/
anymal_sensored.urdf
executable file
·1607 lines (1605 loc) · 62.5 KB
/
anymal_sensored.urdf
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2020 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal C robot. -->
<robot name="anymal">
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/base.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.58 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<!-- Shell self filtering -->
<self_filter>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.05 0.5 0.5"/>
</geometry>
</self_filter>
</link>
<joint name="base_to_lidar" type="fixed">
<parent link="base"/>
<child link="lidar_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08"/>
</joint>
<link name="lidar_link" sensor="ouster1-64.xml"/>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.018 -0.002 0.024"/>
<mass value="6.222"/>
<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_top_shell" type="fixed">
<parent link="base"/>
<child link="top_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Top shell link -->
<link name="top_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
<mass value="0.534"/>
<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_bottom_shell" type="fixed">
<parent link="base"/>
<child link="bottom_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Bottom shell link -->
<link name="bottom_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
<mass value="1.15"/>
<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
</inertial>
</link>
<!-- Fixed joint base remote -->
<joint name="base_remote" type="fixed">
<parent link="base"/>
<child link="remote"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Remote link -->
<link name="remote">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/remote.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.171 0.002 0.096"/>
<mass value="0.3262"/>
<inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026"/>
</inertial>
</link>
<!-- Fixed joint base handle -->
<joint name="base_handle" type="fixed">
<parent link="base"/>
<child link="handle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Handle link -->
<link name="handle">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/handle.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
<mass value="0.314"/>
<inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779"/>
</inertial>
</link>
<!-- Fixed joint base face -->
<joint name="base_face_front" type="fixed">
<parent link="base"/>
<child link="face_front"/>
<origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_front">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_front_to_depth_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="depth_camera_front_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_front_camera"/>
<child link="depth_camera_front_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_front_camera_parent" sensor="realsense435.xml"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_front_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_front_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_front_color_frame"/>
<child link="depth_camera_front_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_front_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="wide_angle_camera_front_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_front_camera"/>
<child link="wide_angle_camera_front_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_front_camera_parent"/>
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
<child link="face_rear"/>
<origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_rear">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="depth_camera_rear_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_rear_camera"/>
<child link="depth_camera_rear_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_rear_camera_parent" sensor="realsense435.xml"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_rear_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_rear_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_rear_color_frame"/>
<child link="depth_camera_rear_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_rear_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="wide_angle_camera_rear_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_rear_camera"/>
<child link="wide_angle_camera_rear_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_rear_camera_parent"/>
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
<child link="battery"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Shell link -->
<link name="battery">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/battery.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
<mass value="5.53425"/>
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
</inertial>
</link>
<!-- Fixed joint to add docking -->
<joint name="base_to_docking_hatch_cover" type="fixed">
<parent link="base"/>
<child link="docking_hatch_cover"/>
<origin rpy="0 0 0" xyz="0.343 0.0 -0.07"/>
</joint>
<!-- Hatch cover link -->
<link name="docking_hatch_cover">
<!-- TODO(fgiraldez): add visual -->
<inertial>
<origin rpy="0 0 0" xyz="-0.003 0.0 0.005"/>
<mass value="0.065"/>
<inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883"/>
</inertial>
</link>
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.2488 0.00835 0.04628"/>
</joint>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_left_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_left_camera"/>
<origin rpy="0.0 0.523598775598 1.57079632679" xyz="0.0 0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_left_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_left_camera"/>
<child link="depth_camera_left_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_left_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_left_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_left_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_left_color_frame"/>
<child link="depth_camera_left_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_left_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_right_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_right_camera"/>
<origin rpy="0.0 0.523598775598 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_right_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_right_camera"/>
<child link="depth_camera_right_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_right_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_right_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_right_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_right_color_frame"/>
<child link="depth_camera_right_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_right_color_optical_frame"/>
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_lidar_cage" type="fixed">
<parent link="base"/>
<child link="lidar_cage"/>
<origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
</joint>
<!-- Velodyne cage link -->
<link name="lidar_cage">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar_cage.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<cylinder length="0.12" radius="0.07"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.002 0.0 0.099"/>
<mass value="0.545"/>
<inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455"/>
</inertial>
</link>
<!-- parent to sensor joint -->
<joint name="lidar_cage_to_lidar" type="fixed">
<parent link="lidar_cage"/>
<child link="lidar"/>
<origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
</joint>
<!-- Velodyne sensor link -->
<link name="lidar">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.012 0.001 -0.008"/>
<mass value="0.695"/>
<inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673"/>
</inertial>
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar.dae"/>
</geometry>
</visual>
</link>
<!-- joint base HAA -->
<joint name="base_LF_HAA" type="fixed">
<parent link="base"/>
<child link="LF_HAA"/>
<origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HAA" type="revolute">
<parent link="LF_HAA"/>
<child link="LF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
<parent link="LF_HIP"/>
<child link="LF_hip_fixed"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
<parent link="LF_hip_fixed"/>
<child link="LF_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HFE"/>
<child link="LF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
<parent link="LF_THIGH"/>
<child link="LF_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LF_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
<parent link="LF_thigh_fixed"/>
<child link="LF_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_KFE"/>
<child link="LF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LF_shank_LF_shank_fixed" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
<parent link="LF_shank_fixed"/>
<child link="LF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<visual>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RF_HAA" type="fixed">
<parent link="base"/>
<child link="RF_HAA"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HAA" type="revolute">
<parent link="RF_HAA"/>
<child link="RF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
<parent link="RF_HIP"/>
<child link="RF_hip_fixed"/>
<origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
<parent link="RF_hip_fixed"/>
<child link="RF_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HFE"/>
<child link="RF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
<parent link="RF_THIGH"/>
<child link="RF_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RF_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
<parent link="RF_thigh_fixed"/>
<child link="RF_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>