Commit 9a117b65 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

solo_description: update solo12.urdf

parent 06aa1e2e
...@@ -9,7 +9,7 @@ ...@@ -9,7 +9,7 @@
<!-- BASE LINK INERTIAL --> <!-- BASE LINK INERTIAL -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.63315091"/> <mass value="1.16115091"/>
<!-- The base is extremely symmetrical. --> <!-- The base is extremely symmetrical. -->
<inertia ixx="0.00578574" ixy="0.0" ixz="0.0" iyy="0.01938108" iyz="0.0" izz="0.02476124"/> <inertia ixx="0.00578574" ixy="0.0" ixz="0.0" iyy="0.01938108" iyz="0.0" izz="0.02476124"/>
</inertial> </inertial>
...@@ -17,7 +17,7 @@ ...@@ -17,7 +17,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -27,7 +27,7 @@ ...@@ -27,7 +27,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -46,17 +46,38 @@ ...@@ -46,17 +46,38 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the x-axis --> <!-- joints rotates around the x-axis -->
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.19 0.1046 0"/> <origin rpy="0 0 0" xyz="0.1946 0.0875 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="FL_SHOULDER"> <link name="FL_SHOULDER">
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints --> <!-- 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> <inertial>
<origin rpy="0 0 0" xyz="0. 0. 0."/> <mass value="0.14853845"/>
<!-- Adding extra weight for actuator module at shoulder. --> <!-- HAA body inertia -->
<mass value="0.150"/> <origin rpy="0 0 0" xyz="-0.07870700 0.01 0."/>
<inertia ixx="0.00000001" ixy="0.0" ixz="0.0" iyy="0.00000001" iyz="0" izz="0.00000001"/> <inertia ixx="0.00003024" ixy="0.00004671" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107"/>
</inertial> </inertial>
</link> </link>
<joint name="FL_HFE" type="revolute"> <joint name="FL_HFE" type="revolute">
...@@ -65,8 +86,7 @@ ...@@ -65,8 +86,7 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the y-axis --> <!-- joints rotates around the y-axis -->
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<!-- placement of the joint --> <origin rpy="0 0 0" xyz="0 0.014 0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -81,7 +101,7 @@ ...@@ -81,7 +101,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -91,7 +111,7 @@ ...@@ -91,7 +111,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -126,7 +146,7 @@ ...@@ -126,7 +146,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -136,7 +156,7 @@ ...@@ -136,7 +156,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -171,7 +191,7 @@ ...@@ -171,7 +191,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -181,7 +201,7 @@ ...@@ -181,7 +201,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -200,17 +220,38 @@ ...@@ -200,17 +220,38 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the x-axis --> <!-- joints rotates around the x-axis -->
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.19 -0.1046 0"/> <origin rpy="0 0 0" xyz="0.1946 -0.0875 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="FR_SHOULDER"> <link name="FR_SHOULDER">
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints --> <!-- 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> <inertial>
<origin rpy="0 0 0" xyz="0. 0. 0."/> <mass value="0.14853845"/>
<!-- Adding extra weight for actuator module at shoulder. --> <!-- HAA body inertia -->
<mass value="0.150"/> <origin rpy="0 0 0" xyz="-0.07870700 -0.01 0."/>
<inertia ixx="0.00000001" ixy="0.0" ixz="0.0" iyy="0.00000001" iyz="0" izz="0.00000001"/> <inertia ixx="0.00003024" ixy="-0.00004671" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107"/>
</inertial> </inertial>
</link> </link>
<joint name="FR_HFE" type="revolute"> <joint name="FR_HFE" type="revolute">
...@@ -219,8 +260,7 @@ ...@@ -219,8 +260,7 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the y-axis --> <!-- joints rotates around the y-axis -->
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<!-- placement of the joint --> <origin rpy="0 0 0" xyz="0 -0.014 0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -235,7 +275,7 @@ ...@@ -235,7 +275,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -245,7 +285,7 @@ ...@@ -245,7 +285,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -280,7 +320,7 @@ ...@@ -280,7 +320,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -290,7 +330,7 @@ ...@@ -290,7 +330,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -325,7 +365,7 @@ ...@@ -325,7 +365,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -335,7 +375,7 @@ ...@@ -335,7 +375,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -354,17 +394,38 @@ ...@@ -354,17 +394,38 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the x-axis --> <!-- joints rotates around the x-axis -->
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.19 0.1046 0"/> <origin rpy="0 0 0" xyz="-0.1946 0.0875 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="HL_SHOULDER"> <link name="HL_SHOULDER">
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints --> <!-- 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> <inertial>
<origin rpy="0 0 0" xyz="0. 0. 0."/> <mass value="0.14853845"/>
<!-- Adding extra weight for actuator module at shoulder. --> <!-- HAA body inertia -->
<mass value="0.150"/> <origin rpy="0 0 0" xyz="0.07870700 0.01 0."/>
<inertia ixx="0.00000001" ixy="0.0" ixz="0.0" iyy="0.00000001" iyz="0" izz="0.00000001"/> <inertia ixx="0.00003024" ixy="0.00004671" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107"/>
</inertial> </inertial>
</link> </link>
<joint name="HL_HFE" type="revolute"> <joint name="HL_HFE" type="revolute">
...@@ -373,8 +434,7 @@ ...@@ -373,8 +434,7 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the y-axis --> <!-- joints rotates around the y-axis -->
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<!-- placement of the joint --> <origin rpy="0 0 0" xyz="0 0.014 0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -389,7 +449,7 @@ ...@@ -389,7 +449,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -399,7 +459,7 @@ ...@@ -399,7 +459,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -434,7 +494,7 @@ ...@@ -434,7 +494,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -444,7 +504,7 @@ ...@@ -444,7 +504,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -479,7 +539,7 @@ ...@@ -479,7 +539,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -489,7 +549,7 @@ ...@@ -489,7 +549,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -508,17 +568,38 @@ ...@@ -508,17 +568,38 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the x-axis --> <!-- joints rotates around the x-axis -->
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.19 -0.1046 0"/> <origin rpy="0 0 0" xyz="-0.1946 -0.0875 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
<link name="HR_SHOULDER"> <link name="HR_SHOULDER">
<!-- TODO: Update inertias. -->
<!-- create a dummy shoulder link to join the two joints --> <!-- 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> <inertial>
<origin rpy="0 0 0" xyz="0. 0. 0."/> <mass value="0.14853845"/>
<!-- Adding extra weight for actuator module at shoulder. --> <!-- HAA body inertia -->
<mass value="0.150"/> <origin rpy="0 0 0" xyz="0.07870700 -0.01 0."/>
<inertia ixx="0.00000001" ixy="0.0" ixz="0.0" iyy="0.00000001" iyz="0" izz="0.00000001"/> <inertia ixx="0.00003024" ixy="-0.00004671" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107"/>
</inertial> </inertial>
</link> </link>
<joint name="HR_HFE" type="revolute"> <joint name="HR_HFE" type="revolute">
...@@ -527,8 +608,7 @@ ...@@ -527,8 +608,7 @@
<limit effort="1000" lower="-10" upper="10" velocity="1000"/> <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<!-- joints rotates around the y-axis --> <!-- joints rotates around the y-axis -->
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<!-- placement of the joint --> <origin rpy="0 0 0" xyz="0 -0.014 0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- pybullet simulation parameters --> <!-- pybullet simulation parameters -->
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -543,7 +623,7 @@ ...@@ -543,7 +623,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -553,7 +633,7 @@ ...@@ -553,7 +633,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -588,7 +668,7 @@ ...@@ -588,7 +668,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -598,7 +678,7 @@ ...@@ -598,7 +678,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -633,7 +713,7 @@ ...@@ -633,7 +713,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <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> </geometry>
<material name="grey"> <material name="grey">
<color rgba="0.8 0.8 0.8 1.0"/> <color rgba="0.8 0.8 0.8 1.0"/>
...@@ -643,7 +723,7 @@ ...@@ -643,7 +723,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>