133 lines
3.6 KiB
XML
133 lines
3.6 KiB
XML
<robot name="robot">
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<link name="root">
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<inertial>
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<origin xyz="0 0 0.5" rpy="0 0 0"/>
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<mass value="1"/>
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.2 0.2 0.4" />
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</geometry>
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<material name="Cyan">
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<color rgba="1.0 1.0 1.0 1.0"/>
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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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<cylinder radius="1" length="0.5"/>
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</geometry>
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</collision>
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</link>
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<link name="shoulder1">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.1" />
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</geometry>
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<material name="Cyan">
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<color rgba="0 1.0 1.0 1.0"/>
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</material>
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</visual>
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</link>
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<link name="shoulder2">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.1" />
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</geometry>
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<material name="Cyan">
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<color rgba="1.0 1.0 0.0 1.0"/>
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</material>
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</visual>
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</link>
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<link name="shoulder3">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.2" />
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</geometry>
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<material name="Cyan">
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<color rgba="0.5 0.5 0.2 1.0"/>
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</material>
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</visual>
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</link>
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<link name="elbow1">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.2" />
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</geometry>
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<material name="Cyan">
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<color rgba="0.8 0.2 0.2 1.0"/>
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</material>
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</visual>
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</link>
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<link name="wrist1">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.1 0.15 0.1" />
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</geometry>
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<material name="Cyan">
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<color rgba="1.0 0.0 0.0 1.0"/>
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</material>
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</visual>
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</link>
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<joint name="shoulder_yaw" type="revolute">
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<origin xyz="0.0 0.2 0.2" />
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<parent link="root" />
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<child link="shoulder1" />
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<axis xyz="0 0 1" />
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<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
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</joint>
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<link name="wrist2">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.05 0.08 0.15" />
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</geometry>
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<material name="Cyan">
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<color rgba="0.0 0.0 1.0 1.0"/>
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</material>
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</visual>
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</link>
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<joint name="shoulder_pitch" type="revolute">
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<origin xyz="0.0 0.1 0.0" />
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<parent link="shoulder1" />
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<child link="shoulder2" />
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<axis xyz="0 1 0" />
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<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
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</joint>
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<joint name="shoulder_roll" type="revolute">
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<origin xyz="0.0 0.1 0.0" />
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<parent link="shoulder2" />
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<child link="shoulder3" />
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<axis xyz="1 0 0" />
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<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
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</joint>
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<joint name="elbow_pitch" type="revolute">
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<origin xyz="0.0 0.0 -0.2" />
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<parent link="shoulder3" />
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<child link="elbow1" />
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<axis xyz="0 1 0" />
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<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
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</joint>
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<joint name="wrist_yaw" type="revolute">
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<origin xyz="0.0 0.0 -0.2" />
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<parent link="elbow1" />
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<child link="wrist1" />
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<axis xyz="0 0 1" />
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<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
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</joint>
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<joint name="wrist_pitch" type="revolute">
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<origin xyz="0.0 0.0 -0.2" />
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<parent link="wrist1" />
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<child link="wrist2" />
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<axis xyz="0 1 0" />
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<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
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</joint>
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</robot>
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