute"> <joint name="motor_rear_right_shoulder" type="revolute">
<parent link="base_link"/> <parent link="base_link" />
<child link="rear_right_shoulder_link"/> <child link="rear_right_shoulder_link" />
<axis xyz="1 0 0"/> <axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="0.093 0.036 0"/> <origin rpy="0 0 0" xyz="0.093 0.036 0" />
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/> <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="motor_rear_right_leg" type="revolute"> <joint name="motor_rear_right_leg" type="revolute">
<parent link="rear_right_shoulder_link"/> <parent link="rear_right_shoulder_link" />
<child link="rear_right_leg_link"/> <child link="rear_right_leg_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0 0.052 0"/> <origin rpy="0 0 0" xyz="0 0.052 0" />
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/> <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5" />
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0" />
</joint> </joint>
<joint name="rear_right_leg_cover_joint" type="fixed"> <joint name="rear_right_leg_cover_joint" type="fixed">
<parent link="rear_right_leg_link"/> <parent link="rear_right_leg_link" />
<child link="rear_right_leg_link_cover"/> <child link="rear_right_leg_link_cover" />
<origin xyz="0 0 0"/> <origin xyz="0 0 0" />
</joint> </joint>
<joint name="foot_motor_rear_right" type="revolute"> <joint name="foot_motor_rear_right" type="revolute">
<parent link="rear_right_leg_link"/> <parent link="rear_right_leg_link" />
<child link="rear_right_foot_link"/> <child link="rear_right_foot_link" />
<axis xyz="0 1 0"/> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/> <origin rpy="0 0 0" xyz="-0.01 0 -0.12" />
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/> <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5" />
<dynamics damping="0.0" friction="0.5"/> <dynamics damping="0.0" friction="0.5" />
</joint> </joint>
<joint name="rear_right_toe" type="fixed"> <joint name="rear_right_toe" type="fixed">
<parent link="rear_right_foot_link"/> <parent link="rear_right_foot_link" />
<child link="rear_right_toe_link"/> <child link="rear_right_toe_link" />
<origin xyz="0 0 -0.115"/> <origin xyz="0 0 -0.115" />
</joint> </joint>
</robot> </robot>