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Gepetto
example-robot-data
Commits
ec503359
Unverified
Commit
ec503359
authored
Mar 10, 2021
by
Justin Carpentier
Committed by
GitHub
Mar 10, 2021
Browse files
Merge pull request #69 from nim65s/devel
Add simple_humanoid
parents
643b8b17
043bfebc
Pipeline
#13430
passed with stage
in 2 minutes and 52 seconds
Changes
6
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
python/example_robot_data/robots_loader.py
View file @
ec503359
...
...
@@ -426,6 +426,19 @@ def loadRomeo():
return
RomeoLoader
().
robot
class
SimpleHumanoidLoader
(
RobotLoader
):
path
=
'simple_humanoid_description'
urdf_subpath
=
'urdf'
urdf_filename
=
'simple_humanoid.urdf'
srdf_filename
=
'simple_humanoid.srdf'
free_flyer
=
True
class
SimpleHumanoidClassicalLoader
(
SimpleHumanoidLoader
):
urdf_filename
=
'simple_humanoid_classical.urdf'
srdf_filename
=
'simple_humanoid_classical.srdf'
class
IrisLoader
(
RobotLoader
):
path
=
"iris_description"
urdf_filename
=
"iris_simple.urdf"
...
...
@@ -449,6 +462,8 @@ ROBOTS = {
'kinova'
:
KinovaLoader
,
'panda'
:
PandaLoader
,
'romeo'
:
RomeoLoader
,
'simple_humanoid'
:
SimpleHumanoidLoader
,
'simple_humanoid_classical'
:
SimpleHumanoidClassicalLoader
,
'solo'
:
SoloLoader
,
'solo12'
:
Solo12Loader
,
'talos'
:
TalosLoader
,
...
...
robots/simple_humanoid_description/srdf/simple_humanoid.srdf
0 → 100644
View file @
ec503359
<?xml version="1.0"?>
<!--
This file defines semantics group of joints.
It is an alternative way of specifying semantics on the robot
structure.
It also provides:
- the half-sitting robot state,
TODO: - add the grippers
TODO: - the set of interesting collision pairs
-->
<robot
name=
"simple_humanoid"
>
<!-- groups -->
<!-- To remove when the grippers will be added
<group name="r_arm">
<chain base_link="torso" tip_link="r_gripper"/>
</group>
<group name="l_arm">
<chain base_link="torso" tip_link="l_gripper"/>
</group>
-->
<group
name=
"r_leg"
>
<chain
base_link=
"base_link"
tip_link=
"r_foot"
/>
</group>
<group
name=
"l_leg"
>
<chain
base_link=
"base_link"
tip_link=
"l_foot"
/>
</group>
<!-- To remove when the grippers will be added
<group name="arms">
<group name="l_arm"/>
<group name="r_arm"/>
</group>
<group name="all">
<group name="arms"/>
</group>
-->
<group
name=
"mapURDFToOpenHRP"
>
<joint
name=
"RLEG_HIP_R"
/>
<joint
name=
"RLEG_HIP_P"
/>
<joint
name=
"RLEG_HIP_Y"
/>
<joint
name=
"RLEG_KNEE"
/>
<joint
name=
"RLEG_ANKLE_P"
/>
<joint
name=
"RLEG_ANKLE_R"
/>
<joint
name=
"LLEG_HIP_R"
/>
<joint
name=
"LLEG_HIP_P"
/>
<joint
name=
"LLEG_HIP_Y"
/>
<joint
name=
"LLEG_KNEE"
/>
<joint
name=
"LLEG_ANKLE_P"
/>
<joint
name=
"LLEG_ANKLE_R"
/>
<joint
name=
"WAIST_P"
/>
<joint
name=
"WAIST_R"
/>
<joint
name=
"CHEST"
/>
<joint
name=
"RARM_SHOULDER_P"
/>
<joint
name=
"RARM_SHOULDER_R"
/>
<joint
name=
"RARM_SHOULDER_Y"
/>
<joint
name=
"RARM_ELBOW"
/>
<joint
name=
"RARM_WRIST_Y"
/>
<joint
name=
"RARM_WRIST_P"
/>
<joint
name=
"RARM_WRIST_R"
/>
<joint
name=
"LARM_SHOULDER_P"
/>
<joint
name=
"LARM_SHOULDER_R"
/>
<joint
name=
"LARM_SHOULDER_Y"
/>
<joint
name=
"LARM_ELBOW"
/>
<joint
name=
"LARM_WRIST_Y"
/>
<joint
name=
"LARM_WRIST_P"
/>
<joint
name=
"LARM_WRIST_R"
/>
</group>
<!-- end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
<end_effector name="l_arm" parent_link="l_gripper" group="l_arm"/>
-->
<end_effector
name=
"r_leg"
parent_link=
"r_foot"
group=
"r_leg"
/>
<end_effector
name=
"l_leg"
parent_link=
"l_foot"
group=
"l_leg"
/>
<!-- pre-defined states -->
<!-- simple_humanoid pre-defined states -->
<group_state
name=
"half_sitting"
group=
"all"
>
<!-- <joint name="waist" value="0 0 0 0 0 0 " /> -->
<joint
name=
"RLEG_HIP_R"
value=
"0"
/>
<joint
name=
"RLEG_HIP_P"
value=
"-0.453786"
/>
<joint
name=
"RLEG_HIP_Y"
value=
"0"
/>
<joint
name=
"RLEG_KNEE"
value=
"0.872665"
/>
<joint
name=
"RLEG_ANKLE_P"
value=
"-0.418879"
/>
<joint
name=
"RLEG_ANKLE_R"
value=
"0"
/>
<joint
name=
"RARM_SHOULDER_P"
value=
"-0.17453"
/>
<joint
name=
"RARM_SHOULDER_R"
value=
"0.261799"
/>
<joint
name=
"RARM_SHOULDER_Y"
value=
"0"
/>
<joint
name=
"RARM_ELBOW"
value=
"-0.523599"
/>
<joint
name=
"RARM_WRIST_Y"
value=
"0"
/>
<joint
name=
"RARM_WRIST_P"
value=
"0"
/>
<joint
name=
"RARM_WRIST_R"
value=
"0"
/>
<joint
name=
"LLEG_HIP_R"
value=
"0"
/>
<joint
name=
"LLEG_HIP_P"
value=
"-0.453786"
/>
<joint
name=
"LLEG_HIP_Y"
value=
"0"
/>
<joint
name=
"LLEG_KNEE"
value=
"0.872665"
/>
<joint
name=
"LLEG_ANKLE_P"
value=
"-0.418879"
/>
<joint
name=
"LLEG_ANKLE_R"
value=
"0"
/>
<joint
name=
"LARM_SHOULDER_P"
value=
"0.17453"
/>
<joint
name=
"LARM_SHOULDER_R"
value=
"0.261799"
/>
<joint
name=
"LARM_SHOULDER_Y"
value=
"0"
/>
<joint
name=
"LARM_ELBOW"
value=
"-0.523599"
/>
<joint
name=
"LARM_WRIST_Y"
value=
"0"
/>
<joint
name=
"LARM_WRIST_P"
value=
"0"
/>
<joint
name=
"LARM_WRIST_R"
value=
"0"
/>
<joint
name=
"WAIST_P"
value=
"0"
/>
<joint
name=
"WAIST_R"
value=
"0"
/>
<joint
name=
"CHEST"
value=
"0"
/>
</group_state>
<!--
Simple Humnaoid Specificities.
foot height = y axis
foot width = x axis
foot depth = z axis
-->
<specificities>
<feet>
<right>
<size
height=
"0.14"
width=
"0.25"
depth=
"0.10"
/>
<anklePosition
x=
"0.0"
y=
"0.0"
z=
"0.105"
/>
</right>
<left>
<size
height=
"0.14"
width=
"0.25"
depth=
"0.10"
/>
<anklePosition
x=
"0.0"
y=
"0.0"
z=
"0.105"
/>
</left>
</feet>
</specificities>
</robot>
robots/simple_humanoid_description/srdf/simple_humanoid_classical.srdf
0 → 100644
View file @
ec503359
<?xml version="1.0"?>
<!--
This file defines semantics group of joints.
It is an alternative way of specifying semantics on the robot
structure.
It also provides:
- the half-sitting robot state,
TODO: - add the grippers
TODO: - the set of interesting collision pairs
-->
<robot
name=
"simple_humanoid"
>
<!-- groups -->
<!-- To remove when the grippers will be added
<group name="r_arm">
<chain base_link="torso" tip_link="r_gripper"/>
</group>
<group name="l_arm">
<chain base_link="torso" tip_link="l_gripper"/>
</group>
-->
<group
name=
"r_leg"
>
<chain
base_link=
"base_link"
tip_link=
"r_foot"
/>
</group>
<group
name=
"l_leg"
>
<chain
base_link=
"base_link"
tip_link=
"l_foot"
/>
</group>
<!-- To remove when the grippers will be added
<group name="arms">
<group name="l_arm"/>
<group name="r_arm"/>
</group>
<group name="all">
<group name="arms"/>
</group>
-->
<group
name=
"mapURDFToOpenHRP"
>
<joint
name=
"RLEG_HIP_R"
/>
<joint
name=
"RLEG_HIP_P"
/>
<joint
name=
"RLEG_HIP_Y"
/>
<joint
name=
"RLEG_KNEE"
/>
<joint
name=
"RLEG_ANKLE_P"
/>
<joint
name=
"RLEG_ANKLE_R"
/>
<joint
name=
"LLEG_HIP_R"
/>
<joint
name=
"LLEG_HIP_P"
/>
<joint
name=
"LLEG_HIP_Y"
/>
<joint
name=
"LLEG_KNEE"
/>
<joint
name=
"LLEG_ANKLE_P"
/>
<joint
name=
"LLEG_ANKLE_R"
/>
<joint
name=
"WAIST_P"
/>
<joint
name=
"WAIST_R"
/>
<joint
name=
"CHEST"
/>
<joint
name=
"RARM_SHOULDER_P"
/>
<joint
name=
"RARM_SHOULDER_R"
/>
<joint
name=
"RARM_SHOULDER_Y"
/>
<joint
name=
"RARM_ELBOW"
/>
<joint
name=
"RARM_WRIST_Y"
/>
<joint
name=
"RARM_WRIST_P"
/>
<joint
name=
"RARM_WRIST_R"
/>
<joint
name=
"LARM_SHOULDER_P"
/>
<joint
name=
"LARM_SHOULDER_R"
/>
<joint
name=
"LARM_SHOULDER_Y"
/>
<joint
name=
"LARM_ELBOW"
/>
<joint
name=
"LARM_WRIST_Y"
/>
<joint
name=
"LARM_WRIST_P"
/>
<joint
name=
"LARM_WRIST_R"
/>
</group>
<!-- end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
<end_effector name="l_arm" parent_link="l_gripper" group="l_arm"/>
-->
<end_effector
name=
"r_leg"
parent_link=
"r_foot"
group=
"r_leg"
/>
<end_effector
name=
"l_leg"
parent_link=
"l_foot"
group=
"l_leg"
/>
<!-- pre-defined states -->
<!-- simple_humanoid pre-defined states -->
<group_state
name=
"half_sitting"
group=
"all"
>
<!-- <joint name="waist" value="0 0 0 0 0 0 " /> -->
<joint
name=
"RLEG_HIP_R"
value=
"0"
/>
<joint
name=
"RLEG_HIP_P"
value=
"-0.453786"
/>
<joint
name=
"RLEG_HIP_Y"
value=
"0"
/>
<joint
name=
"RLEG_KNEE"
value=
"0.872665"
/>
<joint
name=
"RLEG_ANKLE_P"
value=
"-0.418879"
/>
<joint
name=
"RLEG_ANKLE_R"
value=
"0"
/>
<joint
name=
"RARM_SHOULDER_P"
value=
"-0.17453"
/>
<joint
name=
"RARM_SHOULDER_R"
value=
"0.261799"
/>
<joint
name=
"RARM_SHOULDER_Y"
value=
"0"
/>
<joint
name=
"RARM_ELBOW"
value=
"-0.523599"
/>
<joint
name=
"RARM_WRIST_Y"
value=
"0"
/>
<joint
name=
"RARM_WRIST_P"
value=
"0"
/>
<joint
name=
"RARM_WRIST_R"
value=
"0"
/>
<joint
name=
"LLEG_HIP_R"
value=
"0"
/>
<joint
name=
"LLEG_HIP_P"
value=
"-0.453786"
/>
<joint
name=
"LLEG_HIP_Y"
value=
"0"
/>
<joint
name=
"LLEG_KNEE"
value=
"0.872665"
/>
<joint
name=
"LLEG_ANKLE_P"
value=
"-0.418879"
/>
<joint
name=
"LLEG_ANKLE_R"
value=
"0"
/>
<joint
name=
"LARM_SHOULDER_P"
value=
"0.17453"
/>
<joint
name=
"LARM_SHOULDER_R"
value=
"0.261799"
/>
<joint
name=
"LARM_SHOULDER_Y"
value=
"0"
/>
<joint
name=
"LARM_ELBOW"
value=
"-0.523599"
/>
<joint
name=
"LARM_WRIST_Y"
value=
"0"
/>
<joint
name=
"LARM_WRIST_P"
value=
"0"
/>
<joint
name=
"LARM_WRIST_R"
value=
"0"
/>
<joint
name=
"WAIST_P"
value=
"0"
/>
<joint
name=
"WAIST_R"
value=
"0"
/>
<joint
name=
"CHEST"
value=
"0"
/>
</group_state>
<!--
Simple Humnaoid Specificities.
foot height = y axis
foot width = x axis
foot depth = z axis
-->
<specificities>
<feet>
<right>
<size
height=
"0.14"
width=
"0.25"
depth=
"0.10"
/>
<anklePosition
x=
"0.0"
y=
"0.0"
z=
"0.105"
/>
</right>
<left>
<size
height=
"0.14"
width=
"0.25"
depth=
"0.10"
/>
<anklePosition
x=
"0.0"
y=
"0.0"
z=
"0.105"
/>
</left>
</feet>
</specificities>
</robot>
robots/simple_humanoid_description/urdf/simple_humanoid.urdf
0 → 100644
View file @
ec503359
<?xml version="1.0"?>
<!--
simple_humanoid URDF model
FIXME: fill missing data: sole, gripper and sensors
-->
<robot
xmlns:xacro=
"http://ros.org/wiki/xacro"
name=
"simple_humanoid"
>
<link
name=
"base_link"
/>
<!-- VRML link name="WAIST_LINK0" -->
<link
name=
"BODY"
>
<inertial>
<origin
xyz=
"0 0 0.0375"
rpy=
"0 0 0"
/>
<mass
value=
"27"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"WAIST_LINK1"
>
<inertial>
<origin
xyz=
"0 0 -0.1"
rpy=
"0 0 0"
/>
<mass
value=
"6"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"WAIST_LINK2"
>
<inertial>
<origin
xyz=
"0.11 0 0.25"
rpy=
"0 0 0"
/>
<mass
value=
"30"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<!-- VRML link name="WAIST_LINK3" -->
<link
name=
"torso"
>
<inertial>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"13"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LARM_LINK1"
>
<inertial>
<origin
xyz=
"0.1 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"3"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LARM_LINK2"
>
<inertial>
<origin
xyz=
"0 0 -0.1"
rpy=
"0 0 0"
/>
<mass
value=
"0.6"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LARM_LINK3"
>
<inertial>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"1"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LARM_LINK4"
>
<inertial>
<origin
xyz=
"0 0 -0.3"
rpy=
"0 0 0"
/>
<mass
value=
"0.6"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LARM_LINK5"
>
<inertial>
<origin
xyz=
"0 0 0.1"
rpy=
"0 0 0"
/>
<mass
value=
"0.4"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LARM_LINK6"
>
<inertial>
<origin
xyz=
"-0.1 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"0.4"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<!-- VRML link name="LARM_LINK7" -->
<link
name=
"l_wrist"
>
<inertial>
<origin
xyz=
"0 0 -0.1"
rpy=
"0 0 0"
/>
<mass
value=
"0.4"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RARM_LINK1"
>
<inertial>
<origin
xyz=
"0.1 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"3"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RARM_LINK2"
>
<inertial>
<origin
xyz=
"0 0 -0.1"
rpy=
"0 0 0"
/>
<mass
value=
"0.6"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RARM_LINK3"
>
<inertial>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"1"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RARM_LINK4"
>
<inertial>
<origin
xyz=
"0 0 -0.3"
rpy=
"0 0 0"
/>
<mass
value=
"0.6"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RARM_LINK5"
>
<inertial>
<origin
xyz=
"0 0 0.1"
rpy=
"0 0 0"
/>
<mass
value=
"0.4"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RARM_LINK6"
>
<inertial>
<origin
xyz=
"-0.1 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"0.4"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<!-- VRML link name="RARM_LINK7" -->
<link
name=
"r_wrist"
>
<inertial>
<origin
xyz=
"0 0 -0.1"
rpy=
"0 0 0"
/>
<mass
value=
"0.4"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LLEG_LINK1"
>
<inertial>
<origin
xyz=
"0 0.1 0"
rpy=
"0 0 0"
/>
<mass
value=
"2.5"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LLEG_LINK2"
>
<inertial>
<origin
xyz=
"0 0 -0.15"
rpy=
"0 0 0"
/>
<mass
value=
"2"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LLEG_LINK3"
>
<inertial>
<origin
xyz=
"0 0.04 0"
rpy=
"0 0 0"
/>
<mass
value=
"5.1"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LLEG_LINK4"
>
<inertial>
<origin
xyz=
"0 0 -0.3"
rpy=
"0 0 0"
/>
<mass
value=
"7"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"LLEG_LINK5"
>
<inertial>
<origin
xyz=
"-0.15 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"2.5"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<!-- VRML link name="LLEG_LINK6" -->
<link
name=
"l_ankle"
>
<inertial>
<origin
xyz=
"0.28 0 -0.2"
rpy=
"0 0 0"
/>
<mass
value=
"1.9"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RLEG_LINK1"
>
<inertial>
<origin
xyz=
"0 -0.1 0"
rpy=
"0 0 0"
/>
<mass
value=
"2.5"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RLEG_LINK2"
>
<inertial>
<origin
xyz=
"0 0 -0.15"
rpy=
"0 0 0"
/>
<mass
value=
"2"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RLEG_LINK3"
>
<inertial>
<origin
xyz=
"0 -0.04 0"
rpy=
"0 0 0"
/>
<mass
value=
"5.1"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RLEG_LINK4"
>
<inertial>
<origin
xyz=
"0 0 -0.3"
rpy=
"0 0 0"
/>
<mass
value=
"7"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<link
name=
"RLEG_LINK5"
>
<inertial>
<origin
xyz=
"-0.15 0 0"
rpy=
"0 0 0"
/>
<mass
value=
"2.5"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<!-- VRML link name="RLEG_LINK6" -->
<link
name=
"r_ankle"
>
<inertial>
<origin
xyz=
"0.28 0 -0.2"
rpy=
"0 0 0"
/>
<mass
value=
"1.9"
/>
<inertia
ixx=
"1"
ixy=
"0"
ixz=
"0"
iyy=
"1"
iyz=
"0"
izz=
"1"
/>
</inertial>
</link>
<!-- Joints following below -->
<joint
name=
"waist"
type=
"fixed"
>
<parent
link=
"base_link"
/>