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humanoid_leg_12dof.7.urdf
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humanoid_leg_12dof.7.urdf
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<?xml version="1.0" ?>
<robot name="humanoid">
<link name="body">
<visual>
<geometry>
<box size="0.050 0.11 0.150"/>
</geometry>
<origin xyz="0 0 0.395" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="blue">
<color rgba="0.1 0.1 1 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.8"/>
<inertia ixx="0.0023066666666666665" ixy="0.0" ixz="0.0" iyy="0.001666666666666667" iyz="0.0" izz="0.0009733333333333334"/>
</inertial>
<collision>
<geometry>
<box size="0.050 0.11 0.150"/>
</geometry>
<origin xyz="0 0 0.395" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_waist" type="fixed">
<parent link="body"/>
<child link="waist"/>
</joint>
<link name="waist">
<visual>
<geometry>
<box size="0.0285 0.093 0.034"/>
</geometry>
<origin xyz="0 0 0.303" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.116"/>
<inertia ixx="9.478166666666668e-05" ixy="0.0" ixz="0.0" iyy="1.902641666666667e-05" iyz="0.0" izz="9.145875000000002e-05"/>
</inertial>
<collision>
<geometry>
<box size="0.0285 0.093 0.034"/>
</geometry>
<origin xyz="0 0 0.303" rpy="0 0 0"/>
</collision>
</link>
<!-- Right leg -->
<joint name="jointHipRZ" type="revolute">
<parent link="waist"/>
<child link="hipCylinderRZ"/>
<origin xyz="0 -0.03525 0.25" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="hipCylinderRZ">
<visual>
<geometry>
<cylinder length="0.04" radius="0.01"/>
</geometry>
<origin xyz="0 0 0.02" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="red">
<color rgba="1 0.0 0.0 1.0"/>
</material>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointHipRX" type="revolute">
<parent link="hipCylinderRZ"/>
<child link="hipCylinderRX"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="hipCylinderRX">
<visual>
<geometry>
<cylinder length="0.0725" radius="0.01"/>
</geometry>
<origin xyz="-0.017 0 0" rpy="0 1.57075 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointHipRY" type="revolute">
<parent link="hipCylinderRX"/>
<child link="hipCylinderRY"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="hipCylinderRY">
<visual>
<geometry>
<cylinder length="0.044" radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57075 0 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointKneeRY" type="revolute">
<parent link="hipCylinderRY"/>
<child link="kneeCylinderRY"/>
<origin xyz="0 0 -0.11" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="kneeCylinderRY">
<visual>
<geometry>
<cylinder length="0.044" radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57075 0 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointankleRY" type="revolute">
<parent link="kneeCylinderRY"/>
<child link="ankleCylinderRY"/>
<origin xyz="0 0 -0.11" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="ankleCylinderRY">
<visual>
<geometry>
<cylinder length="0.044" radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57075 0 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointankleRX" type="revolute">
<parent link="ankleCylinderRY"/>
<child link="ankleCylinderRX"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="ankleCylinderRX">
<visual>
<geometry>
<cylinder length="0.0725" radius="0.01"/>
</geometry>
<origin xyz="-0.017 0 0" rpy="0 1.57075 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<!-- Left leg -->
<joint name="jointHipLZ" type="revolute">
<parent link="waist"/>
<child link="hipCylinderLZ"/>
<origin xyz="0 0.03525 0.25" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="hipCylinderLZ">
<visual>
<geometry>
<cylinder length="0.04" radius="0.01"/>
</geometry>
<origin xyz="0 0 0.02" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="red">
<color rgba="1 0.0 0.0 1.0"/>
</material>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointHipLX" type="revolute">
<parent link="hipCylinderLZ"/>
<child link="hipCylinderLX"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="hipCylinderLX">
<visual>
<geometry>
<cylinder length="0.0725" radius="0.01"/>
</geometry>
<origin xyz="-0.017 0 0" rpy="0 1.57075 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointHipLY" type="revolute">
<parent link="hipCylinderLX"/>
<child link="hipCylinderLY"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="hipCylinderLY">
<visual>
<geometry>
<cylinder length="0.044" radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57075 0 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointKneeLY" type="revolute">
<parent link="hipCylinderLY"/>
<child link="kneeCylinderLY"/>
<origin xyz="0 0 -0.11" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="kneeCylinderLY">
<visual>
<geometry>
<cylinder length="0.044" radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57075 0 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointankleLY" type="revolute">
<parent link="kneeCylinderLY"/>
<child link="ankleCylinderLY"/>
<origin xyz="0 0 -0.11" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="ankleCylinderLY">
<visual>
<geometry>
<cylinder length="0.044" radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57075 0 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="jointankleLX" type="revolute">
<parent link="ankleCylinderLY"/>
<child link="ankleCylinderLX"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="10" lower="-3" upper="+3" velocity="10"/>
<dynamics damping="0"/>
</joint>
<link name="ankleCylinderLX">
<visual>
<geometry>
<cylinder length="0.0725" radius="0.01"/>
</geometry>
<origin xyz="-0.017 0 0" rpy="0 1.57075 0"/>
<axis xyz="0 0 0" />
<material name="red"/>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<!-- Decorations R -->
<joint name="fixed_hipBridgeR" type="fixed">
<parent link="hipCylinderRZ"/>
<child link="hipBridgeR"/>
</joint>
<link name="hipBridgeR">
<visual>
<geometry>
<box size="0.0685 0.02 0.046"/>
</geometry>
<origin xyz="-0.017 0 0.023" rpy="0 0 0"/>
<material name="linkColor">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.03"/>
<inertia ixx="6.29e-06" ixy="0.0" ixz="0.0" iyy="1.7020625000000003e-05" iyz="0.0" izz="1.2730625000000003e-05"/>
</inertial>
<collision>
<geometry>
<box size="0.0685 0.02 0.046"/>
</geometry>
<origin xyz="-0.017 0 0.023" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_hipMotorRF" type="fixed">
<parent link="hipCylinderRX"/>
<child link="hipMotorRF"/>
</joint>
<link name="hipMotorRF">
<visual>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.6038208333333333e-05" ixy="0.0" ixz="0.0" iyy="1.4376750000000003e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_hipMotorRB" type="fixed">
<parent link="hipCylinderRX"/>
<child link="hipMotorRB"/>
</joint>
<link name="hipMotorRB">
<visual>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 -0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.4376750000000003e-05" ixy="0.0" ixz="0.0" iyy="1.6038208333333333e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 -0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_legUpR" type="fixed">
<parent link="hipCylinderRY"/>
<child link="legUpR"/>
</joint>
<link name="legUpR">
<visual>
<geometry>
<box size="0.02 0.04 0.11"/>
</geometry>
<origin xyz="0 0 -0.055"/>
<axis xyz="0 0 0" />
<material name="linkColor"/>
</visual>
<inertial>
<mass value="0.03"/>
<inertia ixx="3.425e-05" ixy="0.0" ixz="0.0" iyy="3.1249999999999994e-05" iyz="0.0" izz="5e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.02 0.04 0.11"/>
</geometry>
<origin xyz="0 0 -0.055"/>
</collision>
</link>
<joint name="fixed_kneeMotorR" type="fixed">
<parent link="kneeCylinderRY"/>
<child link="kneeMotorR"/>
</joint>
<link name="kneeMotorR">
<visual>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.4376750000000003e-05" ixy="0.0" ixz="0.0" iyy="1.6038208333333333e-05" iyz="0.0" izz="1.6038208333333333e-05"/>
</inertial>
<collision>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_legDownR" type="fixed">
<parent link="kneeCylinderRY"/>
<child link="legDownR"/>
</joint>
<link name="legDownR">
<visual>
<geometry>
<box size="0.02 0.04 0.07475"/>
</geometry>
<origin xyz="0 0 -0.073625"/>
<axis xyz="0 0 0" />
<material name="linkColor"/>
</visual>
<inertial>
<mass value="0.03"/>
<inertia ixx="1.796890625e-05" ixy="0.0" ixz="0.0" iyy="1.4968906249999999e-05" iyz="0.0" izz="5e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.02 0.04 0.07475"/>
</geometry>
<origin xyz="0 0 -0.073625"/>
</collision>
</link>
<joint name="fixed_ankleMotorRF" type="fixed">
<parent link="ankleCylinderRY"/>
<child link="ankleMotorRF"/>
</joint>
<link name="ankleMotorRF">
<visual>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.6038208333333333e-05" ixy="0.0" ixz="0.0" iyy="1.4376750000000003e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_ankleMotorRB" type="fixed">
<parent link="ankleCylinderRY"/>
<child link="ankleMotorRB"/>
</joint>
<link name="ankleMotorRB">
<visual>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.4376750000000003e-05" ixy="0.0" ixz="0.0" iyy="1.6038208333333333e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_footBridgeR" type="fixed">
<parent link="ankleCylinderRX"/>
<child link="footBridgeR"/>
</joint>
<link name = "footBridgeR">
<visual>
<geometry>
<box size="0.0685 0.02 0.025"/>
</geometry>
<origin xyz="-0.017 0 -0.0125" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="linkColor"/>
</visual>
<inertial>
<mass value="0.009"/>
<inertia ixx="8.541666666666668e-07" ixy="0.0" ixz="0.0" iyy="4.431041666666667e-06" iyz="0.0" izz="4.243541666666668e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.0685 0.02 0.025"/>
</geometry>
<origin xyz="-0.017 0 -0.0125" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_footR" type="fixed">
<parent link="ankleCylinderRX"/>
<child link="footR"/>
</joint>
<link name="footR">
<visual>
<geometry>
<box size="0.10 0.05 0.005"/>
</geometry>
<origin xyz="0.0 -0.0 -0.0275" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="footColor">
<color rgba="0 1 1 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.025"/>
<inertia ixx="1.026041666666667e-05" ixy="0.0" ixz="0.0" iyy="4.692708333333334e-05" iyz="0.0" izz="5.7083333333333336e-05"/>
</inertial>
<!--
<collision>
<geometry>
<box size="0.15 0.04 0.02"/>
</geometry>
<origin xyz="0.02 -0.015 -0.02" rpy="0 0 0"/>
</collision>
<collision>
<geometry>
<box size="0.12 0.07 0.02"/>
</geometry>
<origin xyz="0.02 -0.015 -0.02" rpy="0 0 0"/>
</collision>
-->
<collision>
<geometry>
<box size="0.10 0.05 0.02"/>
</geometry>
<origin xyz="0.00 -0.00 -0.02" rpy="0 0 0"/>
</collision>
</link>
<!-- Decorations L -->
<joint name="fixed_hipBridgeL" type="fixed">
<parent link="hipCylinderLZ"/>
<child link="hipBridgeL"/>
</joint>
<link name="hipBridgeL">
<visual>
<geometry>
<box size="0.0685 0.02 0.046"/>
</geometry>
<origin xyz="-0.017 0 0.023" rpy="0 0 0"/>
<material name="linkColor">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.03"/>
<inertia ixx="6.29e-06" ixy="0.0" ixz="0.0" iyy="1.7020625000000003e-05" iyz="0.0" izz="1.2730625000000003e-05"/>
</inertial>
<collision>
<geometry>
<box size="0.0685 0.02 0.046"/>
</geometry>
<origin xyz="-0.017 0 0.023" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_hipMotorLF" type="fixed">
<parent link="hipCylinderLX"/>
<child link="hipMotorLF"/>
</joint>
<link name="hipMotorLF">
<visual>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.6038208333333333e-05" ixy="0.0" ixz="0.0" iyy="1.4376750000000003e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_hipMotorLB" type="fixed">
<parent link="hipCylinderLX"/>
<child link="hipMotorLB"/>
</joint>
<link name="hipMotorLB">
<visual>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 -0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.4376750000000003e-05" ixy="0.0" ixz="0.0" iyy="1.6038208333333333e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 -0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_legUpL" type="fixed">
<parent link="hipCylinderLY"/>
<child link="legUpL"/>
</joint>
<link name="legUpL">
<visual>
<geometry>
<box size="0.02 0.04 0.11"/>
</geometry>
<origin xyz="0 0 -0.055"/>
<axis xyz="0 0 0" />
<material name="linkColor"/>
</visual>
<inertial>
<mass value="0.03"/>
<inertia ixx="3.425e-05" ixy="0.0" ixz="0.0" iyy="3.1249999999999994e-05" iyz="0.0" izz="5e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.02 0.04 0.11"/>
</geometry>
<origin xyz="0 0 -0.055"/>
</collision>
</link>
<joint name="fixed_kneeMotorL" type="fixed">
<parent link="kneeCylinderLY"/>
<child link="kneeMotorL"/>
</joint>
<link name="kneeMotorL">
<visual>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.4376750000000003e-05" ixy="0.0" ixz="0.0" iyy="1.6038208333333333e-05" iyz="0.0" izz="1.6038208333333333e-05"/>
</inertial>
<collision>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="0 0 -0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_legDownL" type="fixed">
<parent link="kneeCylinderLY"/>
<child link="legDownL"/>
</joint>
<link name="legDownL">
<visual>
<geometry>
<box size="0.02 0.04 0.07475"/>
</geometry>
<origin xyz="0 0 -0.073625"/>
<axis xyz="0 0 0" />
<material name="linkColor"/>
</visual>
<inertial>
<mass value="0.03"/>
<inertia ixx="1.796890625e-05" ixy="0.0" ixz="0.0" iyy="1.4968906249999999e-05" iyz="0.0" izz="5e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.02 0.04 0.07475"/>
</geometry>
<origin xyz="0 0 -0.073625"/>
</collision>
</link>
<joint name="fixed_ankleMotorLF" type="fixed">
<parent link="ankleCylinderLY"/>
<child link="ankleMotorLF"/>
</joint>
<link name="ankleMotorLF">
<visual>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.6038208333333333e-05" ixy="0.0" ixz="0.0" iyy="1.4376750000000003e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.0285 0.034 0.0465"/>
</geometry>
<origin xyz="0 0 0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_ankleMotorLB" type="fixed">
<parent link="ankleCylinderLY"/>
<child link="ankleMotorLB"/>
</joint>
<link name="ankleMotorLB">
<visual>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 0.01225" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="motorColor"/>
</visual>
<inertial>
<mass value="0.058"/>
<inertia ixx="1.4376750000000003e-05" ixy="0.0" ixz="0.0" iyy="1.6038208333333333e-05" iyz="0.0" izz="9.513208333333336e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.034 0.0285 0.0465"/>
</geometry>
<origin xyz="-0.0315 0 0.01225" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_footBridgeL" type="fixed">
<parent link="ankleCylinderLX"/>
<child link="footBridgeL"/>
</joint>
<link name = "footBridgeL">
<visual>
<geometry>
<box size="0.0685 0.02 0.025"/>
</geometry>
<origin xyz="-0.017 0 -0.0125" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="linkColor"/>
</visual>
<inertial>
<mass value="0.009"/>
<inertia ixx="8.541666666666668e-07" ixy="0.0" ixz="0.0" iyy="4.431041666666667e-06" iyz="0.0" izz="4.243541666666668e-06"/>
</inertial>
<collision>
<geometry>
<box size="0.0685 0.02 0.025"/>
</geometry>
<origin xyz="-0.017 0 -0.0125" rpy="0 0 0"/>
</collision>
</link>
<joint name="fixed_ankleCylinderLX" type="fixed">
<parent link="ankleCylinderLX"/>
<child link="footL"/>
</joint>
<link name="footL">
<visual>
<geometry>
<box size="0.10 0.05 0.005"/>
</geometry>
<origin xyz="0.0 0.0 -0.0275" rpy="0 0 0"/>
<axis xyz="0 0 0" />
<material name="footColor">
<color rgba="0 1 1 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.025"/>
<inertia ixx="1.026041666666667e-05" ixy="0.0" ixz="0.0" iyy="4.692708333333334e-05" iyz="0.0" izz="5.7083333333333336e-05"/>
</inertial>
<!--
<collision>
<geometry>
<box size="0.15 0.04 0.02"/>
</geometry>
<origin xyz="0.02 0.015 -0.02" rpy="0 0 0"/>
</collision>
<collision>
<geometry>
<box size="0.12 0.07 0.02"/>
</geometry>
<origin xyz="0.02 0.015 -0.02" rpy="0 0 0"/>
</collision>
-->
<collision>
<geometry>
<box size="0.10 0.05 0.02"/>
</geometry>
<origin xyz="0.00 0.000 -0.02" rpy="0 0 0"/>
</collision>
</link>
</robot>