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375 lines
7.7 KiB
375 lines
7.7 KiB
<?xml version="1.0"?> |
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<robot name="materials"> |
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<material name="blue"> |
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<color rgba="0 0 0.8 1"/> |
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</material> |
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<material name="white"> |
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<color rgba="1 1 1 1"/> |
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</material> |
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<material name="red"> |
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<color rgba="0.8 0 0 1"/> |
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</material> |
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<link name="base_link"> |
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<collision> |
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<geometry> |
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<box size="1.5 0.8 0.08"/> |
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</geometry> |
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</collision> |
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<inertial> |
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<origin xyz="0 0 0"/> |
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<mass value="100.843" /> |
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<inertia ixx="0.002480" ixy="9.381E-19" ixz="-3.172E-18" |
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iyy="1.060E-02" iyz="1002.754E-09" |
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izz="1.243E-02" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<box size="1.5 0.8 0.08"/> |
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</geometry> |
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<material name="blue"/> |
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</visual> |
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</link> |
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#FRONT RIGHT |
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<link name="coxa_FR"> |
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<visual> |
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<geometry> |
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<cylinder length="0.3" radius="0.1"/> |
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</geometry> |
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<origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/> |
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<material name="red"/> |
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</visual> |
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</link> |
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<link name="femur_FR"> |
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<visual> |
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<geometry> |
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<cylinder length="0.85" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.425"/> |
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<material name="white"/> |
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</visual> |
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</link> |
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<link name="tibia_FR"> |
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<visual> |
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<geometry> |
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<cylinder length="1.25" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.625"/> |
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<material name="blue"/> |
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</visual> |
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</link> |
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<link name="foot_FR"> |
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<collision> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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</collision> |
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<mass value="200.843" /> |
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<visual> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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<material name="red"/> |
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</visual> |
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</link> |
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<joint name="coxaF_FR" type="revolute"> |
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<axis xyz="0 0 1"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="base_link"/> |
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<child link="coxa_FR"/> |
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<origin rpy="0 0 0.785398" xyz="0.75 -0.4 0"/> |
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</joint> |
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<joint name="femurF_FR" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="coxa_FR"/> |
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<child link="femur_FR"/> |
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<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/> |
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</joint> |
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<joint name="tibiaF_FR" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="femur_FR"/> |
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<child link="tibia_FR"/> |
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<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/> |
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</joint> |
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<joint name="footF_FR" type="fixed"> |
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<parent link="tibia_FR"/> |
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<child link="foot_FR"/> |
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<origin xyz="0 0 -1.25"/> |
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</joint> |
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#FRONT LEFT |
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<link name="coxa_FL"> |
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<visual> |
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<geometry> |
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<cylinder length="0.3" radius="0.1"/> |
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</geometry> |
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<origin rpy="1.57 0 0" xyz="0 -0.15 0"/> |
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<material name="red"/> |
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</visual> |
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</link> |
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<link name="femur_FL"> |
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<visual> |
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<geometry> |
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<cylinder length="0.85" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.425"/> |
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<material name="white"/> |
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</visual> |
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</link> |
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<link name="tibia_FL"> |
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<visual> |
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<geometry> |
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<cylinder length="1.25" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.625"/> |
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<material name="blue"/> |
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</visual> |
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</link> |
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<link name="foot_FL"> |
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<collision> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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</collision> |
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<mass value="200.843" /> |
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<visual> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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<material name="red"/> |
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</visual> |
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</link> |
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<joint name="coxaF_FL" type="revolute"> |
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<axis xyz="0 0 1"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="base_link"/> |
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<child link="coxa_FL"/> |
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<origin rpy="0 0 2.35619" xyz="0.74 0.4 0"/> |
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</joint> |
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<joint name="femurF_FL" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="coxa_FL"/> |
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<child link="femur_FL"/> |
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<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/> |
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</joint> |
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<joint name="tibiaF_FL" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="femur_FL"/> |
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<child link="tibia_FL"/> |
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<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/> |
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</joint> |
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<joint name="footF_FL" type="fixed"> |
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<parent link="tibia_FL"/> |
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<child link="foot_FL"/> |
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<origin xyz="0 0 -1.25"/> |
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</joint> |
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#BACK RIGHT |
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<link name="coxa_BR"> |
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<visual> |
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<geometry> |
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<cylinder length="0.3" radius="0.1"/> |
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</geometry> |
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<origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/> |
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<material name="red"/> |
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</visual> |
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</link> |
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<link name="femur_BR"> |
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<visual> |
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<geometry> |
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<cylinder length="0.85" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.425"/> |
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<material name="white"/> |
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</visual> |
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</link> |
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<link name="tibia_BR"> |
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<visual> |
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<geometry> |
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<cylinder length="1.25" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.625"/> |
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<material name="blue"/> |
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</visual> |
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</link> |
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<link name="foot_BR"> |
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<collision> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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</collision> |
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<mass value="200.843" /> |
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<visual> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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<material name="red"/> |
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</visual> |
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</link> |
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<joint name="coxaF_BR" type="revolute"> |
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<axis xyz="0 0 1"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="base_link"/> |
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<child link="coxa_BR"/> |
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<origin rpy="0 0 3.92699" xyz="-0.75 0.4 0"/> |
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</joint> |
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<joint name="femurF_BR" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="coxa_BR"/> |
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<child link="femur_BR"/> |
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<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/> |
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</joint> |
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<joint name="tibiaF_BR" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="femur_BR"/> |
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<child link="tibia_BR"/> |
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<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/> |
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</joint> |
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<joint name="footF_BR" type="fixed"> |
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<parent link="tibia_BR"/> |
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<child link="foot_BR"/> |
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<origin xyz="0 0 -1.25"/> |
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</joint> |
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#BACK LEFT |
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<link name="coxa_BL"> |
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<visual> |
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<geometry> |
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<cylinder length="0.3" radius="0.1"/> |
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</geometry> |
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<origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/> |
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<material name="red"/> |
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</visual> |
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</link> |
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<link name="femur_BL"> |
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<visual> |
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<geometry> |
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<cylinder length="0.85" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.425"/> |
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<material name="white"/> |
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</visual> |
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</link> |
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<link name="tibia_BL"> |
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<visual> |
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<geometry> |
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<cylinder length="1.25" radius="0.1"/> |
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</geometry> |
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<origin xyz="0 0 -0.625"/> |
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<material name="blue"/> |
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</visual> |
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</link> |
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<link name="foot_BL"> |
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<collision> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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</collision> |
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<mass value="200.843" /> |
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<visual> |
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<geometry> |
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<sphere radius="0.2"/> |
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</geometry> |
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<material name="red"/> |
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</visual> |
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</link> |
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<joint name="coxaF_BL" type="revolute"> |
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<axis xyz="0 0 1"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="base_link"/> |
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<child link="coxa_BL"/> |
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<origin rpy="0 0 5.48033" xyz="-0.75 -0.4 0"/> |
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</joint> |
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<joint name="femurF_BL" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="coxa_BL"/> |
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<child link="femur_BL"/> |
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<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/> |
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</joint> |
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<joint name="tibiaF_BL" type="revolute"> |
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<axis xyz="1 0 0"/> |
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<limit effort="1000.0" velocity="0.5"/> |
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<parent link="femur_BL"/> |
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<child link="tibia_BL"/> |
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<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/> |
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</joint> |
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<joint name="footF_BL" type="fixed"> |
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<parent link="tibia_BL"/> |
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<child link="foot_BL"/> |
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<origin xyz="0 0 -1.25"/> |
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</joint> |
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</robot>
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