282 lines
9.2 KiB
Plaintext
282 lines
9.2 KiB
Plaintext
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<?xml version="1.0" encoding="utf-8"?>
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<robot name="left_arm">
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<mujoco>
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<compiler
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meshdir="meshes"
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balanceinertia="true"
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discardvisual="false" />
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</mujoco>
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder radius="0.05" length="1.2"/>
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</geometry>
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<material name="gray">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder radius="0.05" length="1.2"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="20.0"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="base_fixed" type="fixed">
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<origin rpy="0 0 0.0" xyz="0 0 0.6"/>
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<parent link="base_link"/>
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<child link="PELVIS_S"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="PELVIS_S">
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<inertial>
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<origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
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<mass value="2.10624590271277" />
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<inertia ixx="0.00165706865324979" ixy="3.13663044821662E-09" ixz="6.84209533216046E-07" iyy="0.00136736758630241" iyz="-1.01014607878816E-10" izz="0.00168295663089359" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/PELVIS_S.STL" />
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</geometry>
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<material name="">
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<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
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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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<mesh filename="meshes/PELVIS_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_SHOULDER_P" type="revolute">
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<origin xyz="0 0.0945 0.042" rpy="0 0 0" />
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<parent link="PELVIS_S" />
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<child link="L_SHOULDER_P_S" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
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</joint>
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<link name="L_SHOULDER_P_S">
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<inertial>
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<origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
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<mass value="0.880737519698403" />
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<inertia ixx="0.000583190308378148" ixy="-1.53153074560473E-05" ixz="6.58466471754072E-09" iyy="0.000445532440067177" iyz="6.37001404038516E-09" izz="0.000465648071069952" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/L_SHOULDER_P_S.STL" />
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</geometry>
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<material
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name="">
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<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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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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<mesh filename="meshes/L_SHOULDER_P_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_SHOULDER_R" type="revolute">
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<origin xyz="0.035 0.0765 0" rpy="0 0 0" />
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<parent link="L_SHOULDER_P_S" />
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<child link="L_SHOULDER_R_S" />
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<axis xyz="1 0 0" />
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<limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
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</joint>
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<link name="L_SHOULDER_R_S">
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<inertial>
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<origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
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<mass value="0.594788424442483" />
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<inertia ixx="0.000380970396712656" ixy="4.80751844573946E-05" ixz="-1.34913746586865E-11" iyy="0.000320962178597474" iyz="-1.00039763442409E-09" izz="0.000414771047901155" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/L_SHOULDER_R_S.STL" />
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</geometry>
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<material name="">
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<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
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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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<mesh filename="meshes/L_SHOULDER_R_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_SHOULDER_Y" type="revolute">
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<origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
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<parent link="L_SHOULDER_R_S" />
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<child link="L_SHOULDER_Y_S" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
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</joint>
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<link name="L_SHOULDER_Y_S">
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<inertial>
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<origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09" rpy="0 0 0" />
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<mass value="0.563406026626801" />
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<inertia ixx="0.000327003834287552" ixy="-1.8057438966771E-05" ixz="7.28778136267901E-10" iyy="0.000213830709361531" iyz="1.49273668517817E-10" izz="0.000297341029639189" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/L_SHOULDER_Y_S.STL" />
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</geometry>
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<material name="">
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<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
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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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<mesh filename="meshes/L_SHOULDER_Y_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_ELBOW_R" type="revolute">
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<origin xyz="0.034 0.1025 0" rpy="0 0 0" />
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<parent link="L_SHOULDER_Y_S" />
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<child link="L_ELBOW_R_S" />
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<axis xyz="1 0 0" />
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<limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
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</joint>
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<link name="L_ELBOW_R_S">
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<inertial>
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<origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
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<mass value="0.393571904406493" />
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<inertia ixx="0.00017277119386253" ixy="2.34549801867355E-05" ixz="-1.90560556659271E-09" iyy="0.000155340245267897" iyz="8.82493073600007E-09" izz="0.00018104232734159" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/L_ELBOW_R_S.STL" />
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</geometry>
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<material name="">
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<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
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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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<mesh filename="meshes/L_ELBOW_R_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_WRIST_P" type="revolute">
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<origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
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<parent link="L_ELBOW_R_S" />
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<child link="L_WRIST_P_S" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="3.14" effort="26" velocity="4.19" />
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</joint>
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<link name="L_WRIST_P_S">
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<inertial>
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<origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
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<mass value="0.442332465815496" />
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<inertia ixx="0.000476754055455895" ixy="-4.61505824713347E-15" ixz="6.03808112272229E-18" iyy="0.000103466585850499" iyz="-4.88426705501198E-05" izz="0.000482956345754213" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/L_WRIST_P_S.STL" />
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</geometry>
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<material name="">
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<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
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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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<mesh filename="meshes/L_WRIST_P_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_WRIST_Y" type="revolute">
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<origin xyz="0 0.1525 0.039" rpy="0 0 0" />
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<parent link="L_WRIST_P_S" />
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<child link="L_WRIST_Y_S" />
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<axis xyz="0 0 1" />
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<limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
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</joint>
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<link name="L_WRIST_Y_S">
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<inertial>
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<origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
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<mass value="0.23573847772002" />
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<inertia ixx="5.10686940455785E-05" ixy="7.45706654358429E-16" ixz="6.2619568923368E-06" iyy="6.00636019624519E-05" iyz="1.27989654155383E-16" izz="5.32182903609189E-05" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/L_WRIST_Y_S.STL" />
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</geometry>
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<material name="">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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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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<mesh filename="meshes/L_WRIST_Y_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_WRIST_R" type="revolute">
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<origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
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<parent link="L_WRIST_Y_S" />
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<child link="L_WRIST_R_S" />
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<axis xyz="1 0 0" />
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<limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
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</joint>
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<link name="L_WRIST_R_S">
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<inertial>
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<origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
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<mass value="0.504894112043562" />
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||
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<inertia ixx="0.000186833711781125" ixy="-3.99488705622731E-06" ixz="-1.51920720398336E-06" iyy="0.000179960980467837" iyz="3.6992669535716E-06" izz="0.000280756101568308" />
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</inertial>
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<visual>
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||
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/L_WRIST_R_S.STL" />
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</geometry>
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||
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<material name="">
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||
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<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
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</material>
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||
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</visual>
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||
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<collision>
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||
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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||
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<mesh filename="meshes/L_WRIST_R_S.STL" />
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</geometry>
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</collision>
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</link>
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</robot>
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