Rune Harlyk
402 lines
13 KiB
XML
402 lines
13 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="Dog">
|
|
<material name="white">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
<material name="black">
|
|
<color rgba="0 0 0 1" />
|
|
</material>
|
|
<material name="foot_color">
|
|
<color rgba="0 0.75 1 1" />
|
|
</material>
|
|
<link name="base_link">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/frame.stl" />
|
|
</geometry>
|
|
<origin rpy="0 0 3.141" xyz="0 0 0.0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="1.5" />
|
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
|
</inertial>
|
|
</link>
|
|
<!-- shell -->
|
|
<link name="frame">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/shell.stl" />
|
|
</geometry>
|
|
<origin rpy="0 0 3.141" xyz="0 0 0" />
|
|
<material name="white" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://URDF/shell.stl" />
|
|
</geometry>
|
|
<origin rpy="0 0 3.141" xyz="0 0 0.0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="base_to_frame" type="fixed">
|
|
<parent link="base_link" />
|
|
<child link="frame" />
|
|
<origin xyz="0 0 0" />
|
|
</joint>
|
|
<!-- lf shoulder -->
|
|
<link name="lf_shoulder">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/lf shoulder.stl" />
|
|
</geometry>
|
|
<origin rpy="3.141 3.141 0" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="lf_shoulder" type="continuous">
|
|
<parent link="base_link" />
|
|
<child link="lf_shoulder" />
|
|
<origin xyz="0.090 0.037 0" />
|
|
<axis xyz="1 0 0" />
|
|
</joint>
|
|
<link name="lf_thigh">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/femur.stl" />
|
|
</geometry>
|
|
<origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="lf_thigh" type="continuous">
|
|
<parent link="lf_shoulder" />
|
|
<child link="lf_thigh" />
|
|
<origin xyz="0.025 0.027 0 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="lf_shin">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="lf_shin" type="continuous">
|
|
<parent link="lf_thigh" />
|
|
<child link="lf_shin" />
|
|
<origin xyz="0 0 -0.130 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="lf_toe">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.005" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<material name="foot_color" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.05" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.020" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="lf_toe" type="fixed">
|
|
<parent link="lf_shin" />
|
|
<child link="lf_toe" />
|
|
<origin xyz="0 0 -0.130" />
|
|
</joint>
|
|
<!-- rf shoulder -->
|
|
<link name="rf_shoulder">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/rf shoulder.stl" />
|
|
</geometry>
|
|
<origin rpy="0 0 3.141" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="rf_shoulder" type="continuous">
|
|
<parent link="base_link" />
|
|
<child link="rf_shoulder" />
|
|
<origin xyz="0.090 -0.040 0" />
|
|
<axis xyz="1 0 0" />
|
|
</joint>
|
|
<link name="rf_thigh">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/femur.stl" />
|
|
</geometry>
|
|
<origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="rf_thigh" type="continuous">
|
|
<parent link="rf_shoulder" />
|
|
<child link="rf_thigh" />
|
|
<origin xyz="0.025 -0.027 0 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="rf_shin">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="rf_shin" type="continuous">
|
|
<parent link="rf_thigh" />
|
|
<child link="rf_shin" />
|
|
<origin xyz="0 0 -0.130 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="rf_toe">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.005" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<material name="foot_color" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.05" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.020" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="rf_toe" type="fixed">
|
|
<parent link="rf_shin" />
|
|
<child link="rf_toe" />
|
|
<origin xyz="0 0 -0.130" />
|
|
</joint>
|
|
<!-- lb shoulder -->
|
|
<link name="lb_shoulder">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/lb shoulder.stl" />
|
|
</geometry>
|
|
<origin rpy="3.141 3.141 0" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="lb_shoulder" type="continuous">
|
|
<parent link="base_link" />
|
|
<child link="lb_shoulder" />
|
|
<origin xyz="-0.081 0.038 0" />
|
|
<axis xyz="1 0 0" />
|
|
</joint>
|
|
<link name="lb_thigh">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/femur.stl" />
|
|
</geometry>
|
|
<origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="lb_thigh" type="continuous">
|
|
<parent link="lb_shoulder" />
|
|
<child link="lb_thigh" />
|
|
<origin xyz="-0.043 0.027 0 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="lb_shin">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="lb_shin" type="continuous">
|
|
<parent link="lb_thigh" />
|
|
<child link="lb_shin" />
|
|
<origin xyz="0 0 -0.130 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="lb_toe">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.0005" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<material name="foot_color" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.05" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.020" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="lb_toe" type="fixed">
|
|
<parent link="lb_shin" />
|
|
<child link="lb_toe" />
|
|
<origin xyz="0 0 -0.130" />
|
|
</joint>
|
|
<!-- rb arm -->
|
|
<link name="rb_shoulder">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/rb shoulder.stl" />
|
|
</geometry>
|
|
<origin rpy="3.141 3.141 0" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="rb_shoulder" type="continuous">
|
|
<parent link="base_link" />
|
|
<child link="rb_shoulder" />
|
|
<origin xyz="-0.081 -0.040 0" />
|
|
<axis xyz="1 0 0" />
|
|
</joint>
|
|
<link name="rb_thigh">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/femur.stl" />
|
|
</geometry>
|
|
<origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="rb_thigh" type="continuous">
|
|
<parent link="rb_shoulder" />
|
|
<child link="rb_thigh" />
|
|
<origin xyz="-0.043 -0.027 0 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="rb_shin">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
|
|
<material name="black" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.025" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://URDF/tibia.stl" />
|
|
</geometry>
|
|
<origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="rb_shin" type="continuous">
|
|
<parent link="rb_thigh" />
|
|
<child link="rb_shin" />
|
|
<origin xyz="0 0 -0.130 " />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<link name="rb_toe">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.0005" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
<material name="foot_color" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.05" />
|
|
<inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
|
|
</inertial>
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.020" />
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
</collision>
|
|
</link>
|
|
<joint name="rb_toe" type="fixed">
|
|
<parent link="rb_shin" />
|
|
<child link="rb_toe" />
|
|
<origin xyz="0 0 -0.130" />
|
|
</joint>
|
|
</robot> |