927 lines
38 KiB
XML
927 lines
38 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
|
|
<robot name="gen2">
|
|
<mujoco>
|
|
<compiler meshdir="../assets/merged" balanceinertia="true" discardvisual="false" />
|
|
</mujoco>
|
|
<!-- Link body_link -->
|
|
<link name="body_link">
|
|
<inertial>
|
|
<origin xyz="-0.00479895 -3.17598e-06 -0.100797" rpy="0 0 0" />
|
|
<mass value="14.2121" />
|
|
<inertia ixx="0.243941" ixy="-4.35333e-06" ixz="-0.00134067" iyy="0.191537" iyz="1.17082e-05" izz="0.126646" />
|
|
</inertial>
|
|
<!-- Part body_link_parts -->
|
|
<visual>
|
|
<origin xyz="-0.00479895 -3.17598e-06 -0.100797" rpy="0 -0 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/body_link_visual.stl" />
|
|
</geometry>
|
|
<material name="body_link_parts_material">
|
|
<color rgba="0.980392 0.713725 0.00392157 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-0.00245000172992 -1.55920401046e-06 -0.135140332052" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.234900005162 0.290004208684 0.455721259117" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_1 -->
|
|
<link name="arm_link_1">
|
|
<inertial>
|
|
<origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="0 0 0" />
|
|
<mass value="1.606" />
|
|
<inertia ixx="0.00168897" ixy="-1.5808e-08" ixz="1.30247e-07" iyy="0.00155509" iyz="8.11863e-07" izz="0.00168514" />
|
|
</inertial>
|
|
<!-- Part arm_link_1_parts -->
|
|
<visual>
|
|
<origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="-1.5708 1e-11 -1.57077" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_1_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_1_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="3.43003077594e-08 -1.25780312644e-09 -0.0584999575795" rpy="-3.14159265358 3.6731589033e-06 3.74927781773e-06" />
|
|
<geometry>
|
|
<box size="0.0996711626903 0.115000309999 0.125000003734" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_2 -->
|
|
<link name="arm_link_2">
|
|
<inertial>
|
|
<origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="0 0 0" />
|
|
<mass value="1.9456" />
|
|
<inertia ixx="0.00232848" ixy="8.86713e-07" ixz="-0.000218608" iyy="0.00607768" iyz="-4.37798e-07" izz="0.00629001" />
|
|
</inertial>
|
|
<!-- Part arm_link_2_parts -->
|
|
<visual>
|
|
<origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="4.54761e-07 1.57077 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0532500215002 1.40718000845e-07 0.0360000639619" rpy="-1.57079632681 -1.57079254953 1.57079219884" />
|
|
<geometry>
|
|
<box size="0.090000123681 0.0999833437303 0.206500001253" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_3 -->
|
|
<link name="arm_link_3">
|
|
<inertial>
|
|
<origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="0 0 0" />
|
|
<mass value="1.94886" />
|
|
<inertia ixx="0.00638928" ixy="-2.96534e-06" ixz="3.84694e-06" iyy="0.00598683" iyz="-0.000187472" izz="0.00215638" />
|
|
</inertial>
|
|
<!-- Part arm_link_3_parts -->
|
|
<visual>
|
|
<origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="-1.5708 1e-11 -1.57077" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_3_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_3_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="6.89721677573e-08 1.72115499217e-09 -0.0825000040168" rpy="-3.14159265358 3.6731589033e-06 3.77998405144e-06" />
|
|
<geometry>
|
|
<box size="0.0850000009161 0.105000003958 0.19700001181" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_4 -->
|
|
<link name="arm_link_4">
|
|
<inertial>
|
|
<origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="0 0 0" />
|
|
<mass value="0.916518" />
|
|
<inertia ixx="0.000809181" ixy="5.12238e-07" ixz="-8.56762e-05" iyy="0.00204112" iyz="-3.3225e-08" izz="0.00203466" />
|
|
</inertial>
|
|
<!-- Part arm_link_4_parts -->
|
|
<visual>
|
|
<origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="4.54761e-07 1.57077 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_4_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_4_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0414013929462 1.16198538207e-07 0.0359999828143" rpy="-1.57079632679 3.73625183693e-06 1.57079219883" />
|
|
<geometry>
|
|
<box size="0.0779007263679 0.0840000084694 0.160197108985" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_5 -->
|
|
<link name="arm_link_5">
|
|
<inertial>
|
|
<origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="0 0 0" />
|
|
<mass value="0.843691" />
|
|
<inertia ixx="0.00115484" ixy="-4.1705e-08" ixz="2.59664e-05" iyy="0.00131635" iyz="1.16286e-07" izz="0.000742072" />
|
|
</inertial>
|
|
<!-- Part arm_link_5_parts -->
|
|
<visual>
|
|
<origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="-1.5708 1e-11 -1.57077" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_5_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_5_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-8.84925732794e-08 -6.80893240246e-09 -0.0760000266276" rpy="3.1415889804 1.37935915061e-11 -1.57079257159" />
|
|
<geometry>
|
|
<box size="0.0739999972472 0.085000030718 0.154000017796" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_6 -->
|
|
<link name="arm_link_6">
|
|
<inertial>
|
|
<origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 0 0" />
|
|
<mass value="0.525446" />
|
|
<inertia ixx="0.000275345" ixy="-1.06372e-06" ixz="-5.7647e-08" iyy="0.000233524" iyz="-3.51729e-06" izz="0.000268736" />
|
|
</inertial>
|
|
<!-- Part arm_link_6_parts -->
|
|
<visual>
|
|
<origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 -2.25524e-05 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_6_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_6_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-9.70266813322e-06 -0.00199999148105 -0.029128579986" rpy="-1.57079720195 -0.765887009796 3.1415913663" />
|
|
<geometry>
|
|
<box size="0.0615251330212 0.0625666157478 0.0680000889878" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_7 -->
|
|
<link name="arm_link_7">
|
|
<inertial>
|
|
<origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="0 0 0" />
|
|
<mass value="0.13521" />
|
|
<inertia ixx="0.000149861" ixy="1.66e-10" ixz="-8.09464e-06" iyy="0.000202616" iyz="-2.81e-10" izz="0.000110973" />
|
|
</inertial>
|
|
<!-- Part arm_link_7_parts -->
|
|
<visual>
|
|
<origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="3.96342e-07 1.57077 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_7_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_7_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0162500244297 -4.24015395839e-08 0.0360000199532" rpy="1.57079736225 6.46419090676e-06 1.5707922717" />
|
|
<geometry>
|
|
<box size="0.0549928657848 0.0800001574209 0.0875000981396" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Joint from arm_link_6 to arm_link_7 -->
|
|
<joint name="left_arm_J7" type="revolute">
|
|
<origin xyz="0 -0.036 -0.028" rpy="-1.5708 -0 0" />
|
|
<parent link="arm_link_6" />
|
|
<child link="arm_link_7" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_5 to arm_link_6 -->
|
|
<joint name="left_arm_J6" type="revolute">
|
|
<origin xyz="0.0295 0 -0.131" rpy="0 1.5708 0" />
|
|
<parent link="arm_link_5" />
|
|
<child link="arm_link_6" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_4 to arm_link_5 -->
|
|
<joint name="left_arm_J5" type="revolute">
|
|
<origin xyz="0.1215 -0 0.036" rpy="1.5708 -0 -1.5708" />
|
|
<parent link="arm_link_4" />
|
|
<child link="arm_link_5" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_3 to arm_link_4 -->
|
|
<joint name="left_arm_J4" type="revolute">
|
|
<origin xyz="-7.46e-10 -0.036 -0.146" rpy="-1.5708 1.5708 0" />
|
|
<parent link="arm_link_3" />
|
|
<child link="arm_link_4" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_2 to arm_link_3 -->
|
|
<joint name="left_arm_J3" type="revolute">
|
|
<origin xyz="0.1565 -2.41e-10 0.036" rpy="1.5708 0 -1.5708" />
|
|
<parent link="arm_link_2" />
|
|
<child link="arm_link_3" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_1 to arm_link_2 -->
|
|
<joint name="left_arm_J2" type="revolute">
|
|
<origin xyz="-0 -0.036 -0.071" rpy="-1.5708 1.5708 0" />
|
|
<parent link="arm_link_1" />
|
|
<child link="arm_link_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from body_link to arm_link_1 -->
|
|
<joint name="left_arm_J1" type="revolute">
|
|
<origin xyz="-0 0.1425 -0" rpy="1.5708 -1.57077 -0" />
|
|
<parent link="body_link" />
|
|
<child link="arm_link_1" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Link arm_link_1_2 -->
|
|
<link name="arm_link_1_2">
|
|
<inertial>
|
|
<origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="0 0 0" />
|
|
<mass value="1.606" />
|
|
<inertia ixx="0.00168897" ixy="-1.5808e-08" ixz="1.30247e-07" iyy="0.00155509" iyz="8.11863e-07" izz="0.00168514" />
|
|
</inertial>
|
|
<!-- Part arm_link_1_2_parts -->
|
|
<visual>
|
|
<origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="1.5708 -0 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_1_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_1_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-3.63717875307e-08 -1.70543962549e-09 -0.0584999574705" rpy="3.14159265358 3.6731589033e-06 3.14158898038" />
|
|
<geometry>
|
|
<box size="0.0996711626649 0.115000311285 0.125000003728" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_2_2 -->
|
|
<link name="arm_link_2_2">
|
|
<inertial>
|
|
<origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="0 0 0" />
|
|
<mass value="1.9456" />
|
|
<inertia ixx="0.00232848" ixy="8.86713e-07" ixz="-0.000218608" iyy="0.00607768" iyz="-4.37798e-07" izz="0.00629001" />
|
|
</inertial>
|
|
<!-- Part arm_link_2_2_parts -->
|
|
<visual>
|
|
<origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="-1.5708 1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_2_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_2_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0532500185899 -1.17584882679e-07 0.0360001921686" rpy="-3.73592677949e-06 1.57079404016 -3.14159265359" />
|
|
<geometry>
|
|
<box size="0.0900001451015 0.0999833419923 0.20650010043" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_3_2 -->
|
|
<link name="arm_link_3_2">
|
|
<inertial>
|
|
<origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="0 0 0" />
|
|
<mass value="1.94886" />
|
|
<inertia ixx="0.00638928" ixy="-2.96534e-06" ixz="3.84694e-06" iyy="0.00598683" iyz="-0.000187472" izz="0.00215638" />
|
|
</inertial>
|
|
<!-- Part arm_link_3_2_parts -->
|
|
<visual>
|
|
<origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="1.5708 -0 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_3_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_3_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-7.15075953871e-08 2.16415396895e-09 -0.0825000043398" rpy="3.14159265358 3.67318912847e-06 3.14158898038" />
|
|
<geometry>
|
|
<box size="0.0850000008941 0.105000000448 0.197000011803" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_4_2 -->
|
|
<link name="arm_link_4_2">
|
|
<inertial>
|
|
<origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="0 0 0" />
|
|
<mass value="0.916518" />
|
|
<inertia ixx="0.000809181" ixy="5.12238e-07" ixz="-8.56762e-05" iyy="0.00204112" iyz="-3.3225e-08" izz="0.00203466" />
|
|
</inertial>
|
|
<!-- Part arm_link_4_2_parts -->
|
|
<visual>
|
|
<origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="-1.5708 1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_4_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_4_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0415045663987 -0.000658992061693 0.0360000782825" rpy="1.57079999949 6.11922888529e-08 1.55413645679" />
|
|
<geometry>
|
|
<box size="0.077889911108 0.0840000025928 0.160564796508" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_5_2 -->
|
|
<link name="arm_link_5_2">
|
|
<inertial>
|
|
<origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="0 0 0" />
|
|
<mass value="0.843691" />
|
|
<inertia ixx="0.00115484" ixy="-4.1705e-08" ixz="2.59664e-05" iyy="0.00131635" iyz="1.16286e-07" izz="0.000742072" />
|
|
</inertial>
|
|
<!-- Part arm_link_5_2_parts -->
|
|
<visual>
|
|
<origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="1.5708 -0 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_5_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_5_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="9.89998949938e-08 8.64380996454e-09 -0.0760000395363" rpy="3.1415889804 -1.34923770525e-11 1.57079265359" />
|
|
<geometry>
|
|
<box size="0.0739999972288 0.0850000306964 0.154000017793" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_6_2 -->
|
|
<link name="arm_link_6_2">
|
|
<inertial>
|
|
<origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 0 0" />
|
|
<mass value="0.525446" />
|
|
<inertia ixx="0.000275345" ixy="-1.06372e-06" ixz="-5.7647e-08" iyy="0.000233524" iyz="-3.51729e-06" izz="0.000268736" />
|
|
</inertial>
|
|
<!-- Part arm_link_6_2_parts -->
|
|
<visual>
|
|
<origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="3.14159 -0 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_6_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_6_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-9.71097827765e-06 -0.00200000148516 -0.0291285789323" rpy="1.57079632679 -0.765886992385 3.14158898038" />
|
|
<geometry>
|
|
<box size="0.0615250099786 0.0625666629433 0.0679999999702" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link arm_link_7_2 -->
|
|
<link name="arm_link_7_2">
|
|
<inertial>
|
|
<origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="0 0 0" />
|
|
<mass value="0.13521" />
|
|
<inertia ixx="0.000149861" ixy="1.66e-10" ixz="-8.09464e-06" iyy="0.000202616" iyz="-2.81e-10" izz="0.000110973" />
|
|
</inertial>
|
|
<!-- Part arm_link_7_2_parts -->
|
|
<visual>
|
|
<origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="-1.5708 1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/arm_link_7_2_visual.stl" />
|
|
</geometry>
|
|
<material name="arm_link_7_2_parts_material">
|
|
<color rgba="0.901961 0.901961 0.901961 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.01636459904 -0.000163122870983 0.0360001627316" rpy="-1.57079959254 1.58076504469e-05 1.56113331939" />
|
|
<geometry>
|
|
<box size="0.0549902963879 0.0800009378214 0.0877276787715" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Joint from arm_link_6_2 to arm_link_7_2 -->
|
|
<joint name="right_arm_J7" type="revolute">
|
|
<origin xyz="0 -0.036 -0.028" rpy="-1.5708 -0 0" />
|
|
<parent link="arm_link_6_2" />
|
|
<child link="arm_link_7_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_5_2 to arm_link_6_2 -->
|
|
<joint name="right_arm_J6" type="revolute">
|
|
<origin xyz="0.0295 0 -0.131" rpy="-0 1.5708 0" />
|
|
<parent link="arm_link_5_2" />
|
|
<child link="arm_link_6_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_4_2 to arm_link_5_2 -->
|
|
<joint name="right_arm_J5" type="revolute">
|
|
<origin xyz="0.1215 -0 0.036" rpy="1.5708 -0 -1.5708" />
|
|
<parent link="arm_link_4_2" />
|
|
<child link="arm_link_5_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_3_2 to arm_link_4_2 -->
|
|
<joint name="right_arm_J4" type="revolute">
|
|
<origin xyz="-7.46e-10 -0.036 -0.146" rpy="-1.5708 1.5708 0" />
|
|
<parent link="arm_link_3_2" />
|
|
<child link="arm_link_4_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_2_2 to arm_link_3_2 -->
|
|
<joint name="right_arm_J3" type="revolute">
|
|
<origin xyz="0.1565 -2.41e-10 0.036" rpy="1.5708 -0 -1.5708" />
|
|
<parent link="arm_link_2_2" />
|
|
<child link="arm_link_3_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from arm_link_1_2 to arm_link_2_2 -->
|
|
<joint name="right_arm_J2" type="revolute">
|
|
<origin xyz="-0 -0.036 -0.071" rpy="-1.5708 1.5708 0" />
|
|
<parent link="arm_link_1_2" />
|
|
<child link="arm_link_2_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from body_link to arm_link_1_2 -->
|
|
<joint name="right_arm_J1" type="revolute">
|
|
<origin xyz="1.9742e-08 -0.1425 1.5345e-08" rpy="-1.5708 1.5708 0" />
|
|
<parent link="body_link" />
|
|
<child link="arm_link_1_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Link waist_link_1 -->
|
|
<link name="waist_link_1">
|
|
<inertial>
|
|
<origin xyz="3.12065e-06 0.00666211 -0.045688" rpy="0 0 0" />
|
|
<mass value="2.07526" />
|
|
<inertia ixx="0.00276114" ixy="-8.4173e-08" ixz="8.18741e-07" iyy="0.00249781" iyz="0.000159232" izz="0.00274949" />
|
|
</inertial>
|
|
<!-- Part waist_link_1_parts -->
|
|
<visual>
|
|
<origin xyz="3.12065e-06 0.00666211 -0.045688" rpy="-0 -0 -1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/waist_link_1_visual.stl" />
|
|
</geometry>
|
|
<material name="waist_link_1_parts_material">
|
|
<color rgba="0.972549 0.529412 0.00392157 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-3.27194541612e-09 0.00575000122685 -0.0517500227886" rpy="1.57079631097 2.70230100254e-07 3.14158898038" />
|
|
<geometry>
|
|
<box size="0.096975320122 0.10350001139 0.10850000039" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link waist_link_2 -->
|
|
<link name="waist_link_2">
|
|
<inertial>
|
|
<origin xyz="1.34175e-07 -0.0201253 -0.0130557" rpy="0 0 0" />
|
|
<mass value="4.6278" />
|
|
<inertia ixx="0.0212779" ixy="-2.77841e-07" ixz="1.15998e-06" iyy="0.0217788" iyz="0.00445321" izz="0.0141532" />
|
|
</inertial>
|
|
<!-- Part waist_link_2_parts -->
|
|
<visual>
|
|
<origin xyz="1.34175e-07 -0.0201253 -0.0130557" rpy="-1.5708 -1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/waist_link_2_visual.stl" />
|
|
</geometry>
|
|
<material name="waist_link_2_parts_material">
|
|
<color rgba="0.498039 0.498039 0.498039 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0027807189175 -0.0216829155218 0.0101759937485" rpy="3.14158883343 -0.291297370001 1.65805943219" />
|
|
<geometry>
|
|
<box size="0.146111043922 0.159224440908 0.244359272932" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x12_p20_320 -->
|
|
<link name="rmd_x12_p20_320">
|
|
<inertial>
|
|
<origin xyz="-0.010096 0.000418231 -0.0375909" rpy="0 0 0" />
|
|
<mass value="2.95391" />
|
|
<inertia ixx="0.00535709" ixy="1.10513e-05" ixz="-0.000292699" iyy="0.00611606" iyz="2.39e-06" izz="0.00803251" />
|
|
</inertial>
|
|
<!-- Part rmd_x12_p20_320_parts -->
|
|
<visual>
|
|
<origin xyz="-0.010096 0.000418231 -0.0375909" rpy="-1.48353 1e-12 -1e-11" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x12_p20_320_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x12_p20_320_parts_material">
|
|
<color rgba="0.739948 0.872303 0.948529 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-0.0075000426314 -1.5344235812e-09 -0.0442222635393" rpy="1.5707963268 1.57079619268 -1.57079632679" />
|
|
<geometry>
|
|
<box size="0.0884444380086 0.124500001681 0.139499999583" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x12_p20_320_2 -->
|
|
<link name="rmd_x12_p20_320_2">
|
|
<inertial>
|
|
<origin xyz="0.000294312 0.0466188 0.00749029" rpy="0 0 0" />
|
|
<mass value="4.92904" />
|
|
<inertia ixx="0.033972" ixy="2.30475e-05" ixz="-5.50878e-05" iyy="0.0218405" iyz="-0.012558" izz="0.0221342" />
|
|
</inertial>
|
|
<!-- Part rmd_x12_p20_320_2_parts -->
|
|
<visual>
|
|
<origin xyz="0.000294312 0.0466188 0.00749029" rpy="1.5708 -1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x12_p20_320_2_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x12_p20_320_2_parts_material">
|
|
<color rgba="0.580998 0.725521 0.877379 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-0.00264313966416 0.0607515878231 0.0134649252457" rpy="-2.31427208184 3.66970844474e-06 -3.09795579444" />
|
|
<geometry>
|
|
<box size="0.129895059045 0.142032780103 0.307301469852" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x15_p20_450 -->
|
|
<link name="rmd_x15_p20_450">
|
|
<inertial>
|
|
<origin xyz="0.00500418 0.00011043 -0.141481" rpy="0 0 0" />
|
|
<mass value="4.64683" />
|
|
<inertia ixx="0.0268618" ixy="1.89471e-05" ixz="0.000574643" iyy="0.0221049" iyz="7.98305e-06" izz="0.01051" />
|
|
</inertial>
|
|
<!-- Part rmd_x15_p20_450_parts -->
|
|
<visual>
|
|
<origin xyz="0.00500418 0.00011043 -0.141481" rpy="0 1e-11 1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x15_p20_450_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x15_p20_450_parts_material">
|
|
<color rgba="0.847639 0.867811 0.879915 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-0.000511770916592 -9.37493084701e-05 -0.124479121462" rpy="3.13939508145 -0.000910265596886 -3.14158898038" />
|
|
<geometry>
|
|
<box size="0.0909012267383 0.165984379816 0.249108893506" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x8_120 -->
|
|
<link name="rmd_x8_120">
|
|
<inertial>
|
|
<origin xyz="-0.000210823 0.134583 0.0600745" rpy="0 0 0" />
|
|
<mass value="2.79674" />
|
|
<inertia ixx="0.0135252" ixy="6.79983e-06" ixz="-4.13371e-05" iyy="0.00454322" iyz="-0.00123377" izz="0.0125213" />
|
|
</inertial>
|
|
<!-- Part rmd_x8_120_parts -->
|
|
<visual>
|
|
<origin xyz="-0.000210823 0.134583 0.0600745" rpy="1.5708 0 -0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x8_120_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x8_120_parts_material">
|
|
<color rgba="0.407254 0.57656 0.806301 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-1.37142944432e-09 0.152499630446 0.0450000910722" rpy="0 1.57079265361 1.57079632679" />
|
|
<geometry>
|
|
<box size="0.110000003132 0.115000002086 0.420000016689" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link j5从动轴心盖板 -->
|
|
<link name="j5从动轴心盖板">
|
|
<inertial>
|
|
<origin xyz="0.011502 -0.0562347 0.0147126" rpy="0 0 0" />
|
|
<mass value="1.53022" />
|
|
<inertia ixx="0.00162553" ixy="-5.03414e-05" ixz="4.27839e-05" iyy="0.00132492" iyz="9.73133e-05" izz="0.00170498" />
|
|
</inertial>
|
|
<!-- Part j5从动轴心盖板_parts -->
|
|
<visual>
|
|
<origin xyz="0.011502 -0.0562347 0.0147126" rpy="1.5708 0 3.14159" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/j5从动轴心盖板_visual.stl" />
|
|
</geometry>
|
|
<material name="j5从动轴心盖板_parts_material">
|
|
<color rgba="0.409744 0.580605 0.809629 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0124999958771 -0.0471399263332 0.0159002478314" rpy="0 -1.52218281736 1.57079367321" />
|
|
<geometry>
|
|
<box size="0.0875289519328 0.0900000035763 0.132596451358" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link part_1 -->
|
|
<link name="part_1">
|
|
<inertial>
|
|
<origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="0 0 0" />
|
|
<mass value="0.838438" />
|
|
<inertia ixx="0.00607297" ixy="5.8e-11" ixz="-6.56e-10" iyy="0.00603501" iyz="0.000504962" izz="0.000755761" />
|
|
</inertial>
|
|
<!-- Part part_1_parts -->
|
|
<visual>
|
|
<origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="1.5708 1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/part_1_visual.stl" />
|
|
</geometry>
|
|
<material name="part_1_parts_material">
|
|
<color rgba="0.57236 0.622959 0.693445 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-0.00695075728933 0.0202500937939 -0.0150128470436" rpy="3.07049388054 9.88042703271e-07 1.57079213926" />
|
|
<geometry>
|
|
<box size="0.0935002650507 0.0999013305047 0.294458583486" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Joint from j5从动轴心盖板 to part_1 -->
|
|
<joint name="left_leg_J6" type="revolute">
|
|
<origin xyz="-0.0305 -0.0655 0.016" rpy="-3.14159 -1.5708 0" />
|
|
<parent link="j5从动轴心盖板" />
|
|
<child link="part_1" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x8_120 to j5从动轴心盖板 -->
|
|
<joint name="left_leg_J5" type="revolute">
|
|
<origin xyz="0 0.345 0.028" rpy="0 0 -3.14159" />
|
|
<parent link="rmd_x8_120" />
|
|
<child link="j5从动轴心盖板" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x15_p20_450 to rmd_x8_120 -->
|
|
<joint name="left_leg_J4" type="revolute">
|
|
<origin xyz="0.044 0 -0.166" rpy="-1.5708 1e-11 1.5708" />
|
|
<parent link="rmd_x15_p20_450" />
|
|
<child link="rmd_x8_120" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x12_p20_320_2 to rmd_x15_p20_450 -->
|
|
<joint name="left_leg_J3" type="revolute">
|
|
<origin xyz="0 0.15825 0.07725" rpy="1.5708 0 -0" />
|
|
<parent link="rmd_x12_p20_320_2" />
|
|
<child link="rmd_x15_p20_450" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x12_p20_320 to rmd_x12_p20_320_2 -->
|
|
<joint name="left_leg_J2" type="revolute">
|
|
<origin xyz="-0.07725 -0 -0.0459444" rpy="-1.5708 -1.48353 -1.5708" />
|
|
<parent link="rmd_x12_p20_320" />
|
|
<child link="rmd_x12_p20_320_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from waist_link_2 to rmd_x12_p20_320 -->
|
|
<joint name="left_leg_J1" type="revolute">
|
|
<origin xyz="0.0749049 -0.0471789 0.0665" rpy="-0.0872665 -1.5708 0" />
|
|
<parent link="waist_link_2" />
|
|
<child link="rmd_x12_p20_320" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Link rmd_x12_p20_320_3 -->
|
|
<link name="rmd_x12_p20_320_3">
|
|
<inertial>
|
|
<origin xyz="-0.010096 0.000418231 -0.0375909" rpy="0 0 0" />
|
|
<mass value="2.95391" />
|
|
<inertia ixx="0.00535709" ixy="1.10513e-05" ixz="-0.000292699" iyy="0.00611606" iyz="2.39e-06" izz="0.00803251" />
|
|
</inertial>
|
|
<!-- Part rmd_x12_p20_320_3_parts -->
|
|
<visual>
|
|
<origin xyz="-0.010096 0.000418231 -0.0375909" rpy="1.48353 1e-12 1e-11" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x12_p20_320_3_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x12_p20_320_3_parts_material">
|
|
<color rgba="0.739948 0.872303 0.948529 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-0.00750004285857 -3.15561343929e-10 -0.0442222625792" rpy="-1.93633059092 1.57079620574 1.20526206079" />
|
|
<geometry>
|
|
<box size="0.0884444377006 0.124500001986 0.139500002912" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x12_p20_320_4 -->
|
|
<link name="rmd_x12_p20_320_4">
|
|
<inertial>
|
|
<origin xyz="7.93801e-06 -0.0461176 0.00749029" rpy="0 0 0" />
|
|
<mass value="4.92904" />
|
|
<inertia ixx="0.0342011" ixy="-4.63856e-05" ixz="4.29574e-05" iyy="0.0218409" iyz="0.0126742" izz="0.0223638" />
|
|
</inertial>
|
|
<!-- Part rmd_x12_p20_320_4_parts -->
|
|
<visual>
|
|
<origin xyz="7.93801e-06 -0.0461176 0.00749029" rpy="-1.5708 -1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x12_p20_320_4_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x12_p20_320_4_parts_material">
|
|
<color rgba="0.580998 0.725521 0.877379 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-7.32297700695e-08 -0.060336311212 0.0140630761578" rpy="2.31481805786 3.67320510333e-06 3.14158898038" />
|
|
<geometry>
|
|
<box size="0.129999995232 0.140710573521 0.307409672374" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x15_p20_450_2 -->
|
|
<link name="rmd_x15_p20_450_2">
|
|
<inertial>
|
|
<origin xyz="-0.00500418 0.00011043 -0.141763" rpy="0 0 0" />
|
|
<mass value="4.64683" />
|
|
<inertia ixx="0.0269258" ixy="-1.89471e-05" ixz="-0.000559104" iyy="0.0221689" iyz="1.70358e-05" izz="0.01051" />
|
|
</inertial>
|
|
<!-- Part rmd_x15_p20_450_2_parts -->
|
|
<visual>
|
|
<origin xyz="-0.00500418 0.00011043 -0.141763" rpy="0 1e-11 1.5708" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x15_p20_450_2_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x15_p20_450_2_parts_material">
|
|
<color rgba="0.847639 0.867811 0.879915 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.000630002412138 -3.14323813086e-05 -0.12450552663" rpy="-3.14085474752 -0.00332848663327 3.67320513659e-06" />
|
|
<geometry>
|
|
<box size="0.0908121982007 0.165984769603 0.249232369861" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x8_120_2 -->
|
|
<link name="rmd_x8_120_2">
|
|
<inertial>
|
|
<origin xyz="-0.000211068 -0.135087 0.0600745" rpy="0 0 0" />
|
|
<mass value="2.79674" />
|
|
<inertia ixx="0.0135566" ixy="-6.37519e-06" ixz="-4.13459e-05" iyy="0.00454322" iyz="0.00126553" izz="0.0125528" />
|
|
</inertial>
|
|
<!-- Part rmd_x8_120_2_parts -->
|
|
<visual>
|
|
<origin xyz="-0.000211068 -0.135087 0.0600745" rpy="-1.5708 0 -0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x8_120_2_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x8_120_2_parts_material">
|
|
<color rgba="0.423305 0.595827 0.817517 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-5.02269748717e-10 -0.152500097859 0.0450000892186" rpy="0 1.57079265364 -1.57079632679" />
|
|
<geometry>
|
|
<box size="0.110000003136 0.115000002086 0.420000001787" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link rmd_x6_60 -->
|
|
<link name="rmd_x6_60">
|
|
<inertial>
|
|
<origin xyz="0.0131096 -0.0562347 0.0171301" rpy="0 0 0" />
|
|
<mass value="1.53022" />
|
|
<inertia ixx="0.00162611" ixy="-2.7601e-05" ixz="-4.13523e-05" iyy="0.00129398" iyz="-9.95383e-05" izz="0.00167347" />
|
|
</inertial>
|
|
<!-- Part rmd_x6_60_parts -->
|
|
<visual>
|
|
<origin xyz="0.0131096 -0.0562347 0.0171301" rpy="1.5708 -0 -3.14159" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/rmd_x6_60_visual.stl" />
|
|
</geometry>
|
|
<material name="rmd_x6_60_parts_material">
|
|
<color rgba="0.40957 0.557154 0.77456 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="0.0124999358342 -0.0471399325698 0.0160996822414" rpy="-3.14159265359 1.52219010645 1.57079898038" />
|
|
<geometry>
|
|
<box size="0.0875289538413 0.0900000035763 0.132596452943" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link part_1_2 -->
|
|
<link name="part_1_2">
|
|
<inertial>
|
|
<origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="0 0 0" />
|
|
<mass value="0.838438" />
|
|
<inertia ixx="0.00607297" ixy="5.8e-11" ixz="-6.56e-10" iyy="0.00603501" iyz="0.000504962" izz="0.000755761" />
|
|
</inertial>
|
|
<!-- Part part_1_2_parts -->
|
|
<visual>
|
|
<origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="1.5708 1.5708 0" />
|
|
<geometry>
|
|
<mesh filename="package://assets/merged/part_1_2_visual.stl" />
|
|
</geometry>
|
|
<material name="part_1_2_parts_material">
|
|
<color rgba="0.57236 0.622959 0.693445 1" />
|
|
</material>
|
|
</visual>
|
|
<collision name="AUTO_COLLISION_BOX">
|
|
<origin xyz="-0.00695075728933 0.0202500937939 -0.0150128470436" rpy="3.07049388054 9.88042703271e-07 1.57079213926" />
|
|
<geometry>
|
|
<box size="0.0935002650507 0.0999013305047 0.294458583486" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Joint from rmd_x6_60 to part_1_2 -->
|
|
<joint name="right_leg_J6" type="revolute">
|
|
<origin xyz="-0.0275 -0.0655 0.016" rpy="-3.14159 -1.5708 0" />
|
|
<parent link="rmd_x6_60" />
|
|
<child link="part_1_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x8_120_2 to rmd_x6_60 -->
|
|
<joint name="right_leg_J5" type="revolute">
|
|
<origin xyz="0 -0.345 0.06" rpy="3.14159 0 -3.14159" />
|
|
<parent link="rmd_x8_120_2" />
|
|
<child link="rmd_x6_60" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x15_p20_450_2 to rmd_x8_120_2 -->
|
|
<joint name="right_leg_J4" type="revolute">
|
|
<origin xyz="-0.044 -0 -0.166" rpy="1.5708 1e-11 1.5708" />
|
|
<parent link="rmd_x15_p20_450_2" />
|
|
<child link="rmd_x8_120_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x12_p20_320_4 to rmd_x15_p20_450_2 -->
|
|
<joint name="right_leg_J3" type="revolute">
|
|
<origin xyz="0 -0.15825 0.07725" rpy="1.5708 -0 3.14159" />
|
|
<parent link="rmd_x12_p20_320_4" />
|
|
<child link="rmd_x15_p20_450_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from rmd_x12_p20_320_3 to rmd_x12_p20_320_4 -->
|
|
<joint name="right_leg_J2" type="revolute">
|
|
<origin xyz="-0.07725 -0 -0.0459444" rpy="1.5708 -1.48353 1.5708" />
|
|
<parent link="rmd_x12_p20_320_3" />
|
|
<child link="rmd_x12_p20_320_4" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from waist_link_2 to rmd_x12_p20_320_3 -->
|
|
<joint name="right_leg_J1" type="revolute">
|
|
<origin xyz="-0.0749049 -0.0471789 0.0665" rpy="-3.05433 -1.5708 0" />
|
|
<parent link="waist_link_2" />
|
|
<child link="rmd_x12_p20_320_3" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from waist_link_1 to waist_link_2 -->
|
|
<joint name="waist_J2" type="revolute">
|
|
<origin xyz="0 0.058 -0.058" rpy="1.5708 2.1e-11 -0" />
|
|
<parent link="waist_link_1" />
|
|
<child link="waist_link_2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
<!-- Joint from body_link to waist_link_1 -->
|
|
<joint name="waist_J1" type="revolute">
|
|
<origin xyz="0.045 0 -0.363" rpy="0 -0 1.5708" />
|
|
<parent link="body_link" />
|
|
<child link="waist_link_1" />
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793" />
|
|
</joint>
|
|
</robot>
|