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Gepetto
example-robot-data
Commits
9a117b65
Commit
9a117b65
authored
Apr 28, 2020
by
Guilhem Saurel
Browse files
solo_description: update solo12.urdf
parent
06aa1e2e
Changes
1
Hide whitespace changes
Inline
Side-by-side
robots/solo_description/robots/solo12.urdf
View file @
9a117b65
...
...
@@ -9,7 +9,7 @@
<!-- BASE LINK INERTIAL -->
<inertial>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<mass
value=
"1.
633
15091"
/>
<mass
value=
"1.
161
15091"
/>
<!-- The base is extremely symmetrical. -->
<inertia
ixx=
"0.00578574"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.01938108"
iyz=
"0.0"
izz=
"0.02476124"
/>
</inertial>
...
...
@@ -17,7 +17,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj/with_foot/solo_body.obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl/solo12/solo_12_base.stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -27,7 +27,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj/with_foot/solo_body.obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl/solo12/solo_12_base.stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -46,17 +46,38 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the x-axis -->
<axis
xyz=
"1 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.19 0.
1046
0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.19
46
0.
0875
0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FL_SHOULDER"
>
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints -->
<!-- HAA VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- HAA LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<inertial>
<
origin
rpy=
"0 0 0"
xyz=
"0. 0. 0.
"
/>
<!--
Adding extra weight for actuator module at shoulder.
-->
<
mass
value=
"0.150
"
/>
<inertia
ixx=
"0.0000
0001
"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.000
00001
"
iyz=
"0"
izz=
"0.000
00001
"
/>
<
mass
value=
"0.14853845
"
/>
<!--
HAA body inertia
-->
<
origin
rpy=
"0 0 0"
xyz=
"-0.07870700 0.01 0.
"
/>
<inertia
ixx=
"0.0000
3024
"
ixy=
"0.0
0004671
"
ixz=
"0.0"
iyy=
"0.000
41193
"
iyz=
"0
.0
"
izz=
"0.000
41107
"
/>
</inertial>
</link>
<joint
name=
"FL_HFE"
type=
"revolute"
>
...
...
@@ -65,8 +86,7 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<!-- placement of the joint -->
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 0.014 0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
...
...
@@ -81,7 +101,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -91,7 +111,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -126,7 +146,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -136,7 +156,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -171,7 +191,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -181,7 +201,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -200,17 +220,38 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the x-axis -->
<axis
xyz=
"1 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.19 -0.
1046
0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0.19
46
-0.
0875
0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"FR_SHOULDER"
>
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints -->
<!-- HAA VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- HAA LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<inertial>
<
origin
rpy=
"0 0 0"
xyz=
"0. 0. 0.
"
/>
<!--
Adding extra weight for actuator module at shoulder.
-->
<
mass
value
=
"0.
150
"
/>
<inertia
ixx=
"0.0000
0001
"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.000
00
001
"
iyz=
"0"
izz=
"0.000
00001
"
/>
<
mass
value=
"0.14853845
"
/>
<!--
HAA body inertia
-->
<
origin
rpy=
"0 0 0"
xyz
=
"
-
0.
07870700 -0.01 0.
"
/>
<inertia
ixx=
"0.0000
3024
"
ixy=
"
-
0.0
0004671
"
ixz=
"0.0"
iyy=
"0.000
41193
"
iyz=
"0
.0
"
izz=
"0.000
41107
"
/>
</inertial>
</link>
<joint
name=
"FR_HFE"
type=
"revolute"
>
...
...
@@ -219,8 +260,7 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<!-- placement of the joint -->
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 -0.014 0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
...
...
@@ -235,7 +275,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -245,7 +285,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -280,7 +320,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -290,7 +330,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -325,7 +365,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -335,7 +375,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -354,17 +394,38 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the x-axis -->
<axis
xyz=
"1 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"-0.19 0.
1046
0"
/>
<origin
rpy=
"0 0 0"
xyz=
"-0.19
46
0.
0875
0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"HL_SHOULDER"
>
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints -->
<!-- HAA VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"-0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- HAA LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"-0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<inertial>
<
origin
rpy=
"0 0 0"
xyz=
"0. 0. 0.
"
/>
<!--
Adding extra weight for actuator module at shoulder.
-->
<
mass
value=
"0.150
"
/>
<inertia
ixx=
"0.0000
0001
"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.000
00001
"
iyz=
"0"
izz=
"0.000
00001
"
/>
<
mass
value=
"0.14853845
"
/>
<!--
HAA body inertia
-->
<
origin
rpy=
"0 0 0"
xyz=
"0.07870700 0.01 0.
"
/>
<inertia
ixx=
"0.0000
3024
"
ixy=
"0.0
0004671
"
ixz=
"0.0"
iyy=
"0.000
41193
"
iyz=
"0
.0
"
izz=
"0.000
41107
"
/>
</inertial>
</link>
<joint
name=
"HL_HFE"
type=
"revolute"
>
...
...
@@ -373,8 +434,7 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<!-- placement of the joint -->
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 0.014 0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
...
...
@@ -389,7 +449,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -399,7 +459,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -434,7 +494,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -444,7 +504,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_left_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_left_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -479,7 +539,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -489,7 +549,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -508,17 +568,38 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the x-axis -->
<axis
xyz=
"1 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"-0.19 -0.
1046
0"
/>
<origin
rpy=
"0 0 0"
xyz=
"-0.19
46
-0.
0875
0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
<link
name=
"HR_SHOULDER"
>
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints -->
<!-- HAA VISUAL -->
<visual>
<origin
rpy=
"0 0 0"
xyz=
"-0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</visual>
<!-- HAA LINK COLLISION -->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"-0.01950 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
</material>
</collision>
<inertial>
<
origin
rpy=
"0 0 0"
xyz=
"0. 0. 0.
"
/>
<!--
Adding extra weight for actuator module at shoulder.
-->
<
mass
value=
"0.150
"
/>
<inertia
ixx=
"0.0000
0001
"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.000
00
001
"
iyz=
"0"
izz=
"0.000
00001
"
/>
<
mass
value=
"0.14853845
"
/>
<!--
HAA body inertia
-->
<
origin
rpy=
"0 0 0"
xyz=
"0.07870700 -0.01 0.
"
/>
<inertia
ixx=
"0.0000
3024
"
ixy=
"
-
0.0
0004671
"
ixz=
"0.0"
iyy=
"0.000
41193
"
iyz=
"0
.0
"
izz=
"0.000
41107
"
/>
</inertial>
</link>
<joint
name=
"HR_HFE"
type=
"revolute"
>
...
...
@@ -527,8 +608,7 @@
<limit
effort=
"1000"
lower=
"-10"
upper=
"10"
velocity=
"1000"
/>
<!-- joints rotates around the y-axis -->
<axis
xyz=
"0 1 0"
/>
<!-- placement of the joint -->
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 -0.014 0"
/>
<!-- pybullet simulation parameters -->
<dynamics
damping=
"0.0"
friction=
"0.0"
/>
</joint>
...
...
@@ -543,7 +623,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -553,7 +633,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_upper_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_upper_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -588,7 +668,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -598,7 +678,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_lower_leg_right_side.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_lower_leg_right_side.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -633,7 +713,7 @@
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -643,7 +723,7 @@
<collision>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://solo_description/meshes/
obj
/with_foot/solo_foot.
obj
"
/>
<mesh
filename=
"package://solo_description/meshes/
stl
/with_foot/solo_foot.
stl
"
/>
</geometry>
<material
name=
"grey"
>
<color
rgba=
"0.8 0.8 0.8 1.0"
/>
...
...
@@ -657,4 +737,3 @@
</link>
<!-- END LOWER LEG LINK -->
</robot>
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