/
minitaur.urdf
executable file
·942 lines (882 loc) · 31.8 KB
/
minitaur.urdf
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<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2017, Erwin Coumans -->
<!--Google Inc. -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions or derived work must retain this copyright notice, -->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz=".05 0 0"/>
<mass value="3.353"/>
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value="0.322"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value="0.322"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_rightR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_rightR_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_rightR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightR_link"/>
<child link="lower_leg_front_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_rightL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="motor_front_rightL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_rightL_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_rightL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightL_link"/>
<child link="lower_leg_front_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_leftR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_leftR_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_leftR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftR_link"/>
<child link="lower_leg_front_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_leftL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="motor_front_leftL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_leftL_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_leftL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftL_link"/>
<child link="lower_leg_front_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_rightR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_rightR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_rightR_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_rightR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightR_link"/>
<child link="lower_leg_back_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_rightL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="motor_back_rightL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_rightL_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_rightL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightL_link"/>
<child link="lower_leg_back_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_leftR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_leftR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_leftR_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_leftR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftR_link"/>
<child link="lower_leg_back_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_leftL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="motor_back_leftL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_leftL_link">
<contact>
<stiffness value="10000"/>
<damping value="10"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_leftL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftL_link"/>
<child link="lower_leg_back_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<constraints nominal_config="0 0 0.35 0 0 1 0 -1.5708 -2.2 -1.5708 -2.2 -1.5708 -2.2 -1.5708 -2.2 -1.5708 -2.2 -1.5708 -2.2 -1.5708 -2.2 -1.5708 -2.2">
<pin body1="lower_leg_front_rightR_link" body2="lower_leg_front_rightL_link" anchor="0.0 0.0 0.2"/>
<pin body1="lower_leg_front_leftR_link" body2="lower_leg_front_leftL_link" anchor="0.0 0.0 0.2"/>
<pin body1="lower_leg_back_rightR_link" body2="lower_leg_back_rightL_link" anchor="0.0 0.0 0.2"/>
<pin body1="lower_leg_back_leftR_link" body2="lower_leg_back_leftL_link" anchor="0.0 0.0 0.2"/>
</constraints>
</robot>