317 lines
9.4 KiB
XML
317 lines
9.4 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot name="right_arm">
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<link name="PELVIS_S">
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<inertial>
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<origin xyz="3.78529e-05 3.81781e-07 0.0386396" rpy="0 0 0"/>
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<mass value="2.10624590271277"/>
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<inertia
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ixx="0.00165706865324979" ixy="3.13663e-09" ixz="6.84210e-07"
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iyy="0.00136736758630241" iyz="-1.01015e-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="light_gray">
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<color rgba="0.698 0.698 0.698 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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<link name="R_SHOULDER_P_S">
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<inertial>
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<origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
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<mass value="0.880737519698404" />
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<inertia
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ixx="0.000583190308378149"
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ixy="1.53153074560471E-05"
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ixz="-6.58466471736542E-09"
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iyy="0.000445532440067178"
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iyz="6.37001403998779E-09"
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izz="0.000465648071069953" />
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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/R_SHOULDER_P_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
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/R_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="R_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="R_SHOULDER_P_S" />
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<axis xyz="0 -1 0" />
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<limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
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</joint>
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<link name="R_SHOULDER_R_S">
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<inertial>
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<origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
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<mass value="0.59478842444248" />
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<inertia
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ixx="0.000380970396712653" ixy="-4.80751844573946E-05" ixz="1.34913746041655E-11"
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iyy="0.000320962178597472" iyz="-1.00039763417375E-09" izz="0.000414771047901152" />
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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/R_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/R_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="R_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="R_SHOULDER_P_S" />
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<child link="R_SHOULDER_R_S" />
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<axis xyz="1 0 0" />
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<limit lower="-2" upper="2" effort="120" velocity="3.351" />
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</joint>
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<link name="R_SHOULDER_Y_S">
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<inertial>
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<origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
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<mass value="0.563406026626801" />
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<inertia
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ixx="0.000327003834287551"
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ixy="1.80574389667711E-05"
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ixz="-7.28778136077729E-10"
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iyy="0.000213830709361532"
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iyz="1.49273668428957E-10"
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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/R_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/R_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="R_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="R_SHOULDER_R_S" />
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<child link="R_SHOULDER_Y_S" />
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<axis xyz="0 -1 0" />
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<limit lower="0" upper="3.14" effort="80" velocity="3.8758" />
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</joint>
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<link name="R_ELBOW_R_S">
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<inertial>
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<origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
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<mass value="0.393571904406492" />
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<inertia
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ixx="0.000172771193862529"
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ixy="-2.34549801867353E-05"
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ixz="1.90560556668771E-09"
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iyy="0.000155340245267897"
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iyz="8.82493073602971E-09"
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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/R_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/R_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="R_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="R_SHOULDER_Y_S" />
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<child link="R_ELBOW_R_S" />
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<axis xyz="1 0 0" />
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<limit lower="0" upper="2.18" effort="80" velocity="3.8758" />
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</joint>
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<link name="R_WRIST_P_S">
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<inertial>
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<origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
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<mass value="0.442332465815497" />
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<inertia
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ixx="0.000476754055455896"
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ixy="-4.61462558956188E-15"
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ixz="-5.91762926004267E-18"
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iyy="0.0001034665858505"
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iyz="4.88426705501212E-05"
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izz="0.000482956345754214" />
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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/R_WRIST_P_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/R_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="R_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="R_ELBOW_R_S" />
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<child link="R_WRIST_P_S" />
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<axis xyz="0 -1 0" />
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<limit lower="-3.14" upper="0" effort="50" velocity="4.71" />
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</joint>
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<link name="R_WRIST_Y_S">
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<inertial>
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<origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
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<mass value="0.235738477720019" />
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<inertia
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ixx="5.1068694045578E-05"
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ixy="7.45771487459288E-16"
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ixz="6.26195689233664E-06"
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iyy="6.00636019624515E-05"
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iyz="1.27828046342987E-16"
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izz="5.32182903609188E-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/R_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/R_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="R_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="R_WRIST_P_S" />
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<child link="R_WRIST_Y_S" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="0.78" effort="50" velocity="0.79" />
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</joint>
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<link name="R_WRIST_R_S">
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<inertial>
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<origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
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<mass value="0.204366058218534" />
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<inertia
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ixx="0.000185559065855467"
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ixy="5.75889766751509E-06"
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ixz="2.40683898454438E-06"
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iyy="0.000131246007872084"
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iyz="1.60533277040148E-06"
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izz="0.000271800951396149" />
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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/R_WRIST_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/R_WRIST_R_S.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_WRIST_R" type="revolute">
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<origin xyz="0.03 0 -0.039" rpy="0 0 0" />
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<parent link="R_WRIST_Y_S" />
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<child link="R_WRIST_R_S" />
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<axis xyz="1 0 0" />
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<limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
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</joint>
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<link name="R_FINGER_TIP">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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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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<sphere radius="0.002"/>
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</geometry>
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<material name="">
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<color rgba="0 1 0 1"/> <!-- 绿色 -->
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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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<sphere radius="0.005"/>
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</geometry>
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</collision>
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</link>
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<joint name="R_FINGER_TIP_FIXED" type="fixed">
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<origin xyz="-0.01212 -0.17655 0.07506" rpy="3.14159 0 -1.5708"/>
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<parent link="R_WRIST_R_S"/>
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<child link="R_FINGER_TIP"/>
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</joint>
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</robot>
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