446 lines
16 KiB
XML
446 lines
16 KiB
XML
<robot name="robot">
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<link name="base_footprint" />
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint" />
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<child link="base_link" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.05 0.05" />
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</geometry>
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<material name="base_link-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.05 0.05" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_spine_1" type="revolute">
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<parent link="base_link" />
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<child link="spine_1" />
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<origin xyz="0 0 0.033737961440044734" rpy="0 0 0" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
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<link name="spine_1">
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<visual>
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<origin xyz="0 0 0.05" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.05 0.1" />
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</geometry>
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<material name="spine_1-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.05" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.05 0.1" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.05" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_upper_arm_right" type="revolute">
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<parent link="base_link" />
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<child link="upper_arm_right" />
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<origin xyz="0.062354968072652533 0 0.13096467297466818" rpy="-3.141592653589793 -0.6586873842445309 -1.548624773543236e-16" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
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<link name="upper_arm_right">
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<visual>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.06" />
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</geometry>
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<material name="upper_arm_right-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.06" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_lower_arm_right" type="revolute">
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<parent link="base_link" />
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<child link="lower_arm_right" />
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<origin xyz="0.10009022777221713 0 0.08243944985877427" rpy="-3.141592653589793 -0.6586873842445309 -2.496506045944997e-16" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
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<link name="lower_arm_right">
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<visual>
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<origin xyz="0 0 0.025" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.05" />
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</geometry>
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<material name="lower_arm_right-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.025" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.05" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.025" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_hand_right" type="revolute">
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<parent link="base_link" />
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<child link="hand_right" />
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<origin xyz="0.13276109632093022 0 0.03940068352661779" rpy="-3.141592653589793 -0.6586873842445309 -2.496506045944997e-16" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
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<link name="hand_right">
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<visual>
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<origin xyz="0 0 0.015" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.03" />
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</geometry>
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<material name="hand_right-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.015" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.03" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.015" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_upper_arm_left" type="revolute">
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<parent link="base_link" />
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<child link="upper_arm_left" />
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<origin xyz="-0.062354968072652533 0 0.13096467297466818" rpy="-3.141592653589793 0.6586873842445309 -1.548624773543236e-16" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
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</joint>
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<link name="upper_arm_left">
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<visual>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry><box size="0.03 0.03 0.06" /></geometry>
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<material name="upper_arm_left-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry><box size="0.03 0.03 0.06" /></geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_lower_arm_left" type="revolute">
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<parent link="base_link" />
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<child link="lower_arm_left" />
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<origin xyz="-0.10009022777221713 0 0.08243944985877427" rpy="-3.141592653589793 0.6586873842445309 -2.496506045944997e-16" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
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</joint>
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<link name="lower_arm_left">
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<visual>
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<origin xyz="0 0 0.025" rpy="0 0 0" />
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<geometry><box size="0.03 0.03 0.05" /></geometry>
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<material name="lower_arm_left-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.025" rpy="0 0 0" />
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<geometry><box size="0.03 0.03 0.05" /></geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.025" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_hand_left" type="revolute">
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<parent link="base_link" />
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<child link="hand_left" />
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<origin xyz="-0.13276109632093022 0 0.03940068352661779" rpy="-3.141592653589793 0.6586873842445309 -2.496506045944997e-16" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
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</joint>
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<link name="hand_left">
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<visual>
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<origin xyz="0 0 0.015" rpy="0 0 0" />
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<geometry><box size="0.03 0.03 0.03" /></geometry>
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<material name="hand_left-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.015" rpy="0 0 0" />
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<geometry><box size="0.03 0.03 0.03" /></geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.015" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_upper_leg_right" type="revolute">
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<parent link="base_link" />
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<child link="upper_leg_right" />
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<origin xyz="0.027260906368426083 0 -0.0372788919866843" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
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<link name="upper_leg_right">
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<visual>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry>
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<box size="0.04 0.04 0.07" />
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</geometry>
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<material name="upper_leg_right-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry>
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<box size="0.04 0.04 0.07" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_lower_leg_right" type="revolute">
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<parent link="base_link" />
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<child link="lower_leg_right" />
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<origin xyz="0.027260906368426083 0 -0.11088915657500885" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
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<link name="lower_leg_right">
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<visual>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry>
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<box size="0.04 0.04 0.07" />
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</geometry>
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<material name="lower_leg_right-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry>
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<box size="0.04 0.04 0.07" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_lower_leg_right1" type="revolute">
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<parent link="base_link" />
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<child link="lower_leg_right1" />
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<origin xyz="0.027260906368426083 -0.004866298635659946 -0.17845456205258786" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
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<link name="lower_leg_right1">
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<visual>
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<origin xyz="0 0.025 0.01" rpy="0 0 0" />
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<geometry>
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<box size="0.04 0.08 0.02" />
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</geometry>
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<material name="lower_leg_right1-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0.025 0.01" rpy="0 0 0" />
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<geometry>
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<box size="0.04 0.08 0.02" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0.025 0.01" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_upper_leg_left" type="revolute">
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<parent link="base_link" />
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<child link="upper_leg_left" />
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<origin xyz="-0.027260906368426083 0 -0.0372788919866843" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
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</joint>
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<link name="upper_leg_left">
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<visual>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry><box size="0.04 0.04 0.07" /></geometry>
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<material name="upper_leg_left-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry><box size="0.04 0.04 0.07" /></geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_lower_leg_left" type="revolute">
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<parent link="base_link" />
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<child link="lower_leg_left" />
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<origin xyz="-0.027260906368426083 0 -0.11088915657500885" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
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</joint>
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<link name="lower_leg_left">
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<visual>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry><box size="0.04 0.04 0.07" /></geometry>
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<material name="lower_leg_left-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<geometry><box size="0.04 0.04 0.07" /></geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.03" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
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</inertial>
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</link>
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<joint name="base_link_to_lower_leg_left1" type="revolute">
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<parent link="base_link" />
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<child link="lower_leg_left1" />
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<origin xyz="-0.027260906368426083 -0.004866298635659946 -0.17845456205258786" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
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</joint>
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<link name="lower_leg_left1">
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<visual>
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<origin xyz="0 0.025 0.01" rpy="0 0 0" />
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<geometry><box size="0.04 0.08 0.02" /></geometry>
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<material name="lower_leg_left1-material">
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<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0.025 0.01" rpy="0 0 0" />
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<geometry><box size="0.04 0.08 0.02" /></geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0.025 0.01" rpy="0 0 0" />
|
|
<mass value="1" />
|
|
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="base_link_to_neck" type="revolute">
|
|
<parent link="base_link" />
|
|
<child link="neck" />
|
|
<origin xyz="0 0 0.13701911638953843" rpy="0 0 0" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
|
|
<link name="neck">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.03 0.03 0.03" />
|
|
</geometry>
|
|
<material name="neck-material">
|
|
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.03 0.03 0.03" />
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<mass value="1" />
|
|
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="base_link_to_head" type="revolute">
|
|
<parent link="base_link" />
|
|
<child link="head" />
|
|
<origin xyz="0 0 0.1835254369219812" rpy="0 0 0" />
|
|
<axis xyz="1 0 0" />
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" /> </joint>
|
|
<link name="head">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.06 0.06 0.06" />
|
|
</geometry>
|
|
<material name="head-material">
|
|
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.06 0.06 0.06" />
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<mass value="1" />
|
|
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
|
</inertial>
|
|
</link>
|
|
</robot> |