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4leggedRobot.urdf
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<?xml version="1.0"?>
<robot name="materials">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="red">
<color rgba="0.8 0 0 1"/>
</material>
<link name="base_link">
<collision>
<origin rpy="1.57 0 -1.57"/>
<geometry>
<mesh filename="package://STL_simulation/base_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0.018 , 2.287E-04 , 0.01"/>
<mass value="1.248" />
<inertia ixx="0.002" ixy="7.984E-08" ixz="-2.045E-04"
iyy="0.007" iyz="-2.383E-06"
izz="0.007" />
</inertial>
<visual>
<origin rpy="1.57 0 -1.57"/>
<geometry>
<mesh filename="package://STL_simulation/base_link.stl"/>
</geometry>
<material name="blue"/>
</visual>
</link>
#FRONT RIGHT
<link name="coxa_FR">
<inertial>
<mass value="0.075" />
<inertia ixx="3.724E-05" ixy="9.731E-06" ixz="0"
iyy="2.829E-05" iyz="0"
izz="5.581E-05" />
</inertial>
<visual>
<origin rpy="1.57 0 -1.57" xyz='0 0.04 0'/>
<geometry>
<mesh filename="package://STL_simulation/coxa_fr.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="femur_FR">
<inertial>
<mass value="0.084" />
<inertia ixx="7.552E-05" ixy="-3.399E-08" ixz="9.599E-08"
iyy="6.041E-05" iyz="-1.244E-06"
izz="2.256E-05" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/femur_fr.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="-0.095 0.04 0"/>
<material name="white"/>
</visual>
</link>
<link name="tibia_FR">
<inertial>
<mass value="0.034" />
<inertia ixx="3.218E-05" ixy="0.00" ixz="-4.239E-09"
iyy="3.195E-05" iyz="0.00"
izz="1.847E-06" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/tibia_fr.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="-0.095 0.04 0.1"/>
<material name="blue"/>
</visual>
</link>
<link name="foot_FR">
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.0044" />
<inertia ixx="7.04E-7" ixy="0.00" ixz="0.00"
iyy="7.04E-7" iyz="0.00"
izz="7.04E-7" />
</inertial>
<visual>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="coxaF_FR" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="base_link"/>
<child link="coxa_FR"/>
<origin xyz="0 -0.04 0"/>
</joint>
<joint name="femurF_FR" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="coxa_FR"/>
<child link="femur_FR"/>
<origin xyz="0.095 0 0"/>
</joint>
<joint name="tibiaF_FR" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="femur_FR"/>
<child link="tibia_FR"/>
<origin xyz="0 0 -0.1"/>
</joint>
<joint name="footF_FR" type="fixed">
<parent link="tibia_FR"/>
<child link="foot_FR"/>
<origin xyz="0 -0.04 -0.1"/>
</joint>
#FRONT LEFT
<link name="coxa_FL">
<inertial>
<mass value="0.075" />
<inertia ixx="3.724E-05" ixy="-9.731E-06" ixz="0"
iyy="2.829E-05" iyz="0"
izz="5.581E-05" />
</inertial>
<visual>
<origin rpy="1.57 0 -1.57" xyz='0 -0.04 0'/>
<geometry>
<mesh filename="package://STL_simulation/coxa_fl.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="femur_FL">
<inertial>
<mass value="0.084" />
<inertia ixx="7.552E-05" ixy="3.399E-08" ixz="9.599E-08"
iyy="6.041E-05" iyz="1.244E-06"
izz="2.256E-05" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/femur_fl.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="-0.095 -0.04 0"/>
<material name="white"/>
</visual>
</link>
<link name="tibia_FL">
<inertial>
<mass value="0.034" />
<inertia ixx="3.218E-05" ixy="0.00" ixz="-4.791E-09"
iyy="3.195E-05" iyz="0.00"
izz="1.847E-06" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/tibia_fl.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="-0.095 -0.04 0.1"/>
<material name="blue"/>
</visual>
</link>
<link name="foot_FL">
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.0044" />
<inertia ixx="7.04E-7" ixy="0.00" ixz="0.00"
iyy="7.04E-7" iyz="0.00"
izz="7.04E-7" />
</inertial>
<visual>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="coxaF_FL" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="base_link"/>
<child link="coxa_FL"/>
<origin xyz="0 0.04 0"/>
</joint>
<joint name="femurF_FL" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="coxa_FL"/>
<child link="femur_FL"/>
<origin xyz="0.095 0 0"/>
</joint>
<joint name="tibiaF_FL" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="femur_FL"/>
<child link="tibia_FL"/>
<origin xyz="0 0 -0.1"/>
</joint>
<joint name="footF_FL" type="fixed">
<parent link="tibia_FL"/>
<child link="foot_FL"/>
<origin xyz="0 0.04 -0.1"/>
</joint>
#BACK RIGHT
<link name="coxa_BR">
<inertial>
<mass value="0.09" />
<origin xyz="0.0973055 -0.0661692 -0.00513185"/>
<inertia ixx="4.690E-05" ixy="3.095E-06" ixz="0.00"
iyy="2.886E-05" iyz="0.00"
izz="6.367E-05" />
</inertial>
<visual>
<origin rpy="1.57 0 -1.57" xyz='0 0.04 0'/>
<geometry>
<mesh filename="package://STL_simulation/coxa_br.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="femur_BR">
<inertial>
<mass value="0.085" />
<inertia ixx="7.605E-05" ixy="0.00" ixz="0.00"
iyy="6.090E-05" iyz="-1.120E-06"
izz="2.264E-05" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/femur_br.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="0.095 0.04 0"/>
<material name="white"/>
</visual>
</link>
<link name="tibia_BR">
<inertial>
<mass value="0.034" />
<inertia ixx="3.218E-05" ixy="0.00" ixz="-4.239E-09"
iyy="3.195E-05" iyz="0.00"
izz="1.847E-06" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/tibia_br.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="0.095 0.04 0.1"/>
<material name="blue"/>
</visual>
</link>
<link name="foot_BR">
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.0044" />
<inertia ixx="7.04E-7" ixy="0.00" ixz="0.00"
iyy="7.04E-7" iyz="0.00"
izz="7.04E-7" />
</inertial>
<visual>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="coxaF_BR" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="base_link"/>
<child link="coxa_BR"/>
<origin xyz="0 -0.04 0"/>
</joint>
<joint name="femurF_BR" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="coxa_BR"/>
<child link="femur_BR"/>
<origin xyz="-0.095 0 0"/>
</joint>
<joint name="tibiaF_BR" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="femur_BR"/>
<child link="tibia_BR"/>
<origin xyz="0 0 -0.1"/>
</joint>
<joint name="footF_BR" type="fixed">
<parent link="tibia_BR"/>
<child link="foot_BR"/>
<origin xyz="0 -0.04 -0.1"/>
</joint>
#BACK LEFT
<link name="coxa_BL">
<inertial>
<mass value="0.09" />
<inertia ixx="4.690E-05" ixy="-3.095E-06" ixz="0.00"
iyy="2.886E-05" iyz="0.00"
izz="6.367E-05" />
</inertial>
<visual>
<origin rpy="1.57 0 -1.57" xyz='0 -0.04 0'/>
<geometry>
<mesh filename="package://STL_simulation/coxa_bl.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="femur_BL">
<inertial>
<mass value="0.085" />
<inertia ixx="7.605E-05" ixy="0.00" ixz="0.00"
iyy="6.090E-05" iyz="1.120E-06"
izz="2.264E-05" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/femur_bl.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="0.095 -0.04 0"/>
<material name="white"/>
</visual>
</link>
<link name="tibia_BL">
<inertial>
<mass value="0.034" />
<inertia ixx="3.218E-05" ixy="0.00" ixz="-4.791E-09"
iyy="3.195E-05" iyz="0.00"
izz="1.847E-06" />
</inertial>
<visual>
<geometry>
<mesh filename="package://STL_simulation/tibia_bl.stl"/>
</geometry>
<origin rpy="1.57 0 -1.57" xyz="0.095 -0.04 0.1"/>
<material name="blue"/>
</visual>
</link>
<link name="foot_BL">
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.0044" />
<inertia ixx="7.04E-7" ixy="0.00" ixz="0.00"
iyy="7.04E-7" iyz="0.00"
izz="7.04E-7" />
</inertial>
<visual>
<geometry>
<sphere radius="0.02"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="coxaF_BL" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="base_link"/>
<child link="coxa_BL"/>
<origin xyz="0 0.04 0"/>
</joint>
<joint name="femurF_BL" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="coxa_BL"/>
<child link="femur_BL"/>
<origin xyz="-0.095 0 0"/>
</joint>
<joint name="tibiaF_BL" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" velocity="0.5"/>
<parent link="femur_BL"/>
<child link="tibia_BL"/>
<origin xyz="0 0 -0.1"/>
</joint>
<joint name="footF_BL" type="fixed">
<parent link="tibia_BL"/>
<child link="foot_BL"/>
<origin xyz="0 0.04 -0.1"/>
</joint>
</robot>