1<?xml version="1.0" ?>
2<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
3    <link name="body">
4        <inertial>
5            <mass value="3.3"/>
6            <origin xyz="0.0 0.0 0.0"/>
7            <inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
8        </inertial>
9        <visual>
10            <geometry>
11                <mesh filename="meshes/mini_body.obj"/>
12            </geometry>
13            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
14        </visual>
15        <collision>
16            <geometry>
17                <mesh filename="meshes/mini_body.obj"/>
18            </geometry>
19            <origin rpy="0 0 0" xyz="0 0 0"/>
20        </collision>
21    </link>
22
23    <!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
24    <joint name="torso_to_abduct_fr_j" type="continuous">
25        <axis xyz="1 0 0"/>
26        <origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
27        <parent link="body"/>
28        <child link="abduct_fr"/>
29    </joint>
30    <link name="abduct_fr">
31        <inertial>
32            <mass value="0.54"/>
33            <origin xyz="0.0 0.036 0."/>
34            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
35                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
36        </inertial>
37        <visual>
38            <geometry>
39                <mesh filename="meshes/mini_abad.obj"/>
40            </geometry>
41            <origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/>
42        </visual>
43        <collision>
44            <geometry>
45                <mesh filename="meshes/mini_abad.obj"/>
46            </geometry>
47            <origin rpy="3.141592 0 1.5708" xyz="-0.055 0 0"/>
48        </collision>
49    </link>
50
51    <joint name="abduct_fr_to_thigh_fr_j" type="continuous">
52        <axis xyz="0 -1 0"/>
53        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
54        <parent link="abduct_fr"/>
55        <child link="thigh_fr"/>
56    </joint>
57    <link name="thigh_fr">
58        <inertial>
59            <mass value="0.634"/>
60            <origin xyz="0.0 0.016 -0.02"/>
61            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
62                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
63        </inertial>
64        <visual>
65            <geometry>
66                <mesh filename="meshes/mini_upper_link.obj"/>
67            </geometry>
68            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
69        </visual>
70        <collision>
71            <geometry>
72                <mesh filename="meshes/mini_upper_link.obj"/>
73            </geometry>
74            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
75        </collision>
76    </link>
77
78    <joint name="thigh_fr_to_knee_fr_j" type="continuous">
79        <axis xyz="0 -1 0"/>
80        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
81        <parent link="thigh_fr"/>
82        <child link="shank_fr"/>
83    </joint>
84    <link name="shank_fr">
85        <inertial>
86            <mass value="0.064"/>
87            <origin xyz="0.0 0.0 -0.209"/>
88            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
89        </inertial>
90        <visual>
91            <geometry>
92                <mesh filename="meshes/mini_lower_link.obj"/>
93            </geometry>
94            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
95        </visual>
96        <collision>
97            <geometry>
98                <mesh filename="meshes/mini_lower_link.obj"/>
99            </geometry>
100            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
101        </collision>
102    </link>
103    <link name="toe_fr">
104    <contact>
105      <friction_anchor/>
106      <stiffness value="30000.0"/>
107      <damping value="1000.0"/>
108      <spinning_friction value="0.3"/>
109      <lateral_friction value="3.0"/>
110    </contact>
111    <visual>
112      <origin rpy="0 0 0" xyz="0 0 0"/>
113      <geometry>
114        <sphere radius="0.015"/>
115      </geometry>
116      <material name="darkgray"/>
117    </visual>
118    <collision>
119      <origin rpy="0 0 0" xyz="0 0 0"/>
120      <geometry>
121        <sphere radius="0.015"/>
122      </geometry>
123    </collision>
124    <inertial>
125      <mass value="0.15"/>
126      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
127    </inertial>
128  </link>
129  <joint name="toe_fr_joint" type="fixed">
130    <parent link="shank_fr"/>
131    <child link="toe_fr"/>
132    <origin xyz="0 0 -0.18"/>
133    <dynamics damping="0.0" friction="0.0"/>
134  </joint>
135
136
137<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
138    <joint name="torso_to_abduct_fl_j" type="continuous">
139        <axis xyz="1 0 0"/>
140        <origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
141        <parent link="body"/>
142        <child link="abduct_fl"/>
143    </joint>
144    <link name="abduct_fl">
145        <inertial>
146            <mass value="0.54"/>
147            <origin xyz="0.0 0.036 0."/>
148            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
149                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
150        </inertial>
151        <visual>
152            <geometry>
153                <mesh filename="meshes/mini_abad.obj"/>
154            </geometry>
155            <origin rpy="0. 0. -1.5708" xyz="-0.055 0.0 0.0"/>
156        </visual>
157        <collision>
158            <geometry>
159                <mesh filename="meshes/mini_abad.obj"/>
160            </geometry>
161            <origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/>
162        </collision>
163    </link>
164
165    <joint name="abduct_fl_to_thigh_fl_j" type="continuous">
166        <axis xyz="0 -1 0"/>
167        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
168        <parent link="abduct_fl"/>
169        <child link="thigh_fl"/>
170    </joint>
171    <link name="thigh_fl">
172        <inertial>
173            <mass value="0.634"/>
174            <origin xyz="0.0 0.016 -0.02"/>
175            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
176                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
177        </inertial>
178        <visual>
179            <geometry>
180                <mesh filename="meshes/mini_upper_link.obj"/>
181            </geometry>
182            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
183        </visual>
184        <collision>
185            <geometry>
186                <mesh filename="meshes/mini_upper_link.obj"/>
187            </geometry>
188            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
189        </collision>
190    </link>
191
192    <joint name="thigh_fl_to_knee_fl_j" type="continuous">
193        <axis xyz="0 -1 0"/>
194        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
195        <parent link="thigh_fl"/>
196        <child link="shank_fl"/>
197    </joint>
198    <link name="shank_fl">
199        <inertial>
200            <mass value="0.064"/>
201            <origin xyz="0.0 0.0 -0.209"/>
202            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
203        </inertial>
204        <visual>
205            <geometry>
206                <mesh filename="meshes/mini_lower_link.obj"/>
207            </geometry>
208            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
209        </visual>
210        <collision>
211            <geometry>
212                <mesh filename="meshes/mini_lower_link.obj"/>
213            </geometry>
214            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
215        </collision>
216    </link>
217    <link name="toe_fl">
218      <contact>
219      <friction_anchor/>
220      <stiffness value="30000.0"/>
221      <damping value="1000.0"/>
222      <spinning_friction value="0.3"/>
223      <lateral_friction value="3.0"/>
224    </contact>
225    <visual>
226      <origin rpy="0 0 0" xyz="0 0 0"/>
227      <geometry>
228        <sphere radius="0.015"/>
229      </geometry>
230      <material name="darkgray"/>
231    </visual>
232    <collision>
233      <origin rpy="0 0 0" xyz="0 0 0"/>
234      <geometry>
235        <sphere radius="0.015"/>
236      </geometry>
237    </collision>
238    <inertial>
239      <mass value="0.15"/>
240      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
241    </inertial>
242  </link>
243  <joint name="toe_fl_joint" type="fixed">
244    <parent link="shank_fl"/>
245    <child link="toe_fl"/>
246    <origin xyz="0 0 -0.18"/>
247    <dynamics damping="0.0" friction="0.0"/>
248  </joint>
249
250
251<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
252    <joint name="torso_to_abduct_hr_j" type="continuous">
253        <axis xyz="1 0 0"/>
254        <origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
255        <parent link="body"/>
256        <child link="abduct_hr"/>
257    </joint>
258    <link name="abduct_hr">
259        <inertial>
260            <mass value="0.54"/>
261            <origin xyz="0.0 0.036 0."/>
262            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
263                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
264        </inertial>
265        <visual>
266            <geometry>
267                <mesh filename="meshes/mini_abad.obj"/>
268            </geometry>
269            <origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/>
270        </visual>
271        <collision>
272            <geometry>
273                <mesh filename="meshes/mini_abad.obj"/>
274            </geometry>
275            <origin rpy="0 0 1.5708" xyz="0.055 0 0"/>
276        </collision>
277    </link>
278
279    <joint name="abduct_hr_to_thigh_hr_j" type="continuous">
280        <axis xyz="0 -1 0"/>
281        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
282        <parent link="abduct_hr"/>
283        <child link="thigh_hr"/>
284    </joint>
285    <link name="thigh_hr">
286        <inertial>
287            <mass value="0.634"/>
288            <origin xyz="0.0 0.016 -0.02"/>
289            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
290                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
291        </inertial>
292        <visual>
293            <geometry>
294                <mesh filename="meshes/mini_upper_link.obj"/>
295            </geometry>
296            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
297        </visual>
298        <collision>
299            <geometry>
300                <mesh filename="meshes/mini_upper_link.obj"/>
301            </geometry>
302            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
303        </collision>
304    </link>
305
306    <joint name="thigh_hr_to_knee_hr_j" type="continuous">
307        <axis xyz="0 -1 0"/>
308        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
309        <parent link="thigh_hr"/>
310        <child link="shank_hr"/>
311    </joint>
312    <link name="shank_hr">
313        <inertial>
314            <mass value="0.064"/>
315            <origin xyz="0.0 0.0 -0.209"/>
316            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
317        </inertial>
318        <visual>
319            <geometry>
320                <mesh filename="meshes/mini_lower_link.obj"/>
321            </geometry>
322            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
323        </visual>
324        <collision>
325            <geometry>
326                <mesh filename="meshes/mini_lower_link.obj"/>
327            </geometry>
328            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
329        </collision>
330    </link>
331     <link name="toe_hr">
332      <contact>
333      <friction_anchor/>
334      <stiffness value="30000.0"/>
335      <damping value="1000.0"/>
336      <spinning_friction value="0.3"/>
337      <lateral_friction value="3.0"/>
338    </contact>
339    <visual>
340      <origin rpy="0 0 0" xyz="0 0 0"/>
341      <geometry>
342        <sphere radius="0.015"/>
343      </geometry>
344      <material name="darkgray"/>
345    </visual>
346    <collision>
347      <origin rpy="0 0 0" xyz="0 0 0"/>
348      <geometry>
349        <sphere radius="0.015"/>
350      </geometry>
351    </collision>
352    <inertial>
353      <mass value="0.15"/>
354      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
355    </inertial>
356  </link>
357  <joint name="toe_hr_joint" type="fixed">
358    <parent link="shank_hr"/>
359    <child link="toe_hr"/>
360    <origin xyz="0 0 -0.18"/>
361    <dynamics damping="0.0" friction="0.0"/>
362  </joint>
363
364
365<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
366    <joint name="torso_to_abduct_hl_j" type="continuous">
367        <axis xyz="1 0 0"/>
368        <origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
369        <parent link="body"/>
370        <child link="abduct_hl"/>
371    </joint>
372    <link name="abduct_hl">
373        <inertial>
374            <mass value="0.54"/>
375            <origin xyz="0.0 0.036 0."/>
376            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045"
377                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
378        </inertial>
379        <visual>
380            <geometry>
381                <mesh filename="meshes/mini_abad.obj"/>
382            </geometry>
383            <origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/>
384        </visual>
385        <collision>
386            <geometry>
387                <mesh filename="meshes/mini_abad.obj"/>
388            </geometry>
389            <origin rpy="3.141592 0 -1.5708" xyz="0.055 0 0"/>
390        </collision>
391    </link>
392
393    <joint name="abduct_hl_to_thigh_hl_j" type="continuous">
394        <axis xyz="0 -1 0"/>
395        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
396        <parent link="abduct_hl"/>
397        <child link="thigh_hl"/>
398    </joint>
399    <link name="thigh_hl">
400        <inertial>
401            <mass value="0.634"/>
402            <origin xyz="0.0 0.016 -0.02"/>
403            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013"
404                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
405        </inertial>
406        <visual>
407            <geometry>
408                <mesh filename="meshes/mini_upper_link.obj"/>
409            </geometry>
410            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
411        </visual>
412        <collision>
413            <geometry>
414                <mesh filename="meshes/mini_upper_link.obj"/>
415            </geometry>
416            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
417        </collision>
418    </link>
419
420    <joint name="thigh_hl_to_knee_hl_j" type="continuous">
421        <axis xyz="0 -1 0"/>
422        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
423        <parent link="thigh_hl"/>
424        <child link="shank_hl"/>
425    </joint>
426    <link name="shank_hl">
427        <inertial>
428            <mass value="0.064"/>
429            <origin xyz="0.0 0.0 -0.209"/>
430            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
431        </inertial>
432        <visual>
433            <geometry>
434                <mesh filename="meshes/mini_lower_link.obj"/>
435            </geometry>
436            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
437        </visual>
438        <collision>
439            <geometry>
440                <mesh filename="meshes/mini_lower_link.obj"/>
441            </geometry>
442            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
443        </collision>
444    </link>
445    <link name="toe_hl">
446      <contact>
447      <friction_anchor/>
448      <stiffness value="30000.0"/>
449      <damping value="1000.0"/>
450      <spinning_friction value="0.3"/>
451      <lateral_friction value="3.0"/>
452    </contact>
453    <visual>
454      <origin rpy="0 0 0" xyz="0 0 0"/>
455      <geometry>
456        <sphere radius="0.015"/>
457      </geometry>
458      <material name="darkgray"/>
459    </visual>
460    <collision>
461      <origin rpy="0 0 0" xyz="0 0 0"/>
462      <geometry>
463        <sphere radius="0.015"/>
464      </geometry>
465    </collision>
466    <inertial>
467      <mass value="0.15"/>
468      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
469    </inertial>
470  </link>
471  <joint name="toe_hl_joint" type="fixed">
472    <parent link="shank_hl"/>
473    <child link="toe_hl"/>
474    <origin xyz="0 0 -0.18"/>
475    <dynamics damping="0.0" friction="0.0"/>
476  </joint>
477
478
479
480</robot>
481