diff options
author | Erwin Coumans <erwin.coumans@gmail.com> | 2019-05-22 23:42:32 -0400 |
---|---|---|
committer | Erwin Coumans <erwin.coumans@gmail.com> | 2019-05-22 23:42:32 -0400 |
commit | 093986f1ee60a2bf9c759a7729b137daab7b8bd3 (patch) | |
tree | b1f7ee85cee420dd7559d116014416a88f8a3f99 | |
parent | e13df4ce48c1dda1792da054da43e0254027c7ae (diff) | |
download | bullet3-093986f1ee60a2bf9c759a7729b137daab7b8bd3.tar.gz |
revert to previous leg style of Microtaur
-rw-r--r-- | examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf | 1372 |
1 files changed, 714 insertions, 658 deletions
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf index e483ca036..d111046ed 100644 --- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf +++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf @@ -690,221 +690,183 @@ <joint_properties damping="0.0" friction="0.0"/> </joint> - <link name="motor_front_rightR_link"> - <collision> + + <link name="motor_front_rightR_link"> + + <visual> + <geometry> + <cylinder length="0.003" radius="0.0134"/> + </geometry> + <material name="grey1"> + <color rgba="0. 1. 0. 1"/> + </material> + </visual> + <collision> <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="0.1335 -0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="motor_front_rightL_link"> - <collision> +<collision> <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="motor_front_leftL_link"> - <collision> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="0.1335 0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_front_leftL_link"> + <collision> <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="0.1335 0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="motor_front_leftR_link"> - <collision> + <collision> <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="motor_back_rightR_link"> - <collision> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="0.1335 -0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_back_rightR_link"> + <collision> <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="-0.1335 -0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="motor_back_rightL_link"> - <collision> + <collision> <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="motor_back_leftL_link"> - <collision> - <geometry> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="-0.1335 0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + + <link name="motor_back_leftL_link"> + <collision> + <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="-0.1335 0.035 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + + <link name="motor_back_leftR_link"> - <collision> + <collision> <geometry> <cylinder length="0.003" radius="0.0134"/> - </geometry> - </collision> - <inertial> - <mass value=".002"/> - <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="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="upper_leg_front_rightR_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </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_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_rightR_link"/> - <child link="upper_leg_front_rightR_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="lower_leg_front_rightR_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> + </geometry> + </collision> + <inertial> + <mass value="0.01"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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="-0.1335 -0.03 -0.08"/> + <limit effort="100" velocity="100"/> + <joint_properties damping="0.0" friction="0.0"/> + </joint> + <link name="toe_lower_leg_front_rightR_link"> <contact> @@ -931,75 +893,10 @@ <joint name="toe_lower_leg_front_rightR_joint" type="fixed"> <parent link="lower_leg_front_rightR_link"/> <child link="toe_lower_leg_front_rightR_link"/> - <origin xyz="0 0 0.22"/> + <origin xyz="0 0 0.20"/> <dynamics damping="0.0" friction="0.0"/> </joint> - <link name="upper_leg_front_rightL_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </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_rightL_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_rightL_link"/> - <child link="upper_leg_front_rightL_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="lower_leg_front_rightL_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="toe_lower_leg_front_rightL_link"> <contact> @@ -1032,71 +929,6 @@ - <link name="upper_leg_front_leftR_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </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_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_leftR_link"/> - <child link="upper_leg_front_leftR_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="lower_leg_front_leftR_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="toe_lower_leg_front_leftR_link"> <contact> <lateral_friction value="1.0"/> @@ -1126,72 +958,6 @@ <dynamics damping="0.0" friction="0.0"/> </joint> - <link name="upper_leg_front_leftL_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </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_leftL_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_front_leftL_link"/> - <child link="upper_leg_front_leftL_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - - <link name="lower_leg_front_leftL_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="toe_lower_leg_front_leftL_link"> <contact> <lateral_friction value="1.0"/> @@ -1217,76 +983,11 @@ <joint name="toe_lower_leg_front_leftL_joint" type="fixed"> <parent link="lower_leg_front_leftL_link"/> <child link="toe_lower_leg_front_leftL_link"/> - <origin xyz="0 0 0.22"/> + <origin xyz="0 0 0.20"/> <dynamics damping="0.0" friction="0.0"/> </joint> - <link name="upper_leg_back_rightR_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - </collision> - <inertial> - <mass value=".034"/> - <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> - </inertial> - </link> - <joint name="hip_back_rightR_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_rightR_link"/> - <child link="upper_leg_back_rightR_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="lower_leg_back_rightR_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="toe_lower_leg_back_rightR_link"> <contact> @@ -1313,7 +1014,7 @@ <joint name="toe_lower_leg_back_rightR_joint" type="fixed"> <parent link="lower_leg_back_rightR_link"/> <child link="toe_lower_leg_back_rightR_link"/> - <origin xyz="0 0 0.22"/> + <origin xyz="0 0 0.20"/> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -1349,139 +1050,6 @@ - - - <link name="upper_leg_back_rightL_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - </collision> - <inertial> - <mass value=".034"/> - <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> - </inertial> - </link> - <joint name="hip_back_rightL_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_rightL_link"/> - <child link="upper_leg_back_rightL_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="lower_leg_back_rightL_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="upper_leg_back_leftR_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - </collision> - <inertial> - <mass value=".034"/> - <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> - </inertial> - </link> - <joint name="hip_back_leftR_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_leftR_link"/> - <child link="upper_leg_back_leftR_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - - <link name="lower_leg_back_leftR_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .108"/> - <geometry> - <box size=".017 .009 .216"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - - <link name="toe_lower_leg_back_leftR_link"> <contact> <lateral_friction value="1.0"/> @@ -1537,71 +1105,559 @@ <joint name="toe_lower_leg_back_leftL_joint" type="fixed"> <parent link="lower_leg_back_leftL_link"/> <child link="toe_lower_leg_back_leftL_link"/> - <origin xyz="0 0 0.22"/> + <origin xyz="0 0 0.20"/> <dynamics damping="0.0" friction="0.0"/> </joint> - <link name="upper_leg_back_leftL_link"> - <visual> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <geometry> - <box size=".039 .008 .129"/> - </geometry> - </collision> - <inertial> - <mass value=".034"/> - <inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/> - </inertial> - </link> - <joint name="hip_back_leftL_joint" type="fixed"> - <axis xyz="0 0 1"/> - <parent link="motor_back_leftL_link"/> - <child link="upper_leg_back_leftL_link"/> - <origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".0"/> - </joint> - <link name="lower_leg_back_leftL_link"> - <contact> - <friction_anchor/> - <stiffness value="3000.0"/> - <damping value="100.0"/> - <spinning_friction value=".3"/> - <lateral_friction value="1"/> - </contact> - <visual> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </geometry> - <material name="grey"> - <color rgba=".65 .65 .75 1"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0 0 .120"/> - <geometry> - <box size=".017 .009 .240"/> - </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_joint" type="continuous"> - <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 .0085 .056"/> - <limit effort="100" velocity="100"/> - <joint_properties damping=".0" friction=".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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_front_rightR_joint" 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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_rightR_joint" type="continuous"> + <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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_rightL_joint" type="continuous"> + <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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_front_leftR_joint" 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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0.0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_leftR_joint" type="continuous"> + <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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_front_leftL_joint" 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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0.0 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_front_leftL_joint" type="continuous"> + <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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_back_rightR_joint" 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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_rightR_joint" type="continuous"> + <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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_back_rightL_joint" 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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_rightL_joint" type="continuous"> + <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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_leftR_joint" 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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_leftR_joint" type="continuous"> + <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="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="hip_back_leftL_joint" 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> + <friction_anchor/> + <stiffness value="30000.0"/> + <damping value="1000.0"/> + <spinning_friction value=".3"/> + <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 0" xyz="0 0 .1"/> + <mass value="0.05"/> + <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> + </inertial> + </link> + <joint name="knee_back_leftL_joint" type="continuous"> + <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> </robot> |