Rune Harlyk
711 lines
25 KiB
XML
711 lines
25 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="orange">
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<color rgba="1.0 0.5 0.0 1"/>
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</material>
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<material name="black">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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<material name="grey">
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<color rgba="0.6 0.6 0.6 1"/>
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</material>
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<!-- Left Leg: prefix is front or rear -->
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<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
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<link name="${prefix}_Left_Leg">
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<visual>
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<geometry>
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<box size="${leglen} 0.1 0.2"/>
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</geometry>
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<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size="${leglen} 0.1 0.2"/>
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</geometry>
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<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
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</collision>
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<xacro:default_inertial mass="10"/>
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</link>
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<joint name="base_to_${prefix}_leg" type="fixed">
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<parent link="base_link"/>
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<child link="${prefix}_leg"/>
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<origin xyz="0 ${reflect*(width+.02)} 0.25" />
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</joint>
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</xacro:macro> -->
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<!-- Robot description -->
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<!-- STATIC Links -->
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<link name="base_link">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.114 0.2 0.1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.6"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="battery">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.048 0.145 0.026"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.4"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="chassis_left">
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<visual>
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<origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.06 0.15 0.006"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="chassis_right">
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<visual>
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<origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.06 0.15 0.006"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="front">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
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<geometry>
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<box size="0.114 0.045 0.085"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="back">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
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<geometry>
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<box size="0.114 0.075 0.085"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="front_bracket">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
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<geometry>
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<box size="0.025 0.075 0.085"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="back_bracket">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
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<geometry>
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<box size="0.025 0.075 0.085"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="front_left_hip">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
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<geometry>
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<box size="0.05 0.065 0.065"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.2"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
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</inertial>
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</link>
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<joint name="motor_front_left_hip" type="revolute">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
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<parent link="front_bracket"/>
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<child link="front_left_hip"/>
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<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="front_left_upper_leg">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
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<geometry>
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<box size="0.035 0.035 0.11"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.13"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
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</inertial>
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</link>
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<joint name="motor_front_left_upper_leg" type="revolute">
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
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<parent link="front_left_hip"/>
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<child link="front_left_upper_leg"/>
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<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="front_left_lower_leg">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
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<geometry>
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<box size="0.035 0.035 0.12"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
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</inertial>
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</link>
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<joint name="motor_front_left_lower_leg" type="revolute">
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
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<parent link="front_left_upper_leg"/>
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<child link="front_left_lower_leg"/>
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<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="front_left_foot">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
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</geometry>
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<contact_coefficients mu="10.1"/>
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</collision>
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<inertial>
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<mass value="0.005"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
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</inertial>
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</link>
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<joint name="front_left_leg_foot" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
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<parent link="front_left_lower_leg"/>
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<child link="front_left_foot"/>
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</joint>
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<link name="back_left_hip">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
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<geometry>
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<box size="0.05 0.065 0.065"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.2"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
|
|
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
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</inertial>
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</link>
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<joint name="motor_back_left_hip" type="revolute">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
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<parent link="back_bracket"/>
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<child link="back_left_hip"/>
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<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="back_left_upper_leg">
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|
<visual>
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|
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
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|
<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
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|
</geometry>
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<material name="black"/>
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|
</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
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<geometry>
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<box size="0.035 0.035 0.11"/>
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|
</geometry>
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|
</collision>
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|
<inertial>
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<mass value="0.13"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
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|
<!-- Inertial Axes -->
|
|
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
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</inertial>
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</link>
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<joint name="motor_back_left_upper_leg" type="revolute">
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
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<parent link="back_left_hip"/>
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<child link="back_left_upper_leg"/>
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<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="back_left_lower_leg">
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|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
|
|
<geometry>
|
|
<box size="0.035 0.035 0.12"/>
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</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
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<!-- Inertial Axes -->
|
|
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_left_lower_leg" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
|
|
<parent link="back_left_upper_leg"/>
|
|
<child link="back_left_lower_leg"/>
|
|
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="back_left_foot">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="orange"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<contact_coefficients mu="10.1"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.005"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="back_left_leg_foot" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
|
|
<parent link="back_left_lower_leg"/>
|
|
<child link="back_left_foot"/>
|
|
</joint>
|
|
<link name="front_right_hip">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
|
|
<geometry>
|
|
<box size="0.05 0.065 0.065"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.2"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_right_hip" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
|
|
<parent link="front_bracket"/>
|
|
<child link="front_right_hip"/>
|
|
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="front_right_upper_leg">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
|
|
<geometry>
|
|
<box size="0.035 0.035 0.11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.13"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_right_upper_leg" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
|
|
<parent link="front_right_hip"/>
|
|
<child link="front_right_upper_leg"/>
|
|
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="front_right_lower_leg">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
|
|
<geometry>
|
|
<box size="0.035 0.035 0.12"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_front_right_lower_leg" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
|
|
<parent link="front_right_upper_leg"/>
|
|
<child link="front_right_lower_leg"/>
|
|
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="front_right_foot">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="orange"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<contact_coefficients mu="10.1"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.005"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="front_right_leg_foot" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
|
|
<parent link="front_right_lower_leg"/>
|
|
<child link="front_right_foot"/>
|
|
</joint>
|
|
<link name="back_right_hip">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
|
|
<geometry>
|
|
<box size="0.05 0.065 0.065"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.2"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_right_hip" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
|
|
<parent link="back_bracket"/>
|
|
<child link="back_right_hip"/>
|
|
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="back_right_upper_leg">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
|
|
<geometry>
|
|
<box size="0.035 0.035 0.11"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.13"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_right_upper_leg" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
|
|
<parent link="back_right_hip"/>
|
|
<child link="back_right_upper_leg"/>
|
|
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="back_right_lower_leg">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
|
|
<geometry>
|
|
<box size="0.035 0.035 0.12"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="motor_back_right_lower_leg" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
|
|
<parent link="back_right_upper_leg"/>
|
|
<child link="back_right_lower_leg"/>
|
|
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<link name="back_right_foot">
|
|
<visual>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="orange"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
|
<geometry>
|
|
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
|
</geometry>
|
|
<contact_coefficients mu="10.1"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.005"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<!-- Inertial Axes -->
|
|
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="back_right_leg_foot" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
|
|
<parent link="back_right_lower_leg"/>
|
|
<child link="back_right_foot"/>
|
|
</joint>
|
|
<joint name="base_battery" type="fixed">
|
|
<origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
|
|
<parent link="base_link"/>
|
|
<child link="battery"/>
|
|
</joint>
|
|
<joint name="base_left" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.00 0.052 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="chassis_left"/>
|
|
</joint>
|
|
<joint name="base_right" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="chassis_right"/>
|
|
</joint>
|
|
<joint name="base_front" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="front"/>
|
|
</joint>
|
|
<joint name="base_back" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="back"/>
|
|
</joint>
|
|
<joint name="base_front_bracket" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="front_bracket"/>
|
|
</joint>
|
|
<joint name="base_back_bracket" type="fixed">
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<parent link="base_link"/>
|
|
<child link="back_bracket"/>
|
|
</joint>
|
|
</robot>
|