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Atlas_rLeg.xml
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Atlas_rLeg.xml
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<?xml version="1.0" encoding="UTF-8"?>
<leg name="rLeg" segmentNo="6" jointNo="6">
<link id="1">
<inertial>
<mass value="0.648"/>
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box xyz="0.02 0.02 0.04"/>
</geometry>
</collision>
<visualization>
<model3ds filename="../../resources/Atlas_Model/r_uglut.3ds" scale="25.4 25.4 25.4" xyz="0 0 0" rpy="0 0 0"/>
</visualization>
</link>
<link id="2">
<inertial>
<mass value="0.866"/>
</inertial>
<collision>
<origin xyz="0 -0.01 -0.06" rpy="0 0 0"/>
<geometry>
<box xyz="0.09 0.025 0.035"/>
</geometry>
</collision>
<visualization>
<model3ds filename="../../resources/Atlas_Model/r_lglut.3ds" scale="25.4 25.4 25.4" xyz="0 0.02 0" rpy="0 0 0"/>
</visualization>
</link>
<link id="3">
<inertial>
<mass value="9.209"/>
</inertial>
<collision>
<origin xyz="0 -0.03 -0.2" rpy="0 0 0"/>
<geometry>
<box xyz="0.08 0.08 0.16"/>
</geometry>
</collision>
<visualization>
<model3ds filename="../../resources/Atlas_Model/r_uleg.3ds" scale="25.4 25.4 25.4" xyz="0 0.13 0.02" rpy="0 0 0"/>
</visualization>
</link>
<link id="4">
<inertial>
<mass value="5.479"/>
</inertial>
<collision>
<origin xyz="-0.035 -0.01 -0.45" rpy="0 0 0"/>
<geometry>
<box xyz="0.06 0.06 0.2"/>
</geometry>
</collision>
<visualization>
<model3ds filename="../../resources/Atlas_Model/r_lleg.3ds" scale="25.4 25.4 25.4" xyz="0 0.14 0" rpy="0 0 0"/>
</visualization>
</link>
<link id="5">
<inertial>
<mass value="0.125"/>
</inertial>
<collision>
<origin xyz="-0.035 -0.011 -0.59" rpy="0 0 0"/>
<geometry>
<box xyz="0.02 0.012 0.012"/>
</geometry>
</collision>
<visualization>
<model3ds filename="../../resources/Atlas_Model/r_talus.3ds" scale="25.4 25.4 25.4" xyz="0 0.01 0" rpy="0 0 0"/>
</visualization>
</link>
<link id="6">
<inertial>
<mass value="2.05"/>
</inertial>
<collision>
<origin xyz="-0.02 -0.011 -0.62" rpy="0 0 0"/>
<geometry>
<box xyz="0.14 0.07 0.03"/>
</geometry>
</collision>
<visualization>
<model3ds filename="../../resources/Atlas_Model/r_foot.3ds" scale="25.4 25.4 25.4" xyz="-0.005 0.04 0" rpy="0 0 0"/>
</visualization>
</link>
<!--
**********************************************************************
JOINT
**********************************************************************
-->
<joint name="pelvis_ruglut" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="0"/>
<child link="1"/>
<limit lower="-1.22173" upper="0.174533" />
</joint>
<joint name="ruglut_rlglut" type="revolute">
<origin xyz="0 0 -0.03" rpy="0 0 0"/>
<parent link="1"/>
<child link="2"/>
<limit lower="-0.523599" upper="0.524821" />
</joint>
<joint name="rlglut_ruleg" type="revolute">
<origin xyz="0 -0.02 -0.08" rpy="0 0 1.5707"/>
<parent link="2"/>
<child link="3"/>
<limit lower="-1.72072" upper="0.524821" />
</joint>
<joint name="ruleg_rlleg" type="revolute">
<origin xyz="-0.035 -0.01 -0.31" rpy="0 0 1.5707"/>
<parent link="3"/>
<child link="4"/>
<limit lower="0" upper="2.38569" />
</joint>
<joint name="rlleg_rtalus" type="revolute">
<origin xyz="-0.035 0 -0.58" rpy="0 0 0"/>
<parent link="4"/>
<child link="5"/>
<limit lower="-1" upper="0.7" />
</joint>
<joint name="rtalus_rfoot" type="revolute">
<origin xyz="-0.035 0 -0.595" rpy="0 0 1.5707"/>
<parent link="5"/>
<child link="6"/>
<limit lower="-0.8" upper="0.8" />
</joint>
</leg>