2132 lines
41 KiB
XML
2132 lines
41 KiB
XML
<robot
|
|
name="T12">
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|
<link
|
|
name="Body">
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|
<inertial>
|
|
<origin
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|
xyz="0.015789 0.0084982 0.11668"
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|
rpy="0 0 0" />
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|
<mass
|
|
value="266.06" />
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|
<inertia
|
|
ixx="225.36"
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|
ixy="0.054583"
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|
ixz="0.010358"
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|
iyy="210.35"
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|
iyz="-0.0001937"
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|
izz="424.6" />
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|
</inertial>
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|
<visual>
|
|
<origin
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|
xyz="0 0 0"
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|
rpy="0 0 0" />
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|
<geometry>
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|
<mesh
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|
filename="../meshes/Body.STL" />
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|
</geometry>
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|
<material
|
|
name="">
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|
<color
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|
rgba="0.75294 0.75294 0.75294 1" />
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|
</material>
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|
</visual>
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|
<collision>
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|
<origin
|
|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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|
<mesh
|
|
filename="../meshes/Body.STL" />
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|
</geometry>
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|
</collision>
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|
</link>
|
|
<link
|
|
name="Hip1">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.12059 0.04703 -0.043975"
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|
rpy="0 0 0" />
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|
<mass
|
|
value="10.161" />
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<inertia
|
|
ixx="0.69317"
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|
ixy="0.0073762"
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|
ixz="0.040711"
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|
iyy="0.34376"
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iyz="0.0014897"
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|
izz="0.9152" />
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|
</inertial>
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|
<visual>
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|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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|
filename="../meshes/Hip1.STL" />
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|
</geometry>
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|
<material
|
|
name="">
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|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
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|
</material>
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|
</visual>
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<collision>
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|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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|
filename="../meshes/Hip1.STL" />
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|
</geometry>
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|
</collision>
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|
</link>
|
|
<joint
|
|
name="HY1"
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|
type="revolute">
|
|
<origin
|
|
xyz="1.7322 0.99572 0.41034"
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rpy="-4.4608E-16 2.8513E-16 0.5236" />
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<parent
|
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link="Body" />
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|
<child
|
|
link="Hip1" />
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<axis
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xyz="0 0 -1" />
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<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
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|
effort="2700"
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velocity="0" />
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</joint>
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|
<link
|
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name="Thigh1">
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|
<inertial>
|
|
<origin
|
|
xyz="0.37052 1.2567E-08 -0.0016621"
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rpy="0 0 0" />
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<mass
|
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value="14.238" />
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<inertia
|
|
ixx="1.0008"
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|
ixy="7.0442E-08"
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|
ixz="0.0087687"
|
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iyy="2.0253"
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iyz="-0.00024727"
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|
izz="1.3252" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
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rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
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rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
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|
filename="../meshes/Thigh1.STL" />
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</geometry>
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|
</collision>
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</link>
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|
<joint
|
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name="HP1"
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type="revolute">
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|
<origin
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xyz="0.36808 0 0"
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|
rpy="-1.5708 1.2704E-14 -2.2204E-16" />
|
|
<parent
|
|
link="Hip1" />
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|
<child
|
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link="Thigh1" />
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|
<axis
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xyz="0 0 -1" />
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<limit
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lower="-1.9199"
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upper="1.5708"
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effort="7500"
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velocity="0" />
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</joint>
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|
<link
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name="Knee1">
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|
<inertial>
|
|
<origin
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|
xyz="0.017762 -0.027385 0.0067752"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.7913" />
|
|
<inertia
|
|
ixx="0.12768"
|
|
ixy="0.0042111"
|
|
ixz="-0.00069417"
|
|
iyy="0.12196"
|
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iyz="0.0012334"
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|
izz="0.079088" />
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</inertial>
|
|
<visual>
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|
<origin
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xyz="0 0 0"
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|
rpy="0 0 0" />
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|
<geometry>
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|
<mesh
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filename="../meshes/Knee1.STL" />
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|
</geometry>
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|
<material
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|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
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|
</material>
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|
</visual>
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|
<collision>
|
|
<origin
|
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../meshes/Knee1.STL" />
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</geometry>
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|
</collision>
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|
</link>
|
|
<joint
|
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name="KP1"
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|
type="revolute">
|
|
<origin
|
|
xyz="0.8627 0 0"
|
|
rpy="2.2204E-16 2.6822E-16 1.5708" />
|
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<parent
|
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link="Thigh1" />
|
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<child
|
|
link="Knee1" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="3.1416"
|
|
effort="2700"
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velocity="0" />
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</joint>
|
|
<link
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name="Shin1">
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|
<inertial>
|
|
<origin
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xyz="-1.4482E-09 0.00011789 0.4127"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.201" />
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<inertia
|
|
ixx="0.7541"
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|
ixy="-0.00016423"
|
|
ixz="3.2671E-09"
|
|
iyy="0.53994"
|
|
iyz="-0.00028063"
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|
izz="0.35892" />
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</inertial>
|
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<visual>
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|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
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|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
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</material>
|
|
</visual>
|
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<collision>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
|
|
filename="../meshes/Shin1.STL" />
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|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
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name="KR1"
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|
type="revolute">
|
|
<origin
|
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xyz="0 0 0"
|
|
rpy="1.5708 -2.7791E-17 8.7217E-15" />
|
|
<parent
|
|
link="Knee1" />
|
|
<child
|
|
link="Shin1" />
|
|
<axis
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|
xyz="0 0 -1" />
|
|
<limit
|
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lower="-3.1416"
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upper="3.1416"
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effort="900"
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velocity="0" />
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</joint>
|
|
<link
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name="Ankle1">
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|
<inertial>
|
|
<origin
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|
xyz="0.020168 -0.026001 0.0079686"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.108" />
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<inertia
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|
ixx="0.094931"
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|
ixy="0.0040571"
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|
ixz="-0.00081815"
|
|
iyy="0.089357"
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|
iyz="0.00089845"
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|
izz="0.073015" />
|
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</inertial>
|
|
<visual>
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|
<origin
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|
xyz="0 0 0"
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|
rpy="0 0 0" />
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|
<geometry>
|
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<mesh
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|
filename="../meshes/Ankle1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
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|
<color
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|
rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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|
filename="../meshes/Ankle1.STL" />
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|
</geometry>
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|
</collision>
|
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</link>
|
|
<joint
|
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name="AP1"
|
|
type="revolute">
|
|
<origin
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|
xyz="0 0 0.79818"
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rpy="-1.5708 -1.3823E-15 -9.3729E-17" />
|
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<parent
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link="Shin1" />
|
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<child
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|
link="Ankle1" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="-2.0944"
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upper="2.0944"
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effort="1350"
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velocity="0" />
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</joint>
|
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<link
|
|
name="Foot1">
|
|
<inertial>
|
|
<origin
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|
xyz="-3.0189E-05 0.0041753 0.55175"
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rpy="0 0 0" />
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<mass
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value="27.416" />
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<inertia
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ixx="2.0991"
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ixy="-4.1499E-05"
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ixz="6.0881E-05"
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iyy="2.468"
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iyz="0.023298"
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izz="0.8501" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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|
filename="../meshes/Foot1.STL" />
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</geometry>
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<material
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|
name="">
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|
<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
|
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<collision>
|
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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|
filename="../meshes/Foot1.STL" />
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</geometry>
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|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AR1"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 4.5989E-16 1.2639E-15" />
|
|
<parent
|
|
link="Ankle1" />
|
|
<child
|
|
link="Foot1" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Hip2">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.11841 0.050794 -0.043975"
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rpy="0 0 0" />
|
|
<mass
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value="10.161" />
|
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<inertia
|
|
ixx="0.69317"
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ixy="0.0073791"
|
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ixz="0.040711"
|
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iyy="0.34375"
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iyz="0.0014908"
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izz="0.91521" />
|
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</inertial>
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<visual>
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|
<origin
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|
xyz="0 0 0"
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|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip2.STL" />
|
|
</geometry>
|
|
<material
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|
name="">
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|
<color
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|
rgba="0.75294 0.75294 0.75294 1" />
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|
</material>
|
|
</visual>
|
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<collision>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HY2"
|
|
type="revolute">
|
|
<origin
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|
xyz="0.0037717 1.998 0.41034"
|
|
rpy="-4.4608E-16 2.8513E-16 1.5708" />
|
|
<parent
|
|
link="Body" />
|
|
<child
|
|
link="Hip2" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Thigh2">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.36835 1.2571E-08 0.0020978"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="14.238" />
|
|
<inertia
|
|
ixx="1.0008"
|
|
ixy="7.0776E-08"
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|
ixz="0.0088078"
|
|
iyy="2.0253"
|
|
iyz="-0.00024727"
|
|
izz="1.3252" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
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|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HP2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.36808 0 0"
|
|
rpy="-1.5708 1.2704E-14 -2.1472E-16" />
|
|
<parent
|
|
link="Hip2" />
|
|
<child
|
|
link="Thigh2" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="1.5708"
|
|
effort="7500"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Knee2">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.017762 -0.025217 0.010531"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.7913" />
|
|
<inertia
|
|
ixx="0.12768"
|
|
ixy="0.0042106"
|
|
ixz="-0.00069509"
|
|
iyy="0.12197"
|
|
iyz="0.0012317"
|
|
izz="0.079085" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KP2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.8627 0 0"
|
|
rpy="2.2937E-16 2.3338E-16 1.5708" />
|
|
<parent
|
|
link="Thigh2" />
|
|
<child
|
|
link="Knee2" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Shin2">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.3842E-09 0.0038981 0.41085"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.201" />
|
|
<inertia
|
|
ixx="0.75448"
|
|
ixy="-0.00016423"
|
|
ixz="3.1853E-09"
|
|
iyy="0.54028"
|
|
iyz="3.2414E-05"
|
|
izz="0.35896" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KR2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 -2.7791E-17 8.7217E-15" />
|
|
<parent
|
|
link="Knee2" />
|
|
<child
|
|
link="Shin2" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Ankle2">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.020168 -0.023832 0.011725"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.108" />
|
|
<inertia
|
|
ixx="0.09493"
|
|
ixy="0.0040565"
|
|
ixz="-0.00081912"
|
|
iyy="0.089358"
|
|
iyz="0.00089727"
|
|
izz="0.073013" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AP2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.79818"
|
|
rpy="-1.5708 -1.4672E-15 -1.2695E-16" />
|
|
<parent
|
|
link="Shin2" />
|
|
<child
|
|
link="Ankle2" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-2.0944"
|
|
upper="2.0944"
|
|
effort="1350"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Foot2">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.0121E-05 0.007929 0.54959"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="27.416" />
|
|
<inertia
|
|
ixx="2.0992"
|
|
ixy="-4.1277E-05"
|
|
ixz="6.0958E-05"
|
|
iyy="2.468"
|
|
iyz="0.023238"
|
|
izz="0.85011" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AR2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 4.2667E-16 1.3488E-15" />
|
|
<parent
|
|
link="Ankle2" />
|
|
<child
|
|
link="Foot2" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Hip3">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.12059 0.054559 -0.043975"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.161" />
|
|
<inertia
|
|
ixx="0.69318"
|
|
ixy="0.0073858"
|
|
ixz="0.040711"
|
|
iyy="0.34376"
|
|
iyz="0.0014917"
|
|
izz="0.91522" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HY3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-1.7284 1.0023 0.41034"
|
|
rpy="-4.4608E-16 3.1089E-16 2.618" />
|
|
<parent
|
|
link="Body" />
|
|
<child
|
|
link="Hip3" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Thigh3">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.37052 1.2575E-08 0.0058577"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="14.238" />
|
|
<inertia
|
|
ixx="1.0008"
|
|
ixy="7.0333E-08"
|
|
ixz="0.0088473"
|
|
iyy="2.0253"
|
|
iyz="-0.00024727"
|
|
izz="1.3252" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HP3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.36808 0 0"
|
|
rpy="-1.5708 1.2512E-14 5.7201E-30" />
|
|
<parent
|
|
link="Hip3" />
|
|
<child
|
|
link="Thigh3" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="1.5708"
|
|
effort="7500"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Knee3">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.017762 -0.027385 0.014286"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.7913" />
|
|
<inertia
|
|
ixx="0.12768"
|
|
ixy="0.0042111"
|
|
ixz="-0.00069602"
|
|
iyy="0.12197"
|
|
iyz="0.001229"
|
|
izz="0.079087" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KP3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.8627 0 0"
|
|
rpy="2.2204E-16 3.2661E-16 1.5708" />
|
|
<parent
|
|
link="Thigh3" />
|
|
<child
|
|
link="Knee3" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Shin3">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.4539E-09 0.0076634 0.41302"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.201" />
|
|
<inertia
|
|
ixx="0.75448"
|
|
ixy="-0.00016423"
|
|
ixz="3.2688E-09"
|
|
iyy="0.54028"
|
|
iyz="3.6604E-05"
|
|
izz="0.35897" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KR3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 -2.7791E-17 8.7217E-15" />
|
|
<parent
|
|
link="Knee3" />
|
|
<child
|
|
link="Shin3" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Ankle3">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.020167 -0.026001 0.015481"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.108" />
|
|
<inertia
|
|
ixx="0.094934"
|
|
ixy="0.004057"
|
|
ixz="-0.00082009"
|
|
iyy="0.089361"
|
|
iyz="0.00089501"
|
|
izz="0.073015" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AP3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.79818"
|
|
rpy="-1.5708 -1.426E-15 -1.3449E-16" />
|
|
<parent
|
|
link="Shin3" />
|
|
<child
|
|
link="Ankle3" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-2.0944"
|
|
upper="2.0944"
|
|
effort="1350"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Foot3">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.0139E-05 0.011683 0.55175"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="27.416" />
|
|
<inertia
|
|
ixx="2.0991"
|
|
ixy="-4.1381E-05"
|
|
ixz="6.0898E-05"
|
|
iyy="2.468"
|
|
iyz="0.023183"
|
|
izz="0.85012" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AR3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 4.1913E-16 1.3076E-15" />
|
|
<parent
|
|
link="Ankle3" />
|
|
<child
|
|
link="Foot3" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Hip4">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.12059 0.04703 -0.043975"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.161" />
|
|
<inertia
|
|
ixx="0.69317"
|
|
ixy="0.0073762"
|
|
ixz="0.040711"
|
|
iyy="0.34376"
|
|
iyz="0.0014897"
|
|
izz="0.9152" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HY4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-1.7322 -0.99572 0.41034"
|
|
rpy="-4.4608E-16 2.8513E-16 -2.618" />
|
|
<parent
|
|
link="Body" />
|
|
<child
|
|
link="Hip4" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Thigh4">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.37052 1.2567E-08 -0.0016621"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="14.238" />
|
|
<inertia
|
|
ixx="1.0008"
|
|
ixy="7.0442E-08"
|
|
ixz="0.0087687"
|
|
iyy="2.0253"
|
|
iyz="-0.00024727"
|
|
izz="1.3252" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HP4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.36808 0 0"
|
|
rpy="-1.5708 1.2704E-14 -2.7756E-16" />
|
|
<parent
|
|
link="Hip4" />
|
|
<child
|
|
link="Thigh4" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="1.5708"
|
|
effort="7500"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Knee4">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.017762 -0.027385 0.0067752"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.7913" />
|
|
<inertia
|
|
ixx="0.12768"
|
|
ixy="0.0042111"
|
|
ixz="-0.00069417"
|
|
iyy="0.12196"
|
|
iyz="0.0012334"
|
|
izz="0.079088" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KP4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.8627 0 0"
|
|
rpy="2.2204E-16 2.645E-16 1.5708" />
|
|
<parent
|
|
link="Thigh4" />
|
|
<child
|
|
link="Knee4" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Shin4">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.4482E-09 0.00011789 0.4127"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.201" />
|
|
<inertia
|
|
ixx="0.7541"
|
|
ixy="-0.00016423"
|
|
ixz="3.2671E-09"
|
|
iyy="0.53994"
|
|
iyz="-0.00028063"
|
|
izz="0.35892" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KR4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 -2.7791E-17 8.7217E-15" />
|
|
<parent
|
|
link="Knee4" />
|
|
<child
|
|
link="Shin4" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Ankle4">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.020168 -0.026001 0.0079686"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.108" />
|
|
<inertia
|
|
ixx="0.094931"
|
|
ixy="0.0040571"
|
|
ixz="-0.00081815"
|
|
iyy="0.089357"
|
|
iyz="0.00089845"
|
|
izz="0.073015" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AP4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.79818"
|
|
rpy="-1.5708 -1.3823E-15 -9.3729E-17" />
|
|
<parent
|
|
link="Shin4" />
|
|
<child
|
|
link="Ankle4" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-2.0944"
|
|
upper="2.0944"
|
|
effort="1350"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Foot4">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.0257E-05 0.0041752 0.55175"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="27.416" />
|
|
<inertia
|
|
ixx="2.0991"
|
|
ixy="-4.1743E-05"
|
|
ixz="6.0625E-05"
|
|
iyy="2.468"
|
|
iyz="0.023298"
|
|
izz="0.8501" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AR4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 4.5989E-16 1.2639E-15" />
|
|
<parent
|
|
link="Ankle4" />
|
|
<child
|
|
link="Foot4" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Hip5">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.11841 0.050794 -0.043975"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.161" />
|
|
<inertia
|
|
ixx="0.69317"
|
|
ixy="0.0073791"
|
|
ixz="0.040711"
|
|
iyy="0.34375"
|
|
iyz="0.0014908"
|
|
izz="0.91521" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HY5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0037717 -1.998 0.41034"
|
|
rpy="-4.4608E-16 2.8513E-16 -1.5708" />
|
|
<parent
|
|
link="Body" />
|
|
<child
|
|
link="Hip5" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Thigh5">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.36835 1.2571E-08 0.0020978"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="14.238" />
|
|
<inertia
|
|
ixx="1.0008"
|
|
ixy="7.0776E-08"
|
|
ixz="0.0088078"
|
|
iyy="2.0253"
|
|
iyz="-0.00024727"
|
|
izz="1.3252" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HP5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.36808 0 0"
|
|
rpy="-1.5708 1.2704E-14 -1.1102E-16" />
|
|
<parent
|
|
link="Hip5" />
|
|
<child
|
|
link="Thigh5" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="1.5708"
|
|
effort="7500"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Knee5">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.017762 -0.025217 0.010531"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.7913" />
|
|
<inertia
|
|
ixx="0.12768"
|
|
ixy="0.0042106"
|
|
ixz="-0.00069509"
|
|
iyy="0.12197"
|
|
iyz="0.0012317"
|
|
izz="0.079085" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KP5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.8627 0 0"
|
|
rpy="3.3307E-16 2.741E-16 1.5708" />
|
|
<parent
|
|
link="Thigh5" />
|
|
<child
|
|
link="Knee5" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Shin5">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.3855E-09 0.0038831 0.41053"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.201" />
|
|
<inertia
|
|
ixx="0.75409"
|
|
ixy="-0.00016423"
|
|
ixz="3.1801E-09"
|
|
iyy="0.53993"
|
|
iyz="-0.00027675"
|
|
izz="0.35892" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KR5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 -2.7791E-17 8.7217E-15" />
|
|
<parent
|
|
link="Knee5" />
|
|
<child
|
|
link="Shin5" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Ankle5">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.020168 -0.023832 0.011725"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.108" />
|
|
<inertia
|
|
ixx="0.09493"
|
|
ixy="0.0040565"
|
|
ixz="-0.00081912"
|
|
iyy="0.089358"
|
|
iyz="0.00089727"
|
|
izz="0.073013" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AP5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.79818"
|
|
rpy="-1.5708 -1.4672E-15 -1.2364E-16" />
|
|
<parent
|
|
link="Shin5" />
|
|
<child
|
|
link="Ankle5" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-2.0944"
|
|
upper="2.0944"
|
|
effort="1350"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Foot5">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.0002E-05 0.0079289 0.54959"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="27.416" />
|
|
<inertia
|
|
ixx="2.0992"
|
|
ixy="-4.0815E-05"
|
|
ixz="6.1178E-05"
|
|
iyy="2.468"
|
|
iyz="0.023238"
|
|
izz="0.85011" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AR5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 4.2998E-16 1.3488E-15" />
|
|
<parent
|
|
link="Ankle5" />
|
|
<child
|
|
link="Foot5" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Hip6">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.12059 0.054559 -0.043975"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.161" />
|
|
<inertia
|
|
ixx="0.69318"
|
|
ixy="0.0073858"
|
|
ixz="0.040711"
|
|
iyy="0.34376"
|
|
iyz="0.0014917"
|
|
izz="0.91522" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Hip6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HY6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="1.7284 -1.0023 0.41034"
|
|
rpy="-4.4608E-16 2.8513E-16 -0.5236" />
|
|
<parent
|
|
link="Body" />
|
|
<child
|
|
link="Hip6" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Thigh6">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.37052 1.2575E-08 0.0058577"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="14.238" />
|
|
<inertia
|
|
ixx="1.0008"
|
|
ixy="7.0333E-08"
|
|
ixz="0.0088473"
|
|
iyy="2.0253"
|
|
iyz="-0.00024727"
|
|
izz="1.3252" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Thigh6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="HP6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.36808 0 0"
|
|
rpy="-1.5708 1.2704E-14 -2.2204E-16" />
|
|
<parent
|
|
link="Hip6" />
|
|
<child
|
|
link="Thigh6" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="1.5708"
|
|
effort="7500"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Knee6">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.017762 -0.027385 0.014286"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.7913" />
|
|
<inertia
|
|
ixx="0.12768"
|
|
ixy="0.0042111"
|
|
ixz="-0.00069602"
|
|
iyy="0.12197"
|
|
iyz="0.001229"
|
|
izz="0.079087" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Knee6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KP6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.8627 0 0"
|
|
rpy="2.7756E-16 2.3418E-16 1.5708" />
|
|
<parent
|
|
link="Thigh6" />
|
|
<child
|
|
link="Knee6" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-1.9199"
|
|
upper="3.1416"
|
|
effort="2700"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Shin6">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.454E-09 0.0076484 0.4127"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="10.201" />
|
|
<inertia
|
|
ixx="0.7541"
|
|
ixy="-0.00016423"
|
|
ixz="3.2639E-09"
|
|
iyy="0.53994"
|
|
iyz="-0.00027259"
|
|
izz="0.35892" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Shin6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="KR6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 -2.7791E-17 8.7217E-15" />
|
|
<parent
|
|
link="Knee6" />
|
|
<child
|
|
link="Shin6" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Ankle6">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.020167 -0.026001 0.015481"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="5.108" />
|
|
<inertia
|
|
ixx="0.094934"
|
|
ixy="0.004057"
|
|
ixz="-0.00082009"
|
|
iyy="0.089361"
|
|
iyz="0.00089501"
|
|
izz="0.073015" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Ankle6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AP6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.79818"
|
|
rpy="-1.5708 -1.4121E-15 -1.1045E-16" />
|
|
<parent
|
|
link="Shin6" />
|
|
<child
|
|
link="Ankle6" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-2.0944"
|
|
upper="2.0944"
|
|
effort="1350"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="Foot6">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.0159E-05 0.011683 0.55175"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="27.416" />
|
|
<inertia
|
|
ixx="2.0991"
|
|
ixy="-4.1451E-05"
|
|
ixz="6.0863E-05"
|
|
iyy="2.468"
|
|
iyz="0.023183"
|
|
izz="0.85012" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="../meshes/Foot6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="AR6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 4.4317E-16 1.2937E-15" />
|
|
<parent
|
|
link="Ankle6" />
|
|
<child
|
|
link="Foot6" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-3.1416"
|
|
upper="3.1416"
|
|
effort="900"
|
|
velocity="0" />
|
|
</joint>
|
|
</robot>
|