288 lines
9.6 KiB
XML
288 lines
9.6 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 = "0.00100" />
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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="root" >
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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="root" type="fixed" >
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<parent link = "base" />
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<child link="root" />
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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="chest" >
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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="chest" type="spherical" >
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<parent link="root" />
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<child link="chest" />
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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="neck" >
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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="neck" type="spherical" >
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<parent link="chest" />
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<child link="neck" />
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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="right_hip" >
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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="right_hip" type="spherical" >
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<parent link="root" />
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<child link="right_hip" />
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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="right_knee" >
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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="right_knee" type="revolute" >
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<parent link="right_hip" />
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<child link="right_knee" />
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<limit effort="1000.0" lower="-3.14" upper="0." velocity="0.5"/>
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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="right_ankle" >
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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="right_ankle" type="spherical" >
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<parent link="right_knee" />
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<child link="right_ankle" />
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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="right_shoulder" >
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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="right_shoulder" type="spherical" >
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<parent link="chest" />
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<child link="right_shoulder" />
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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="right_elbow" >
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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="right_elbow" type="revolute" >
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<parent link="right_shoulder" />
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<child link="right_elbow" />
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<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5"/>
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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="right_wrist" >
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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="right_wrist" type="fixed" >
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<parent link="right_elbow" />
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<child link="right_wrist" />
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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="left_hip" >
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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="left_hip" type="spherical" >
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<parent link="root" />
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<child link="left_hip" />
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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="left_knee" >
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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="left_knee" type="revolute" >
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<parent link="left_hip" />
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<child link="left_knee" />
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<limit effort="1000.0" lower="-3.14" upper="0." velocity="0.5"/>
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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="left_ankle" >
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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="left_ankle" type="spherical" >
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<parent link="left_knee" />
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<child link="left_ankle" />
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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="left_shoulder" >
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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="left_shoulder" type="spherical" >
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<parent link="chest" />
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<child link="left_shoulder" />
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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="left_elbow" >
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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="left_elbow" type="revolute" >
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<parent link="left_shoulder" />
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<child link="left_elbow" />
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<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5"/>
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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="left_wrist" >
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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="left_wrist" type="fixed" >
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<parent link="left_elbow" />
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<child link="left_wrist" />
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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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