a06b5de7b6
thanks to Jason Peng), and motion capture playback example. See also https://www.youtube.com/watch?v=vw3EKnKrgqw
284 lines
9.1 KiB
XML
284 lines
9.1 KiB
XML
<robot name="dumpUrdf">
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<link name="base" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0 0 0" />
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<mass value = "0.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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</link>
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<link name="link0" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 0.280000 0.000000" />
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<mass value = "6.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "0 0 0" xyz = "0.000000 0.280000 0.000000" />
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<geometry>
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<sphere radius = "0.360000" />
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</geometry>
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</collision>
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</link>
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<joint name="joint0" type="fixed" >
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<parent link = "base" />
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<child link="link0" />
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
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</joint>
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<link name="link1" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 0.480000 0.000000" />
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<mass value = "14.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "0 0 0" xyz = "0.000000 0.480000 0.000000" />
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<geometry>
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<sphere radius = "0.440000" />
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</geometry>
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</collision>
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</link>
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<joint name="joint1" type="spherical" >
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<parent link="link0" />
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<child link="link1" />
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<origin rpy = "0 0 0" xyz = "0.000000 0.944604 0.000000" />
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</joint>
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<link name="link2" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 0.700000 0.000000" />
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<mass value = "2.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "0 0 0" xyz = "0.000000 0.700000 0.000000" />
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<geometry>
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<sphere radius = "0.410000" />
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</geometry>
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</collision>
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</link>
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<joint name="joint2" type="spherical" >
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<parent link="link1" />
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<child link="link2" />
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<origin rpy = "0 0 0" xyz = "0.000000 0.895576 0.000000" />
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</joint>
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<link name="link3" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.840000 0.000000" />
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<mass value = "4.500000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.840000 0.000000" />
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<geometry>
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<capsule length="1.200000" radius="0.220000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint3" type="spherical" >
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<parent link="link0" />
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<child link="link3" />
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.339548" />
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</joint>
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<link name="link4" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.800000 0.000000" />
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<mass value = "3.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.800000 0.000000" />
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<geometry>
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<capsule length="1.240000" radius="0.200000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint4" type="continuous" >
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<parent link="link3" />
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<child link="link4" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.686184 0.000000" />
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<axis xyz = "0.000000 0.000000 1.000000" />
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</joint>
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<link name="link5" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
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<mass value = "1.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
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<geometry>
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<box size="0.708000 0.220000 0.360000" />
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</geometry>
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</collision>
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</link>
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<joint name="joint5" type="spherical" >
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<parent link="link4" />
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<child link="link5" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.639480 0.000000" />
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</joint>
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<link name="link6" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.560000 0.000000" />
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<mass value = "1.500000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.560000 0.000000" />
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<geometry>
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<capsule length="0.720000" radius="0.180000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint6" type="spherical" >
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<parent link="link1" />
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<child link="link6" />
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<origin rpy = "0 0 0" xyz = "-0.096200 0.974000 0.732440" />
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</joint>
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<link name="link7" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.480000 0.000000" />
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<mass value = "1.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.480000 0.000000" />
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<geometry>
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<capsule length="0.540000" radius="0.160000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint7" type="continuous" >
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<parent link="link6" />
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<child link="link7" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.099152 0.000000" />
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<axis xyz = "0.000000 0.000000 1.000000" />
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</joint>
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<link name="link8" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
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<mass value = "0.500000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
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<geometry>
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<sphere radius = "0.160000" />
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</geometry>
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</collision>
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</link>
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<joint name="joint8" type="fixed" >
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<parent link="link7" />
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<child link="link8" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.035788 0.000000" />
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</joint>
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<link name="link9" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.840000 0.000000" />
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<mass value = "4.500000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.840000 0.000000" />
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<geometry>
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<capsule length="1.200000" radius="0.220000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint9" type="spherical" >
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<parent link="link0" />
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<child link="link9" />
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 -0.339548" />
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</joint>
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<link name="link10" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.800000 0.000000" />
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<mass value = "3.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.800000 0.000000" />
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<geometry>
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<capsule length="1.240000" radius="0.200000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint10" type="continuous" >
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<parent link="link9" />
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<child link="link10" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.686184 0.000000" />
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<axis xyz = "0.000000 0.000000 1.000000" />
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</joint>
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<link name="link11" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
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<mass value = "1.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
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<geometry>
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<box size="0.708000 0.220000 0.360000" />
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</geometry>
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</collision>
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</link>
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<joint name="joint11" type="spherical" >
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<parent link="link10" />
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<child link="link11" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.639480 0.000000" />
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</joint>
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<link name="link12" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.560000 0.000000" />
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<mass value = "1.500000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.560000 0.000000" />
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<geometry>
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<capsule length="0.720000" radius="0.180000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint12" type="spherical" >
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<parent link="link1" />
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<child link="link12" />
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<origin rpy = "0 0 0" xyz = "-0.096200 0.974000 -0.732440" />
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</joint>
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<link name="link13" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 -0.480000 0.000000" />
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<mass value = "1.000000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.480000 0.000000" />
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<geometry>
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<capsule length="0.540000" radius="0.160000"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint13" type="continuous" >
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<parent link="link12" />
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<child link="link13" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.099152 0.000000" />
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<axis xyz = "0.000000 0.000000 1.000000" />
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</joint>
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<link name="link14" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
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<mass value = "0.500000" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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<collision>
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
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<geometry>
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<sphere radius = "0.160000" />
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</geometry>
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</collision>
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</link>
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<joint name="joint14" type="fixed" >
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<parent link="link13" />
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<child link="link14" />
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<origin rpy = "0 0 0" xyz = "0.000000 -1.035788 0.000000" />
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</joint>
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</robot>
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