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cookie.urdf
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<?xml version="1.0" ?>
<robot name="cookie" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="body">
<inertial>
<mass value="3.3"/>
<origin xyz="0.0 0.0 0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/gujia.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/gujia.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_fr_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.425 -0.33 0.06"/>
<parent link="body"/>
<child link="abduct_fr"/>
</joint>
<link name="abduct_fr">
<inertial>
<mass value="0.54"/>
<origin xyz="0.425 -0.275 -0.12"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg1.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0.0 0" xyz="-0.085 0.07 -0.4"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg1.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.085 0.015 -0.33"/>
</collision>
</link>
<joint name="abduct_fr_to_thigh_fr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.01 0 -0.35"/>
<parent link="abduct_fr"/>
<child link="thigh_fr"/>
</joint>
<link name="thigh_fr">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0" ixy="0" ixz="0"
iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="-0.04 -0.135 -0.66"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.04 -0.135 -0.66"/>
</collision>
</link>
<joint name="thigh_fr_to_knee_fr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.6"/>
<parent link="thigh_fr"/>
<child link="shank_fr"/>
</joint>
<link name="shank_fr">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="0.015 0.09 -0.56"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0.015 0.09 -0.56"/>
</collision>
</link>
<link name="toe_fr">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="toe_fr_joint" type="fixed">
<parent link="shank_fr"/>
<child link="toe_fr"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_fl_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.425 0.53 0.06"/>
<parent link="body"/>
<child link="abduct_fl"/>
</joint>
<link name="abduct_fl">
<inertial>
<mass value="0.54"/>
<origin xyz="0.0 0.036 0."/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg1.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0.0 0" xyz="-0.085 -0.07 -0.4"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/mini_abad.obj"/>
</geometry>
<origin rpy="0 0.0 0" xyz="-0.085 -0.07 -0.4"/>
</collision>
</link>
<joint name="abduct_fl_to_thigh_fl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.01 0 -0.35"/>
<parent link="abduct_fl"/>
<child link="thigh_fl"/>
</joint>
<link name="thigh_fl">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="-0.04 -0.275 -0.66"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="-0.04 -0.275 -0.66"/>
</collision>
</link>
<joint name="thigh_fl_to_knee_fl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.6"/>
<parent link="thigh_fl"/>
<child link="shank_fl"/>
</joint>
<link name="shank_fl">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="0.015 -0.05 -0.56"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="0.015 -0.05 -0.56"/>
</collision>
</link>
<link name="toe_fl">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="toe_fl_joint" type="fixed">
<parent link="shank_fl"/>
<child link="toe_fl"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_hr_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.425 -0.33 0.06"/>
<parent link="body"/>
<child link="abduct_hr"/>
</joint>
<link name="abduct_hr">
<inertial>
<mass value="0.54"/>
<origin xyz="0.0 0.036 0."/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg1.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0.0 0" xyz="-0.085 0.06 -0.4"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg1.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0.0 0" xyz="-0.085 0.076 -0.4"/>
</collision>
</link>
<joint name="abduct_hr_to_thigh_hr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.01 0 -0.35"/>
<parent link="abduct_hr"/>
<child link="thigh_hr"/>
</joint>
<link name="thigh_hr">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="-0.04 -0.14 -0.66"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="-0.04 -0.14 -0.66"/>
</collision>
</link>
<joint name="thigh_hr_to_knee_hr_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.6"/>
<parent link="thigh_hr"/>
<child link="shank_hr"/>
</joint>
<link name="shank_hr">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="0.015 0.09 -0.56"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="0.015 0.09 -0.56"/>
</collision>
</link>
<link name="toe_hr">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="toe_hr_joint" type="fixed">
<parent link="shank_hr"/>
<child link="toe_hr"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<joint name="torso_to_abduct_hl_j" type="continuous">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.425 0.38 0.06"/>
<parent link="body"/>
<child link="abduct_hl"/>
</joint>
<link name="abduct_hl">
<inertial>
<mass value="0.54"/>
<origin xyz="0.0 0.036 0."/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg1.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0.0 0" xyz="-0.085 0.07 -0.4"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg1.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0 0.0 0" xyz="-0.085 0.07 -0.4"/>
</collision>
</link>
<joint name="abduct_hl_to_thigh_hl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.01 0 -0.35"/>
<parent link="abduct_hl"/>
<child link="thigh_hl"/>
</joint>
<link name="thigh_hl">
<inertial>
<mass value="0.634"/>
<origin xyz="0.0 0.016 -0.02"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="-0.04 -0.135 -0.66"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg2.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="-0.04 -0.135 -0.66"/>
</collision>
</link>
<joint name="thigh_hl_to_knee_hl_j" type="continuous">
<axis xyz="0 -1 0"/>
<origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.6"/>
<parent link="thigh_hl"/>
<child link="shank_hl"/>
</joint>
<link name="shank_hl">
<inertial>
<mass value="0.064"/>
<origin xyz="0.0 0.0 -0.209"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="0.015 0.09 -0.56"/>
</visual>
<collision>
<geometry>
<mesh filename="meshes/leg3.obj" scale="0.005 0.005 0.005"/>
</geometry>
<origin rpy="0.0 0 0.0" xyz="0.015 0.09 -0.56"/>
</collision>
</link>
<link name="toe_hl">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="toe_hl_joint" type="fixed">
<parent link="shank_hl"/>
<child link="toe_hl"/>
<origin xyz="0 0 -0.18"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>