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2026-09-10 12:19:59 +03:00
commit 1d1416d5d8
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3DV2/urdf_backup/assets/bearingholder.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "e02f8fa924daafc9089a39bf",
"elementId": "4d9ee55a87f6d7d9fad606e1",
"fullConfiguration": "default",
"id": "M1zS0Pjy1uGe7Kay+",
"isStandardContent": false,
"name": "BearingHolder <4>",
"partId": "RBDf",
"suppressed": false,
"type": "Part"
}
3DV2/urdf_backup/assets/bearingholder.stl
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3DV2/urdf_backup/assets/bearingholder__2.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "e02f8fa924daafc9089a39bf",
"elementId": "3dd49b7ff17a5efa716a1a9c",
"fullConfiguration": "default",
"id": "MsYLJvNKZFtLmR5J2",
"isStandardContent": false,
"name": "BearingHolder <6>",
"partId": "RZDL",
"suppressed": false,
"type": "Part"
}
3DV2/urdf_backup/assets/bearingholder__2.stl
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3DV2/urdf_backup/assets/bottom.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "e02f8fa924daafc9089a39bf",
"elementId": "146bbab0692e9f239aec3d70",
"fullConfiguration": "default",
"id": "MtOrKNBIMUYTFVI92",
"isStandardContent": false,
"name": "Bottom <1>",
"partId": "S5BXk",
"suppressed": false,
"type": "Part"
}
3DV2/urdf_backup/assets/bottom.stl
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3DV2/urdf_backup/assets/bottomtop.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "e02f8fa924daafc9089a39bf",
"elementId": "a4763a019883de81f1470c6f",
"fullConfiguration": "default",
"id": "M36cjh7Y+TWjney3H",
"isStandardContent": false,
"name": "BottomTop <4>",
"partId": "RnEP",
"suppressed": false,
"type": "Part"
}
3DV2/urdf_backup/assets/bottomtop.stl
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3DV2/urdf_backup/assets/bottomtop__2.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "e02f8fa924daafc9089a39bf",
"elementId": "a42760ede9763eea7ad60151",
"fullConfiguration": "default",
"id": "MHhLAY6k5vbrH0X3J",
"isStandardContent": false,
"name": "BottomTop <6>",
"partId": "RGFH",
"suppressed": false,
"type": "Part"
}
3DV2/urdf_backup/assets/bottomtop__2.stl
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3DV2/urdf_backup/assets/top.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "e02f8fa924daafc9089a39bf",
"elementId": "2d2e4344d46300191ba32ba6",
"fullConfiguration": "default",
"id": "M2P88JoDrZUkmwu09",
"isStandardContent": false,
"name": "Top <4>",
"partId": "RuDf",
"suppressed": false,
"type": "Part"
}
3DV2/urdf_backup/assets/top.stl
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3DV2/urdf_backup/assets/top__2.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "e02f8fa924daafc9089a39bf",
"elementId": "754e7fb04dd8060a86413d63",
"fullConfiguration": "default",
"id": "M7yPzAffUhgBrSPSU",
"isStandardContent": false,
"name": "Top <6>",
"partId": "R2DX",
"suppressed": false,
"type": "Part"
}
3DV2/urdf_backup/assets/top__2.stl
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3DV2/urdf_backup/config.json
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{
// Onshape URL of the assembly
"url": "https://cad.onshape.com/documents/ed0a3b786fedc3f5a347f5b7/w/3def9d92618f589fa5e565cb/e/08b151d8d146e7283193b0e7",
// Output format
"output_format": "urdf"
}
3DV2/urdf_backup/env
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export ONSHAPE_API=https://cad.onshape.com
export ONSHAPE_ACCESS_KEY=on_Tr2aRYrm9mPKBgfpDCpqT
export ONSHAPE_SECRET_KEY=w3BQKp02hfxlGnJWsLZzGGsdFBuMdfuefLkQsBSAOBAfySgr
3DV2/urdf_backup/robot.urdf
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<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape https://cad.onshape.com/documents/ed0a3b786fedc3f5a347f5b7/w/3def9d92618f589fa5e565cb/e/08b151d8d146e7283193b0e7 -->
<robot name="urdf">
<!-- Link bottom -->
<link name="bottom">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bottom -->
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/bottom.stl"/>
</geometry>
<material name="bottom_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/bottom.stl"/>
</geometry>
</collision>
</link>
<!-- Link bearingholder -->
<link name="bearingholder">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bearingholder -->
<visual>
<origin xyz="6.74047e-19 0.115 0.0077" rpy="-2.36791e-29 -5.53584e-32 -6.76797e-61"/>
<geometry>
<mesh filename="package://assets/bearingholder.stl"/>
</geometry>
<material name="bearingholder_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="6.74047e-19 0.115 0.0077" rpy="-2.36791e-29 -5.53584e-32 -6.76797e-61"/>
<geometry>
<mesh filename="package://assets/bearingholder.stl"/>
</geometry>
</collision>
</link>
<!-- Link top -->
<link name="top">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part top -->
<visual>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top.stl"/>
</geometry>
<material name="top_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top.stl"/>
</geometry>
</collision>
</link>
<!-- Link bottomtop -->
<link name="bottomtop">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bottomtop -->
<visual>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop.stl"/>
</geometry>
<material name="bottomtop_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from top to bottomtop -->
<joint name="Tibia2" type="revolute">
<origin xyz="-0.12 -2.25514e-17 1.73472e-18" rpy="3.14159 -6.12323e-17 5.55112e-17"/>
<parent link="top"/>
<child link="bottomtop"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bearingholder to top -->
<joint name="Femur2" type="revolute">
<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 2.36791e-29 1.5708"/>
<parent link="bearingholder"/>
<child link="top"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bottom to bearingholder -->
<joint name="Coxa2" type="revolute">
<origin xyz="0 -0.115 -0.0077" rpy="0 -0 0"/>
<parent link="bottom"/>
<child link="bearingholder"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link bearingholder_2 -->
<link name="bearingholder_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bearingholder_2 -->
<visual>
<origin xyz="0 -0.115 0.0077" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/bearingholder__2.stl"/>
</geometry>
<material name="bearingholder_2_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.115 0.0077" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/bearingholder__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link top_2 -->
<link name="top_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part top_2 -->
<visual>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top__2.stl"/>
</geometry>
<material name="top_2_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link bottomtop_2 -->
<link name="bottomtop_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bottomtop_2 -->
<visual>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop__2.stl"/>
</geometry>
<material name="bottomtop_2_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop__2.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from top_2 to bottomtop_2 -->
<joint name="Tibia5" type="revolute">
<origin xyz="0.12 -8.67362e-19 1.73472e-18" rpy="3.14159 6.12323e-17 0"/>
<parent link="top_2"/>
<child link="bottomtop_2"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bearingholder_2 to top_2 -->
<joint name="Femur5" type="revolute">
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -0 1.5708"/>
<parent link="bearingholder_2"/>
<child link="top_2"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bottom to bearingholder_2 -->
<joint name="Coxa5" type="revolute">
<origin xyz="0 0.115 -0.0077" rpy="0 -0 0"/>
<parent link="bottom"/>
<child link="bearingholder_2"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link bearingholder_3 -->
<link name="bearingholder_3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bearingholder_3 -->
<visual>
<origin xyz="-2.1684e-19 0.115 0.0077" rpy="-4.70198e-38 -9.40395e-38 -2.54791e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder.stl"/>
</geometry>
<material name="bearingholder_3_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-2.1684e-19 0.115 0.0077" rpy="-4.70198e-38 -9.40395e-38 -2.54791e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder.stl"/>
</geometry>
</collision>
</link>
<!-- Link top_3 -->
<link name="top_3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part top_3 -->
<visual>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top.stl"/>
</geometry>
<material name="top_3_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top.stl"/>
</geometry>
</collision>
</link>
<!-- Link bottomtop_3 -->
<link name="bottomtop_3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bottomtop_3 -->
<visual>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop.stl"/>
</geometry>
<material name="bottomtop_3_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from top_3 to bottomtop_3 -->
<joint name="Tibia1" type="revolute">
<origin xyz="-0.12 -6.07153e-18 1.2837e-16" rpy="-3.14159 -7.72359e-16 -1.85502e-16"/>
<parent link="top_3"/>
<child link="bottomtop_3"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bearingholder_3 to top_3 -->
<joint name="Femur1" type="revolute">
<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 4.70198e-38 1.5708"/>
<parent link="bearingholder_3"/>
<child link="top_3"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bottom to bearingholder_3 -->
<joint name="Coxa1" type="revolute">
<origin xyz="-0.128172 -0.074 -0.0077" rpy="3.06739e-22 7.25872e-22 -1.05398"/>
<parent link="bottom"/>
<child link="bearingholder_3"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link bearingholder_4 -->
<link name="bearingholder_4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bearingholder_4 -->
<visual>
<origin xyz="4.33681e-18 0.115 0.0077" rpy="1.11095e-31 -1.12906e-31 -1.43379e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder.stl"/>
</geometry>
<material name="bearingholder_4_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="4.33681e-18 0.115 0.0077" rpy="1.11095e-31 -1.12906e-31 -1.43379e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder.stl"/>
</geometry>
</collision>
</link>
<!-- Link top_4 -->
<link name="top_4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part top_4 -->
<visual>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top.stl"/>
</geometry>
<material name="top_4_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top.stl"/>
</geometry>
</collision>
</link>
<!-- Link bottomtop_4 -->
<link name="bottomtop_4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bottomtop_4 -->
<visual>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop.stl"/>
</geometry>
<material name="bottomtop_4_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from top_4 to bottomtop_4 -->
<joint name="Tibia3" type="revolute">
<origin xyz="-0.12 -7.11237e-17 -2.498e-16" rpy="3.14159 -2.91581e-15 6.63744e-16"/>
<parent link="top_4"/>
<child link="bottomtop_4"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bearingholder_4 to top_4 -->
<joint name="Femur3" type="revolute">
<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 -1.11095e-31 1.5708"/>
<parent link="bearingholder_4"/>
<child link="top_4"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bottom to bearingholder_4 -->
<joint name="Coxa3" type="revolute">
<origin xyz="0.128172 -0.074 -0.0077" rpy="1.36459e-15 7.45515e-16 1.07747"/>
<parent link="bottom"/>
<child link="bearingholder_4"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link bearingholder_5 -->
<link name="bearingholder_5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bearingholder_5 -->
<visual>
<origin xyz="-4.33681e-18 -0.115 0.0077" rpy="1.41059e-37 -0 -9.37717e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder__2.stl"/>
</geometry>
<material name="bearingholder_5_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-4.33681e-18 -0.115 0.0077" rpy="1.41059e-37 -0 -9.37717e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link top_5 -->
<link name="top_5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part top_5 -->
<visual>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top__2.stl"/>
</geometry>
<material name="top_5_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link bottomtop_5 -->
<link name="bottomtop_5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bottomtop_5 -->
<visual>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop__2.stl"/>
</geometry>
<material name="bottomtop_5_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop__2.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from top_5 to bottomtop_5 -->
<joint name="Tibia6" type="revolute">
<origin xyz="0.12 4.33681e-18 -1.70003e-16" rpy="3.14159 1.49429e-15 9.18028e-17"/>
<parent link="top_5"/>
<child link="bottomtop_5"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bearingholder_5 to top_5 -->
<joint name="Femur6" type="revolute">
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -1.88079e-37 1.5708"/>
<parent link="bearingholder_5"/>
<child link="top_5"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bottom to bearingholder_5 -->
<joint name="Coxa6" type="revolute">
<origin xyz="-0.128172 0.074 -0.0077" rpy="3.00252e-22 3.46199e-22 1.0625"/>
<parent link="bottom"/>
<child link="bearingholder_5"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link bearingholder_6 -->
<link name="bearingholder_6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bearingholder_6 -->
<visual>
<origin xyz="-4.55365e-18 -0.115 0.0077" rpy="0 -0 3.05228e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder__2.stl"/>
</geometry>
<material name="bearingholder_6_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-4.55365e-18 -0.115 0.0077" rpy="0 -0 3.05228e-17"/>
<geometry>
<mesh filename="package://assets/bearingholder__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link top_6 -->
<link name="top_6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part top_6 -->
<visual>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top__2.stl"/>
</geometry>
<material name="top_6_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/top__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link bottomtop_6 -->
<link name="bottomtop_6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part bottomtop_6 -->
<visual>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop__2.stl"/>
</geometry>
<material name="bottomtop_6_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/bottomtop__2.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from top_6 to bottomtop_6 -->
<joint name="Tibia4" type="revolute">
<origin xyz="0.12 0 -5.89806e-17" rpy="3.14159 9.40223e-16 -1.07828e-16"/>
<parent link="top_6"/>
<child link="bottomtop_6"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bearingholder_6 to top_6 -->
<joint name="Femur4" type="revolute">
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -0 1.5708"/>
<parent link="bearingholder_6"/>
<child link="top_6"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from bottom to bearingholder_6 -->
<joint name="Coxa4" type="revolute">
<origin xyz="0.128172 0.074 -0.0077" rpy="2.28238e-22 4.04189e-22 -1.05148"/>
<parent link="bottom"/>
<child link="bearingholder_6"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
</robot>