| <?xml version='1.0' encoding='UTF-8'?> |
| <robot name="as2"> |
|
|
| |
| <mujoco> |
| <compiler meshdir="../meshes" discardvisual="false"/> |
| </mujoco> |
| <link name="world"/> |
| <joint name="floating_base_joint" type="floating"> |
| <parent link="world"/> |
| <child link="base_link"/> |
| </joint> |
|
|
| <link name="base_link"> |
| <inertial> |
| <origin xyz="0.045604 -0.0009 0.020368" rpy="0 0 0"/> |
| <mass value="8.8"/> |
| <inertia ixx="0.044044" ixy="1.959E-05" ixz="-0.026181" iyy="0.13739" iyz="0.00030824" izz="0.1462"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/base_link.STL"/> |
| </geometry> |
| <material name="unnamed_material_0"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="-0.0 -0.0 0.006" rpy="0 0 0"/> |
| <geometry> |
| <box size="0.2 0.224 0.14"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.283 -0.0 0.078" rpy="0 0 0"/> |
| <geometry> |
| <sphere radius="0.043"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.23 -0.0 0.085" rpy="0 1.68 0"/> |
| <geometry> |
| <cylinder radius="0.045" length="0.06"/> |
| </geometry> |
| </collision> |
| </link> |
| <link name="FL_hip"> |
| <inertial> |
| <origin xyz="-0.0046547 -0.0088505 3.4235E-05" rpy="0 0 0"/> |
| <mass value="0.695"/> |
| <inertia ixx="0.00045574" ixy="3.269E-05" ixz="-1.7E-07" iyy="0.00057398" iyz="8.3E-07" izz="0.0005503"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FL_hip.STL"/> |
| </geometry> |
| <material name="unnamed_material_1"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
|
|
| </link> |
| <joint name="FL_hip_joint" type="revolute"> |
| <origin xyz="0.2119 0.06 0" rpy="0 0 0"/> |
| <parent link="base_link"/> |
| <child link="FL_hip"/> |
| <axis xyz="1 0 0"/> |
| <limit lower="-0.785" upper="0.785" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="FL_thigh"> |
| <inertial> |
| <origin xyz="-0.0060186 -0.024079 -0.0374" rpy="0 0 0"/> |
| <mass value="1.25"/> |
| <inertia ixx="0.0060449" ixy="0.00020856" ixz="-0.00063523" iyy="0.0054351" iyz="0.0010644" izz="0.0015788"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FL_thigh.STL"/> |
| </geometry> |
| <material name="unnamed_material_2"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 -0.03 0" rpy="1.571 0 0"/> |
| <geometry> |
| <cylinder radius="0.04" length="0.1"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0"/> |
| <geometry> |
| <box size="0.045 0.03 0.14"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0"/> |
| <geometry> |
| <box size="0.01 0.035 0.04"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="FL_thigh_joint" type="revolute"> |
| <origin xyz="0 0.1054 0" rpy="0 0 0"/> |
| <parent link="FL_hip"/> |
| <child link="FL_thigh"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-2" upper="3.492" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="FL_calf"> |
| <inertial> |
| <origin xyz="0.0078616 -7.7635E-08 -0.085034" rpy="0 0 0"/> |
| <mass value="0.22"/> |
| <inertia ixx="0.0010957" ixy="0" ixz="0.00012446" iyy="0.001123" iyz="0" izz="4.952E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FL_calf.STL"/> |
| </geometry> |
| <material name="unnamed_material_3"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0"/> |
| <geometry> |
| <cylinder radius="0.013" length="0.05"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.06"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.055"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="FL_calf_joint" type="revolute"> |
| <origin xyz="0 0 -0.212" rpy="0 0 0"/> |
| <parent link="FL_thigh"/> |
| <child link="FL_calf"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-2.7677" upper="-0.8133" effort="90.0" velocity="16.0"/> |
| </joint> |
| <link name="FL_foot"> |
| <inertial> |
| <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
| <mass value="0.045"/> |
| <inertia ixx="1.0E-05" ixy="0" ixz="0" iyy="1.0E-05" iyz="0" izz="1.0E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FL_foot.STL"/> |
| </geometry> |
| <material name="unnamed_material_4"> |
| <color rgba="0.69804 0.69804 0.69804 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/> |
| <geometry> |
| <sphere radius="0.028"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="FL_foot_joint" type="fixed"> |
| <origin xyz="0 0 -0.21344" rpy="0 0 0"/> |
| <parent link="FL_calf"/> |
| <child link="FL_foot"/> |
| <axis xyz="0 0 0"/> |
| </joint> |
| <link name="FR_hip"> |
| <inertial> |
| <origin xyz="-0.0046547 0.0088505 3.4234E-05" rpy="0 0 0"/> |
| <mass value="0.695"/> |
| <inertia ixx="0.00045574" ixy="-3.269E-05" ixz="-1.7E-07" iyy="0.00057398" iyz="-8.3E-07" izz="0.0005503"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FR_hip.STL"/> |
| </geometry> |
| <material name="unnamed_material_5"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| </link> |
| <joint name="FR_hip_joint" type="revolute"> |
| <origin xyz="0.2119 -0.06 0" rpy="0 0 0"/> |
| <parent link="base_link"/> |
| <child link="FR_hip"/> |
| <axis xyz="1 0 0"/> |
| <limit lower="-0.785" upper="0.785" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="FR_thigh"> |
| <inertial> |
| <origin xyz="-0.0060187 0.02408 -0.037399" rpy="0 0 0"/> |
| <mass value="1.25"/> |
| <inertia ixx="0.006045" ixy="-0.00020856" ixz="-0.00063524" iyy="0.0054353" iyz="-0.0010645" izz="0.0015788"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FR_thigh.STL"/> |
| </geometry> |
| <material name="unnamed_material_6"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 0.03 0" rpy="1.571 0 0"/> |
| <geometry> |
| <cylinder radius="0.04" length="0.1"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0"/> |
| <geometry> |
| <box size="0.045 0.03 0.14"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0"/> |
| <geometry> |
| <box size="0.01 0.035 0.04"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="FR_thigh_joint" type="revolute"> |
| <origin xyz="0 -0.1054 0" rpy="0 0 0"/> |
| <parent link="FR_hip"/> |
| <child link="FR_thigh"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-2" upper="3.492" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="FR_calf"> |
| <inertial> |
| <origin xyz="0.0078616 -8.926E-08 -0.085034" rpy="0 0 0"/> |
| <mass value="0.22"/> |
| <inertia ixx="0.0010957" ixy="0" ixz="0.00012446" iyy="0.001123" iyz="0" izz="4.952E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FR_calf.STL"/> |
| </geometry> |
| <material name="unnamed_material_7"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0"/> |
| <geometry> |
| <cylinder radius="0.013" length="0.05"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.06"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.055"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="FR_calf_joint" type="revolute"> |
| <origin xyz="0 0 -0.212" rpy="0 0 0"/> |
| <parent link="FR_thigh"/> |
| <child link="FR_calf"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-2.7677" upper="-0.8133" effort="90.0" velocity="16.0"/> |
| </joint> |
| <link name="FR_foot"> |
| <inertial> |
| <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
| <mass value="0.045"/> |
| <inertia ixx="1.0E-05" ixy="0" ixz="0" iyy="1.0E-05" iyz="0" izz="1.0E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/FR_foot.STL"/> |
| </geometry> |
| <material name="unnamed_material_8"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/> |
| <geometry> |
| <sphere radius="0.028"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="FR_foot_joint" type="fixed"> |
| <origin xyz="0 0 -0.21344" rpy="0 0 0"/> |
| <parent link="FR_calf"/> |
| <child link="FR_foot"/> |
| <axis xyz="0 0 0"/> |
| </joint> |
| <link name="RL_hip"> |
| <inertial> |
| <origin xyz="0.0046637 -0.0088505 -3.8901E-05" rpy="0 0 0"/> |
| <mass value="0.695"/> |
| <inertia ixx="0.00045574" ixy="-3.289E-05" ixz="-1.8E-07" iyy="0.00057392" iyz="-7.3E-07" izz="0.00055024"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RL_hip.STL"/> |
| </geometry> |
| <material name="unnamed_material_9"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| </link> |
| <joint name="RL_hip_joint" type="revolute"> |
| <origin xyz="-0.2119 0.06 0" rpy="0 0 0"/> |
| <parent link="base_link"/> |
| <child link="RL_hip"/> |
| <axis xyz="1 0 0"/> |
| <limit lower="-0.785" upper="0.785" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="RL_thigh"> |
| <inertial> |
| <origin xyz="-0.0068766 -0.022228 -0.039019" rpy="0 0 0"/> |
| <mass value="1.25"/> |
| <inertia ixx="0.0061346" ixy="0.00017144" ixz="-0.00062209" iyy="0.0055602" iyz="0.0010266" izz="0.0015189"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RL_thigh.STL"/> |
| </geometry> |
| <material name="unnamed_material_10"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 -0.03 0" rpy="1.571 0 0"/> |
| <geometry> |
| <cylinder radius="0.04" length="0.1"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0"/> |
| <geometry> |
| <box size="0.045 0.03 0.14"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0"/> |
| <geometry> |
| <box size="0.01 0.035 0.04"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="RL_thigh_joint" type="revolute"> |
| <origin xyz="0 0.1054 0" rpy="0 0 0"/> |
| <parent link="RL_hip"/> |
| <child link="RL_thigh"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-1.3" upper="4.19" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="RL_calf"> |
| <inertial> |
| <origin xyz="0.0078616 -7.7491E-08 -0.085034" rpy="0 0 0"/> |
| <mass value="0.22"/> |
| <inertia ixx="0.0010957" ixy="0" ixz="0.00012446" iyy="0.001123" iyz="0" izz="4.952E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RL_calf.STL"/> |
| </geometry> |
| <material name="unnamed_material_11"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0"/> |
| <geometry> |
| <cylinder radius="0.013" length="0.05"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.06"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.055"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="RL_calf_joint" type="revolute"> |
| <origin xyz="0 0 -0.212" rpy="0 0 0"/> |
| <parent link="RL_thigh"/> |
| <child link="RL_calf"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-2.7677" upper="-0.8133" effort="90.0" velocity="16.0"/> |
| </joint> |
| <link name="RL_foot"> |
| <inertial> |
| <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
| <mass value="0.045"/> |
| <inertia ixx="1.0E-05" ixy="0" ixz="0" iyy="1.0E-05" iyz="0" izz="1.0E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RL_foot.STL"/> |
| </geometry> |
| <material name="unnamed_material_12"> |
| <color rgba="0.69804 0.69804 0.69804 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/> |
| <geometry> |
| <sphere radius="0.028"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="RL_foot_joint" type="fixed"> |
| <origin xyz="0 0 -0.21344" rpy="0 0 0"/> |
| <parent link="RL_calf"/> |
| <child link="RL_foot"/> |
| <axis xyz="0 0 0"/> |
| </joint> |
| <link name="RR_hip"> |
| <inertial> |
| <origin xyz="0.0046637 0.0088505 -3.89E-05" rpy="0 0 0"/> |
| <mass value="0.695"/> |
| <inertia ixx="0.00045574" ixy="3.289E-05" ixz="-1.8E-07" iyy="0.00057392" iyz="7.3E-07" izz="0.00055024"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RR_hip.STL"/> |
| </geometry> |
| <material name="unnamed_material_13"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| </link> |
| <joint name="RR_hip_joint" type="revolute"> |
| <origin xyz="-0.2119 -0.06 0" rpy="0 0 0"/> |
| <parent link="base_link"/> |
| <child link="RR_hip"/> |
| <axis xyz="1 0 0"/> |
| <limit lower="-0.785" upper="0.785" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="RR_thigh"> |
| <inertial> |
| <origin xyz="-0.0068763 0.022228 -0.039019" rpy="0 0 0"/> |
| <mass value="1.25"/> |
| <inertia ixx="0.0061347" ixy="-0.00017144" ixz="-0.00062209" iyy="0.0055603" iyz="-0.0010266" izz="0.0015189"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RR_thigh.STL"/> |
| </geometry> |
| <material name="unnamed_material_14"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 0.03 0" rpy="1.571 0 0"/> |
| <geometry> |
| <cylinder radius="0.04" length="0.1"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0"/> |
| <geometry> |
| <box size="0.045 0.03 0.14"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0"/> |
| <geometry> |
| <box size="0.01 0.035 0.04"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="RR_thigh_joint" type="revolute"> |
| <origin xyz="0 -0.1054 0" rpy="0 0 0"/> |
| <parent link="RR_hip"/> |
| <child link="RR_thigh"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-1.3" upper="4.19" effort="60.0" velocity="24.0"/> |
| </joint> |
| <link name="RR_calf"> |
| <inertial> |
| <origin xyz="0.0078616 -8.6653E-08 -0.085034" rpy="0 0 0"/> |
| <mass value="0.22"/> |
| <inertia ixx="0.0010957" ixy="0" ixz="0.00012446" iyy="0.001123" iyz="0" izz="4.952E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RR_calf.STL"/> |
| </geometry> |
| <material name="unnamed_material_15"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0"/> |
| <geometry> |
| <cylinder radius="0.013" length="0.05"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.06"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0"/> |
| <geometry> |
| <cylinder radius="0.012" length="0.055"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="RR_calf_joint" type="revolute"> |
| <origin xyz="0 0 -0.212" rpy="0 0 0"/> |
| <parent link="RR_thigh"/> |
| <child link="RR_calf"/> |
| <axis xyz="0 1 0"/> |
| <limit lower="-2.7677" upper="-0.8133" effort="90.0" velocity="16.0"/> |
| </joint> |
| <link name="RR_foot"> |
| <inertial> |
| <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
| <mass value="0.045"/> |
| <inertia ixx="1.0E-05" ixy="0" ixz="0" iyy="1.0E-05" iyz="0" izz="1.0E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/as2_description/meshes/RR_foot.STL"/> |
| </geometry> |
| <material name="unnamed_material_16"> |
| <color rgba="0.79216 0.81961 0.93333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/> |
| <geometry> |
| <sphere radius="0.028"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="RR_foot_joint" type="fixed"> |
| <origin xyz="0 0 -0.21344" rpy="0 0 0"/> |
| <parent link="RR_calf"/> |
| <child link="RR_foot"/> |
| <axis xyz="0 0 0"/> |
| </joint> |
| </robot> |
|
|
