|
<robot name="spot"> |
|
<link name="base"> |
|
<inertial> |
|
<origin rpy="1.56 0 0" xyz="0.0 0.0 0.0" /> |
|
|
|
<mass value="70.1294" /> |
|
<inertia ixx="1.5" ixy="0.0" ixz="0.0" iyy="1.5" iyz="0.0" izz="0.5" /> |
|
</inertial> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/base.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/base.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<link name="fl.hip"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fl.hip.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fl.hip.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="fl.hx" type="revolute"> |
|
<origin xyz="0.29785 0.05500 0.00000" rpy="0 0 0"/> |
|
<axis xyz="1 0 0"/> |
|
<parent link="base"/> |
|
<child link="fl.hip"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.804862" upper="0.772428"/> |
|
</joint> |
|
<link name="fl.uleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fl.uleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fl.uleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="fl.hy" type="revolute"> |
|
<origin xyz="0.0 0.110945 0.0" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="fl.hip"/> |
|
<child link="fl.uleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.8804" upper="2.26513"/> |
|
</joint> |
|
<link name="fl.lleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fl.lleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fl.lleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="fl.kn" type="revolute"> |
|
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="fl.uleg"/> |
|
<child link="fl.lleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-2.80883" upper="-0.264082"/> |
|
</joint> |
|
<link name="fr.hip"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fr.hip.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fr.hip.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="fr.hx" type="revolute"> |
|
<origin xyz="0.29785 -0.05500 0.00000" rpy="0 0 0"/> |
|
<axis xyz="1 0 0"/> |
|
<parent link="base"/> |
|
<child link="fr.hip"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.777519" upper="0.788929"/> |
|
</joint> |
|
<link name="fr.uleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fr.uleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fr.uleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="fr.hy" type="revolute"> |
|
<origin xyz="0.0 -0.110945 0.0" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="fr.hip"/> |
|
<child link="fr.uleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.868926" upper="2.27521"/> |
|
</joint> |
|
<link name="fr.lleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fr.lleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/fr.lleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="fr.kn" type="revolute"> |
|
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="fr.uleg"/> |
|
<child link="fr.lleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-2.80347" upper="-0.278219"/> |
|
</joint> |
|
<link name="hl.hip"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hl.hip.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hl.hip.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="hl.hx" type="revolute"> |
|
<origin xyz="-0.29785 0.05500 0.00000" rpy="0 0 0"/> |
|
<axis xyz="1 0 0"/> |
|
<parent link="base"/> |
|
<child link="hl.hip"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.804268" upper="0.773025"/> |
|
</joint> |
|
<link name="hl.uleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hl.uleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hl.uleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="hl.hy" type="revolute"> |
|
<origin xyz="0.0 0.110945 0.0" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="hl.hip"/> |
|
<child link="hl.uleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.912476" upper="2.23797"/> |
|
</joint> |
|
<link name="hl.lleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hl.lleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hl.lleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="hl.kn" type="revolute"> |
|
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="hl.uleg"/> |
|
<child link="hl.lleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-2.7618" upper="-0.232408"/> |
|
</joint> |
|
<link name="hr.hip"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hr.hip.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hr.hip.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="hr.hx" type="revolute"> |
|
<origin xyz="-0.29785 -0.05500 0.00000" rpy="0 0 0"/> |
|
<axis xyz="1 0 0"/> |
|
<parent link="base"/> |
|
<child link="hr.hip"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.792274" upper="0.781365"/> |
|
</joint> |
|
<link name="hr.uleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hr.uleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hr.uleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="hr.hy" type="revolute"> |
|
<origin xyz="0.0 -0.110945 0.0" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="hr.hip"/> |
|
<child link="hr.uleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-0.886536" upper="2.25781"/> |
|
</joint> |
|
<link name="hr.lleg"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hr.lleg.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/hr.lleg.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="hr.kn" type="revolute"> |
|
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="hr.uleg"/> |
|
<child link="hr.lleg"/> |
|
<limit effort="1000" velocity="1000.00" lower="-2.80304" upper="-0.251421"/> |
|
</joint> |
|
<link name="arm0.link_sh0"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_sh0.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_sh0.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.sh0" type="revolute"> |
|
<origin xyz="0.292 0.0 0.188" rpy="0 0 0"/> |
|
<axis xyz="0 0 1"/> |
|
<parent link="base"/> |
|
<child link="arm0.link_sh0"/> |
|
<limit effort="1000" velocity="1000.00" lower="-2.61799387799149441136" upper="3.14159265358979311599"/> |
|
</joint> |
|
<link name="arm0.link_sh1"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_sh1.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_sh1.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.sh1" type="revolute"> |
|
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="arm0.link_sh0"/> |
|
<child link="arm0.link_sh1"/> |
|
<limit effort="1000" velocity="1000.00" lower="-3.14159265358979311599" upper="0.52359877559829881565"/> |
|
</joint> |
|
<link name="arm0.link_hr0"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_hr0.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_hr0.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.hr0" type="revolute"> |
|
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
|
<axis xyz="1 0 0"/> |
|
<parent link="arm0.link_sh1"/> |
|
<child link="arm0.link_hr0"/> |
|
<limit effort="1000" velocity="1000.00" lower="-1e6" upper="1e6"/> |
|
</joint> |
|
<link name="arm0.link_el0"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_el0.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_el0.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.el0" type="revolute"> |
|
<origin xyz="0.3385 0 0" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="arm0.link_hr0"/> |
|
<child link="arm0.link_el0"/> |
|
<limit effort="1000" velocity="1000.00" lower="0" upper="3.14159265358979311599"/> |
|
</joint> |
|
<link name="arm0.link_el1"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_el1.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_el1.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.el1" type="revolute"> |
|
<origin xyz="0.40330 0.0 0.0750" rpy="0 0 0"/> |
|
<axis xyz="1 0 0"/> |
|
<parent link="arm0.link_el0"/> |
|
<child link="arm0.link_el1"/> |
|
<limit effort="1000" velocity="1000.00" lower="-2.79252680319092716487" upper="2.79252680319092716487"/> |
|
</joint> |
|
<link name="arm0.link_wr0"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_wr0.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_wr0.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.wr0" type="revolute"> |
|
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
|
<axis xyz="0 1 0"/> |
|
<parent link="arm0.link_el1"/> |
|
<child link="arm0.link_wr0"/> |
|
<limit effort="1000" velocity="1000.00" lower="-1.83259571459404613236" upper="1.83259571459404613236"/> |
|
</joint> |
|
<link name="arm0.link_wr1"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_wr1.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_wr1.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.wr1" type="revolute"> |
|
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> |
|
<axis xyz="1 0 0"/> |
|
<parent link="arm0.link_wr0"/> |
|
<child link="arm0.link_wr1"/> |
|
<limit effort="1000" velocity="1000.00" lower="-2.87979326579064354163" upper="2.87979326579064354163"/> |
|
</joint> |
|
<link name="arm0.link_fngr"> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_fngr.glb"/> |
|
</geometry> |
|
</collision> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<geometry> |
|
<mesh filename="../meshesColored/arm0.link_fngr.glb"/> |
|
</geometry> |
|
</visual> |
|
</link> |
|
<joint name="arm0.f1x" type="revolute"> |
|
<origin xyz="0.11745 0 0.014820" rpy="0 0 0"/> |
|
<axis xyz="0.0 1.0 0.0"/> |
|
<parent link="arm0.link_wr1"/> |
|
<child link="arm0.link_fngr"/> |
|
<limit effort="1000" velocity="1000.00" lower="-1.57" upper="0.0"/> |
|
</joint> |
|
</robot> |
|
|
