673 lines
16 KiB
XML
673 lines
16 KiB
XML
<robot name="JackBot">
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<!-- Base -->
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<link name="base_link">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.160 0.120 0.090"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="red">
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<color rgba="1 0 0 0.5"/>
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</material>
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</visual>
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</link>
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<!-- LEG 1 -->
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<link name="leg1_coxa">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.068" radius="0.005"/>
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</geometry>
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<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg1_coxa_joint" type="revolute">
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<parent link="base_link"/>
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<child link="leg1_coxa"/>
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<origin xyz="0.052 0.072 0" rpy="0 0 -0.7854"/>
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<!-- position from base -->
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<axis xyz="0 0 1"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg1_femur">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.0602" radius="0.005"/>
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</geometry>
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<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg1_femur_joint" type="revolute">
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<parent link="leg1_coxa"/>
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<child link="leg1_femur"/>
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<origin xyz="0.068 0 0" rpy="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg1_tibia">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.07055" radius="0.005"/>
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</geometry>
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<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
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<material name="yellow">
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<color rgba="0 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg1_tibia_joint" type="revolute">
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<parent link="leg1_femur"/>
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<child link="leg1_tibia"/>
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<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg1_tip">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="purple">
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<color rgba="1 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg1_tip_joint" type="fixed">
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<parent link="leg1_tibia"/>
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<child link="leg1_tip"/>
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<origin xyz="0.07055 0 0" rpy="0 0 0"/>
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</joint>
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<!-- LEG 2 -->
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<link name="leg2_coxa">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.068" radius="0.005"/>
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</geometry>
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<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg2_coxa_joint" type="revolute">
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<parent link="base_link"/>
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<child link="leg2_coxa"/>
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<origin xyz="0 0.070 0" rpy="0 0 0"/>
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<!-- position from base -->
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<axis xyz="0 0 1"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg2_femur">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.0602" radius="0.005"/>
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</geometry>
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<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg2_femur_joint" type="revolute">
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<parent link="leg2_coxa"/>
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<child link="leg2_femur"/>
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<origin xyz="0.068 0 0" rpy="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg2_tibia">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.07055" radius="0.005"/>
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</geometry>
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<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
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<material name="yellow">
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<color rgba="0 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg2_tibia_joint" type="revolute">
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<parent link="leg2_femur"/>
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<child link="leg2_tibia"/>
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<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg2_tip">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="purple">
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<color rgba="1 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg2_tip_joint" type="fixed">
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<parent link="leg2_tibia"/>
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<child link="leg2_tip"/>
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<origin xyz="0.07055 0 0" rpy="0 0 0"/>
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</joint>
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<!-- LEG 3 -->
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<link name="leg3_coxa">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.068" radius="0.005"/>
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</geometry>
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<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg3_coxa_joint" type="revolute">
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<parent link="base_link"/>
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<child link="leg3_coxa"/>
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<origin xyz="-0.052 0.072 0" rpy="0 0 0.7854"/>
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<!-- position from base -->
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<axis xyz="0 0 1"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg3_femur">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.0602" radius="0.005"/>
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</geometry>
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<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg3_femur_joint" type="revolute">
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<parent link="leg3_coxa"/>
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<child link="leg3_femur"/>
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<origin xyz="0.068 0 0" rpy="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg3_tibia">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.07055" radius="0.005"/>
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</geometry>
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<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
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<material name="yellow">
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<color rgba="0 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg3_tibia_joint" type="revolute">
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<parent link="leg3_femur"/>
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<child link="leg3_tibia"/>
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<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg3_tip">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="purple">
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<color rgba="1 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg3_tip_joint" type="fixed">
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<parent link="leg3_tibia"/>
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<child link="leg3_tip"/>
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<origin xyz="0.07055 0 0" rpy="0 0 0"/>
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</joint>
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<!-- LEG 4 -->
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<link name="leg4_coxa">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.068" radius="0.005"/>
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</geometry>
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<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg4_coxa_joint" type="revolute">
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<parent link="base_link"/>
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<child link="leg4_coxa"/>
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<origin xyz="-0.052 -0.072 0" rpy="0 0 2.3562"/>
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<!-- position from base -->
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<axis xyz="0 0 1"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg4_femur">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.0602" radius="0.005"/>
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</geometry>
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<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg4_femur_joint" type="revolute">
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<parent link="leg4_coxa"/>
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<child link="leg4_femur"/>
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<origin xyz="0.068 0 0" rpy="3.1416 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg4_tibia">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.07055" radius="0.005"/>
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</geometry>
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<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
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<material name="yellow">
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<color rgba="0 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg4_tibia_joint" type="revolute">
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<parent link="leg4_femur"/>
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<child link="leg4_tibia"/>
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<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg4_tip">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="purple">
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<color rgba="1 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg4_tip_joint" type="fixed">
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<parent link="leg4_tibia"/>
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<child link="leg4_tip"/>
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<origin xyz="0.07055 0 0" rpy="0 0 0"/>
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</joint>
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<!-- LEG 5 -->
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<link name="leg5_coxa">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
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</inertial>
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<visual>
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<geometry>
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<cylinder length="0.068" radius="0.005"/>
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</geometry>
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<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="leg5_coxa_joint" type="revolute">
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<parent link="base_link"/>
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<child link="leg5_coxa"/>
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<origin xyz="0 -0.070 0" rpy="0 0 3.1416"/>
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<!-- position from base -->
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<axis xyz="0 0 1"/>
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<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
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</joint>
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<link name="leg5_femur">
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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
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ixx="0.001" ixy="0" ixz="0"
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iyy="0.001" iyz="0"
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izz="0.001"/>
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.0602" radius="0.005"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
|
|
<material name="blue">
|
|
<color rgba="0 0 1 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="leg5_femur_joint" type="revolute">
|
|
<parent link="leg5_coxa"/>
|
|
<child link="leg5_femur"/>
|
|
<origin xyz="0.068 0 0" rpy="3.1416 0 0"/>
|
|
<axis xyz="0 -1 0"/>
|
|
<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
|
|
</joint>
|
|
|
|
<link name="leg5_tibia">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia
|
|
ixx="0.001" ixy="0" ixz="0"
|
|
iyy="0.001" iyz="0"
|
|
izz="0.001"/>
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.07055" radius="0.005"/>
|
|
</geometry>
|
|
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
|
|
<material name="yellow">
|
|
<color rgba="0 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="leg5_tibia_joint" type="revolute">
|
|
<parent link="leg5_femur"/>
|
|
<child link="leg5_tibia"/>
|
|
<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
|
|
<axis xyz="0 1 0"/>
|
|
<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
|
|
</joint>
|
|
|
|
<link name="leg5_tip">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia
|
|
ixx="0.001" ixy="0" ixz="0"
|
|
iyy="0.001" iyz="0"
|
|
izz="0.001"/>
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.01"/>
|
|
</geometry>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<material name="purple">
|
|
<color rgba="1 0 1 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="leg5_tip_joint" type="fixed">
|
|
<parent link="leg5_tibia"/>
|
|
<child link="leg5_tip"/>
|
|
<origin xyz="0.07055 0 0" rpy="0 0 0"/>
|
|
</joint>
|
|
|
|
<!-- LEG 6 -->
|
|
<link name="leg6_coxa">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia
|
|
ixx="0.001" ixy="0" ixz="0"
|
|
iyy="0.001" iyz="0"
|
|
izz="0.001"/>
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.068" radius="0.005"/>
|
|
</geometry>
|
|
<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
|
|
<material name="green">
|
|
<color rgba="0 1 0 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="leg6_coxa_joint" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="leg6_coxa"/>
|
|
<origin xyz="0.052 -0.072 0" rpy="0 0 -2.3562"/>
|
|
<!-- position from base -->
|
|
<axis xyz="0 0 1"/>
|
|
<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
|
|
</joint>
|
|
|
|
<link name="leg6_femur">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia
|
|
ixx="0.001" ixy="0" ixz="0"
|
|
iyy="0.001" iyz="0"
|
|
izz="0.001"/>
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.0602" radius="0.005"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
|
|
<material name="blue">
|
|
<color rgba="0 0 1 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="leg6_femur_joint" type="revolute">
|
|
<parent link="leg6_coxa"/>
|
|
<child link="leg6_femur"/>
|
|
<origin xyz="0.068 0 0" rpy="3.1416 0 0"/>
|
|
<axis xyz="0 -1 0"/>
|
|
<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
|
|
</joint>
|
|
|
|
<link name="leg6_tibia">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia
|
|
ixx="0.001" ixy="0" ixz="0"
|
|
iyy="0.001" iyz="0"
|
|
izz="0.001"/>
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.07055" radius="0.005"/>
|
|
</geometry>
|
|
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
|
|
<material name="yellow">
|
|
<color rgba="0 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="leg6_tibia_joint" type="revolute">
|
|
<parent link="leg6_femur"/>
|
|
<child link="leg6_tibia"/>
|
|
<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
|
|
<axis xyz="0 1 0"/>
|
|
<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
|
|
</joint>
|
|
|
|
<link name="leg6_tip">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia
|
|
ixx="0.001" ixy="0" ixz="0"
|
|
iyy="0.001" iyz="0"
|
|
izz="0.001"/>
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.01"/>
|
|
</geometry>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<material name="purple">
|
|
<color rgba="1 0 1 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="leg6_tip_joint" type="fixed">
|
|
<parent link="leg6_tibia"/>
|
|
<child link="leg6_tip"/>
|
|
<origin xyz="0.07055 0 0" rpy="0 0 0"/>
|
|
</joint>
|
|
|
|
</robot>
|