417 lines
11 KiB
XML
417 lines
11 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="physics">
|
|
|
|
<material name="blue">
|
|
<color rgba="0 0 0.8 1"/>
|
|
</material>
|
|
<material name="black">
|
|
<color rgba="0 0 0 1"/>
|
|
</material>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
|
|
<link name="base_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.6" radius="0.2"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.6" radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<link name="right_leg">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.6 0.1 0.2"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.6 0.1 0.2"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="base_to_right_leg" type="fixed">
|
|
<parent link="base_link"/>
|
|
<child link="right_leg"/>
|
|
<origin xyz="0 -0.22 0.25"/>
|
|
</joint>
|
|
|
|
<link name="right_base">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.4 0.1 0.1"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.4 0.1 0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="right_base_joint" type="fixed">
|
|
<parent link="right_leg"/>
|
|
<child link="right_base"/>
|
|
<origin xyz="0 0 -0.6"/>
|
|
</joint>
|
|
|
|
<link name="right_front_wheel">
|
|
<visual>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="right_front_wheel_joint" type="continuous">
|
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
|
<parent link="right_base"/>
|
|
<child link="right_front_wheel"/>
|
|
<origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/>
|
|
</joint>
|
|
|
|
<link name="right_back_wheel">
|
|
<visual>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="right_back_wheel_joint" type="continuous">
|
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
|
<parent link="right_base"/>
|
|
<child link="right_back_wheel"/>
|
|
<origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/>
|
|
</joint>
|
|
|
|
<link name="left_leg">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.6 0.1 0.2"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.6 0.1 0.2"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="base_to_left_leg" type="fixed">
|
|
<parent link="base_link"/>
|
|
<child link="left_leg"/>
|
|
<origin xyz="0 0.22 0.25"/>
|
|
</joint>
|
|
|
|
<link name="left_base">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.4 0.1 0.1"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.4 0.1 0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_base_joint" type="fixed">
|
|
<parent link="left_leg"/>
|
|
<child link="left_base"/>
|
|
<origin xyz="0 0 -0.6"/>
|
|
</joint>
|
|
|
|
<link name="left_front_wheel">
|
|
<visual>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_front_wheel_joint" type="continuous">
|
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
|
<parent link="left_base"/>
|
|
<child link="left_front_wheel"/>
|
|
<origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/>
|
|
</joint>
|
|
|
|
<link name="left_back_wheel">
|
|
<visual>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="0.1" radius="0.035"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_back_wheel_joint" type="continuous">
|
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
|
<parent link="left_base"/>
|
|
<child link="left_back_wheel"/>
|
|
<origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/>
|
|
</joint>
|
|
|
|
<joint name="gripper_extension" type="prismatic">
|
|
<parent link="base_link"/>
|
|
<child link="gripper_pole"/>
|
|
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.19 0 0.2"/>
|
|
</joint>
|
|
|
|
<link name="gripper_pole">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.2" radius="0.01"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.2" radius="0.01"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_gripper_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
|
|
<parent link="gripper_pole"/>
|
|
<child link="left_gripper"/>
|
|
</joint>
|
|
|
|
<link name="left_gripper">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
|
|
</geometry>
|
|
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_tip_joint" type="fixed">
|
|
<parent link="left_gripper"/>
|
|
<child link="left_tip"/>
|
|
</joint>
|
|
|
|
<link name="left_tip">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
|
|
</geometry>
|
|
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="right_gripper_joint" type="revolute">
|
|
<axis xyz="0 0 -1"/>
|
|
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
|
|
<parent link="gripper_pole"/>
|
|
<child link="right_gripper"/>
|
|
</joint>
|
|
|
|
<link name="right_gripper">
|
|
<visual>
|
|
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
|
|
</geometry>
|
|
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="right_tip_joint" type="fixed">
|
|
<parent link="right_gripper"/>
|
|
<child link="right_tip"/>
|
|
</joint>
|
|
|
|
<link name="right_tip">
|
|
<visual>
|
|
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
|
|
</geometry>
|
|
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<link name="head">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="2"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="head_swivel" type="continuous">
|
|
<parent link="base_link"/>
|
|
<child link="head"/>
|
|
<axis xyz="0 0 1"/>
|
|
<origin xyz="0 0 0.3"/>
|
|
</joint>
|
|
|
|
<link name="box">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.08 0.08 0.08"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
<origin xyz="-0.04 0 0"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.08 0.08 0.08"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="tobox" type="fixed">
|
|
<parent link="head"/>
|
|
<child link="box"/>
|
|
<origin xyz="0.1814 0 0.1414"/>
|
|
</joint>
|
|
|
|
</robot>
|