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Commit 15d5943f authored by Wolfgang Merkt's avatar Wolfgang Merkt
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Add a1_description (Unitree A1 robot)

parent 5f580557
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python/example_robot_data/robots_loader.py
View file @ 15d5943f
......@@ -99,6 +99,15 @@ class RobotLoader(object):
return self.robot.q0
class A1Loader(RobotLoader):
path = 'a1_description'
urdf_filename= "a1.urdf"
urdf_subpath = "urdf"
srdf_filename = "a1.srdf"
ref_posture = "standing"
free_flyer = True
class ANYmalLoader(RobotLoader):
path = 'anymal_b_simple_description'
urdf_filename = "anymal.urdf"
......@@ -492,6 +501,7 @@ def loadIris():
ROBOTS = {
'a1': A1Loader,
'anymal': ANYmalLoader,
'anymal_kinova': ANYmalKinovaLoader,
'baxter': BaxterLoader,
......
robots/a1_description/README.md 0 → 100644
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# Unitree A1
upstream: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/a1_description
license: MPL-2.0
### Modifications:
- Removed Gazebo and transmission tags
- Added SRDF
robots/a1_description/meshes/calf.dae 0 → 100644
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robots/a1_description/meshes/hip.dae 0 → 100644
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robots/a1_description/meshes/thigh.dae 0 → 100644
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robots/a1_description/meshes/thigh_mirror.dae 0 → 100644
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robots/a1_description/meshes/trunk.dae 0 → 100644
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robots/a1_description/srdf/a1.srdf 0 → 100644
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<?xml version="1.0" ?>
<robot name="a1">
<group name="whole_body">
<joint name="root_joint"/>
<joint name="FL_hip_joint"/>
<joint name="FL_thigh_joint"/>
<joint name="FL_calf_joint"/>
<joint name="RL_hip_joint"/>
<joint name="RL_thigh_joint"/>
<joint name="RL_calf_joint"/>
<joint name="FR_hip_joint"/>
<joint name="FR_thigh_joint"/>
<joint name="FR_calf_joint"/>
<joint name="RR_hip_joint"/>
<joint name="RR_thigh_joint"/>
<joint name="RR_calf_joint"/>
</group>
<virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base"/>
<group name="lf_leg">
<joint name="FL_hip_joint"/>
<joint name="FL_thigh_joint"/>
<joint name="FL_calf_joint"/>
<chain base_link="base" tip_link="FL_foot"/>
</group>
<group name="lh_leg">
<joint name="RL_hip_joint"/>
<joint name="RL_thigh_joint"/>
<joint name="RL_calf_joint"/>
<chain base_link="base" tip_link="RL_foot"/>
</group>
<group name="rf_leg">
<joint name="FR_hip_joint"/>
<joint name="FR_thigh_joint"/>
<joint name="FR_calf_joint"/>
<chain base_link="base" tip_link="FR_foot"/>
</group>
<group name="rh_leg">
<joint name="RR_hip_joint"/>
<joint name="RR_thigh_joint"/>
<joint name="RR_calf_joint"/>
<chain base_link="base" tip_link="RR_foot"/>
</group>
<group name="all_legs">
<group name="lf_leg"/>
<group name="rf_leg"/>
<group name="lh_leg"/>
<group name="rh_leg"/>
</group>
<group name="r_legs">
<group name="rf_leg"/>
<group name="rh_leg"/>
</group>
<group name="l_legs">
<group name="lf_leg"/>
<group name="lh_leg"/>
</group>
<group name="f_legs">
<group name="lf_leg"/>
<group name="rf_leg"/>
</group>
<group name="h_legs">
<group name="lh_leg"/>
<group name="rh_leg"/>
</group>
<group name="ld_legs">
<group name="lf_leg"/>
<group name="rh_leg"/>
</group>
<group name="rd_legs">
<group name="rf_leg"/>
<group name="lh_leg"/>
</group>
<end_effector name="lf_foot" parent_link="FL_foot" group="lf_leg"/>
<end_effector name="rf_foot" parent_link="FR_foot" group="rf_leg"/>
<end_effector name="lh_foot" parent_link="RL_foot" group="lh_leg"/>
<end_effector name="rh_foot" parent_link="RR_foot" group="rh_leg"/>
<group_state name="standing" group="whole_body">
<joint name="root_joint" value="0. 0. 0.3 0. 0. 0. 1."/>
<joint name="FL_hip_joint" value="0."/>
<joint name="FL_thigh_joint" value="0.8"/>
<joint name="FL_calf_joint" value="-1.81"/>
<joint name="FR_hip_joint" value="0."/>
<joint name="FR_thigh_joint" value="0.8"/>
<joint name="FR_calf_joint" value="-1.81"/>
<joint name="RL_hip_joint" value="0."/>
<joint name="RL_thigh_joint" value="0.8"/>
<joint name="RL_calf_joint" value="-1.81"/>
<joint name="RR_hip_joint" value="0."/>
<joint name="RR_thigh_joint" value="0.8"/>
<joint name="RR_calf_joint" value="-1.81"/>
</group_state>
<disable_collisions link1="FL_calf" link2="FL_foot" reason="Adjacent"/>
<disable_collisions link1="FL_calf" link2="FL_hip" reason="Never"/>
<disable_collisions link1="FL_calf" link2="FL_thigh" reason="Adjacent"/>
<disable_collisions link1="FL_calf" link2="FL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_calf" link2="FR_hip" reason="Never"/>
<disable_collisions link1="FL_calf" link2="FR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_calf" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FL_calf" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FL_calf" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_calf" link2="imu_link" reason="Never"/>
<disable_collisions link1="FL_calf" link2="trunk" reason="Never"/>
<disable_collisions link1="FL_foot" link2="FL_hip" reason="Never"/>
<disable_collisions link1="FL_foot" link2="FL_thigh" reason="Never"/>
<disable_collisions link1="FL_foot" link2="FL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_foot" link2="FR_hip" reason="Never"/>
<disable_collisions link1="FL_foot" link2="FR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_foot" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FL_foot" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FL_foot" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_foot" link2="imu_link" reason="Never"/>
<disable_collisions link1="FL_hip" link2="FL_thigh" reason="Adjacent"/>
<disable_collisions link1="FL_hip" link2="FL_thigh_shoulder" reason="Adjacent"/>
<disable_collisions link1="FL_hip" link2="FR_calf" reason="Never"/>
<disable_collisions link1="FL_hip" link2="FR_foot" reason="Never"/>
<disable_collisions link1="FL_hip" link2="FR_hip" reason="Never"/>
<disable_collisions link1="FL_hip" link2="FR_thigh" reason="Never"/>
<disable_collisions link1="FL_hip" link2="FR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RL_calf" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RL_foot" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RL_thigh" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RR_calf" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RR_foot" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="FL_hip" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_hip" link2="imu_link" reason="Never"/>
<disable_collisions link1="FL_hip" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="FL_thigh" link2="FL_thigh_shoulder" reason="Default"/>
<disable_collisions link1="FL_thigh" link2="FR_hip" reason="Never"/>
<disable_collisions link1="FL_thigh" link2="FR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_thigh" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FL_thigh" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_thigh" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FL_thigh" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="FL_thigh" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_thigh" link2="imu_link" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="FR_calf" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="FR_foot" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="FR_hip" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="FR_thigh" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="FR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RL_thigh" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RR_calf" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RR_foot" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="imu_link" reason="Never"/>
<disable_collisions link1="FL_thigh_shoulder" link2="trunk" reason="Never"/>
<disable_collisions link1="FR_calf" link2="FR_foot" reason="Adjacent"/>
<disable_collisions link1="FR_calf" link2="FR_hip" reason="Never"/>
<disable_collisions link1="FR_calf" link2="FR_thigh" reason="Adjacent"/>
<disable_collisions link1="FR_calf" link2="FR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_calf" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FR_calf" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_calf" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FR_calf" link2="imu_link" reason="Never"/>
<disable_collisions link1="FR_calf" link2="trunk" reason="Never"/>
<disable_collisions link1="FR_foot" link2="FR_hip" reason="Never"/>
<disable_collisions link1="FR_foot" link2="FR_thigh" reason="Never"/>
<disable_collisions link1="FR_foot" link2="FR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_foot" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FR_foot" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_foot" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FR_foot" link2="imu_link" reason="Never"/>
<disable_collisions link1="FR_hip" link2="FR_thigh" reason="Adjacent"/>
<disable_collisions link1="FR_hip" link2="FR_thigh_shoulder" reason="Adjacent"/>
<disable_collisions link1="FR_hip" link2="RL_calf" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RL_foot" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RL_thigh" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RR_calf" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RR_foot" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="FR_hip" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_hip" link2="imu_link" reason="Never"/>
<disable_collisions link1="FR_hip" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="FR_thigh" link2="FR_thigh_shoulder" reason="Default"/>
<disable_collisions link1="FR_thigh" link2="RL_calf" reason="Never"/>
<disable_collisions link1="FR_thigh" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FR_thigh" link2="RL_thigh" reason="Never"/>
<disable_collisions link1="FR_thigh" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_thigh" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FR_thigh" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_thigh" link2="imu_link" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RL_calf" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RL_foot" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RL_hip" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RL_thigh" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RR_hip" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="imu_link" reason="Never"/>
<disable_collisions link1="FR_thigh_shoulder" link2="trunk" reason="Never"/>
<disable_collisions link1="RL_calf" link2="RL_foot" reason="Adjacent"/>
<disable_collisions link1="RL_calf" link2="RL_hip" reason="Never"/>
<disable_collisions link1="RL_calf" link2="RL_thigh" reason="Adjacent"/>
<disable_collisions link1="RL_calf" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RL_calf" link2="RR_hip" reason="Never"/>
<disable_collisions link1="RL_calf" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RL_calf" link2="imu_link" reason="Never"/>
<disable_collisions link1="RL_calf" link2="trunk" reason="Never"/>
<disable_collisions link1="RL_foot" link2="RL_hip" reason="Never"/>
<disable_collisions link1="RL_foot" link2="RL_thigh" reason="Never"/>
<disable_collisions link1="RL_foot" link2="RL_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RL_foot" link2="RR_hip" reason="Never"/>
<disable_collisions link1="RL_foot" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RL_foot" link2="imu_link" reason="Never"/>
<disable_collisions link1="RL_hip" link2="RL_thigh" reason="Adjacent"/>
<disable_collisions link1="RL_hip" link2="RL_thigh_shoulder" reason="Adjacent"/>
<disable_collisions link1="RL_hip" link2="RR_calf" reason="Never"/>
<disable_collisions link1="RL_hip" link2="RR_foot" reason="Never"/>
<disable_collisions link1="RL_hip" link2="RR_hip" reason="Never"/>
<disable_collisions link1="RL_hip" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="RL_hip" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RL_hip" link2="imu_link" reason="Never"/>
<disable_collisions link1="RL_hip" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="RL_thigh" link2="RL_thigh_shoulder" reason="Default"/>
<disable_collisions link1="RL_thigh" link2="RR_hip" reason="Never"/>
<disable_collisions link1="RL_thigh" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RL_thigh" link2="imu_link" reason="Never"/>
<disable_collisions link1="RL_thigh_shoulder" link2="RR_calf" reason="Never"/>
<disable_collisions link1="RL_thigh_shoulder" link2="RR_foot" reason="Never"/>
<disable_collisions link1="RL_thigh_shoulder" link2="RR_hip" reason="Never"/>
<disable_collisions link1="RL_thigh_shoulder" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="RL_thigh_shoulder" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RL_thigh_shoulder" link2="imu_link" reason="Never"/>
<disable_collisions link1="RL_thigh_shoulder" link2="trunk" reason="Never"/>
<disable_collisions link1="RR_calf" link2="RR_foot" reason="Adjacent"/>
<disable_collisions link1="RR_calf" link2="RR_hip" reason="Never"/>
<disable_collisions link1="RR_calf" link2="RR_thigh" reason="Adjacent"/>
<disable_collisions link1="RR_calf" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RR_calf" link2="imu_link" reason="Never"/>
<disable_collisions link1="RR_calf" link2="trunk" reason="Never"/>
<disable_collisions link1="RR_foot" link2="RR_hip" reason="Never"/>
<disable_collisions link1="RR_foot" link2="RR_thigh" reason="Never"/>
<disable_collisions link1="RR_foot" link2="RR_thigh_shoulder" reason="Never"/>
<disable_collisions link1="RR_foot" link2="imu_link" reason="Never"/>
<disable_collisions link1="RR_hip" link2="RR_thigh" reason="Adjacent"/>
<disable_collisions link1="RR_hip" link2="RR_thigh_shoulder" reason="Adjacent"/>
<disable_collisions link1="RR_hip" link2="imu_link" reason="Never"/>
<disable_collisions link1="RR_hip" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="RR_thigh" link2="RR_thigh_shoulder" reason="Default"/>
<disable_collisions link1="RR_thigh" link2="imu_link" reason="Never"/>
<disable_collisions link1="RR_thigh_shoulder" link2="imu_link" reason="Never"/>
<disable_collisions link1="RR_thigh_shoulder" link2="trunk" reason="Never"/>
<disable_collisions link1="imu_link" link2="trunk" reason="Adjacent"/>
</robot>
robots/a1_description/urdf/a1.urdf 0 → 100644
View file @ 15d5943f
<?xml version="1.0" ?>
<!-- ==================================================================================================== -->
<!-- | This document was autogenerated by xacro, then had the Gazebo and transmission tags removed | -->
<!-- ==================================================================================================== -->
<robot name="a1">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/a1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.267 0.194 0.114"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0041 -0.0005"/>
<mass value="6.0"/>
<inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1805 -0.047 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_thigh_shoulder">
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1805 0.047 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_thigh_shoulder">
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_thigh"/>