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spotmicroai.urdf
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spotmicroai.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="SpotMicroAI">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Robot Body -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/mainbody.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy="0 0 3.1416" xyz="0.0425 0.055 -0.02"/>
</visual>
<collision>
<geometry>
<box size="0.14 0.11 0.07"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="base_inertia_joint" type="fixed">
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<link name="rear_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/backpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0195"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.04 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.135 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="base_rear" type="fixed">
<parent link="base_link"/>
<child link="rear_link"/>
</joint>
<gazebo reference="rear_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/frontpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0205"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.058 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0.135 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<gazebo reference="front_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<joint name="base_front" type="fixed">
<parent link="base_link"/>
<child link="front_link"/>
</joint>
<link name="front_left_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_left_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="front_left_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_left_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="front_left_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="front_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_left_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_leg" type="revolute">
<parent link="front_left_shoulder_link"/>
<child link="front_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="front_left_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_leg_cover_joint" type="fixed">
<parent link="front_left_leg_link"/>
<child link="front_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="front_left_foot" type="revolute">
<parent link="front_left_leg_link"/>
<child link="front_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_left_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_toe" type="fixed">
<parent link="front_left_foot_link"/>
<child link="front_left_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="front_right_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_right_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="front_right_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_right_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="front_right_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="front_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 -0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_right_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_leg" type="revolute">
<parent link="front_right_shoulder_link"/>
<child link="front_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="front_right_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_leg_cover_joint" type="fixed">
<parent link="front_right_leg_link"/>
<child link="front_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="front_right_foot" type="revolute">
<parent link="front_right_leg_link"/>
<child link="front_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_right_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_toe" type="fixed">
<parent link="front_right_foot_link"/>
<child link="front_right_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="rear_left_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_left_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="rear_left_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="rear_left_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="rear_left_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="rear_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_left_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_leg" type="revolute">
<parent link="rear_left_shoulder_link"/>
<child link="rear_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="rear_left_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_leg_cover_joint" type="fixed">
<parent link="rear_left_leg_link"/>
<child link="rear_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="rear_left_foot" type="revolute">
<parent link="rear_left_leg_link"/>
<child link="rear_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_left_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_toe" type="fixed">
<parent link="rear_left_foot_link"/>
<child link="rear_left_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="rear_right_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_right_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="rear_right_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="rear_right_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="rear_right_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="rear_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 -0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_right_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_leg" type="revolute">
<parent link="rear_right_shoulder_link"/>
<child link="rear_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="rear_right_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_leg_cover_joint" type="fixed">
<parent link="rear_right_leg_link"/>
<child link="rear_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="rear_right_foot" type="revolute">
<parent link="rear_right_leg_link"/>
<child link="rear_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_right_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_toe" type="fixed">
<parent link="rear_right_foot_link"/>
<child link="rear_right_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
</robot>