mirror of https://github.com/fan-ziqi/rl_sar.git
2023 lines
59 KiB
Plaintext
2023 lines
59 KiB
Plaintext
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<cylinder length="0.24" radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_ankle_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="l_foot_pitch"/>
|
||
|
|
<child
|
||
|
|
link="l_foot_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.44"
|
||
|
|
upper="0.44"
|
||
|
|
effort="3"
|
||
|
|
velocity="20.32"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_thigh_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.0416295155706895 3.45677738990829E-05 -0.00213823706160741"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="1.14366511831048"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.00102394921532563"
|
||
|
|
ixy="9.95085325681151E-08"
|
||
|
|
ixz="5.47475125260362E-05"
|
||
|
|
iyy="0.000943899068816994"
|
||
|
|
iyz="-1.12724702713386E-06"
|
||
|
|
izz="0.00115569508392434"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_thigh_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_thigh_roll.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_hip_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="-0.047999 -0.105 -0.057508"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="base"/>
|
||
|
|
<child
|
||
|
|
link="r_thigh_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.79"
|
||
|
|
upper="0.09"
|
||
|
|
effort="100"
|
||
|
|
velocity="12.15"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_thigh_yaw">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="-0.00159762056384161 -0.0464481886102113 -0.103898553073221"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="3.98881919610613"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.0100089332385704"
|
||
|
|
ixy="6.17707630241845E-05"
|
||
|
|
ixz="6.45577121456205E-05"
|
||
|
|
iyy="0.0163310979398362"
|
||
|
|
iyz="-0.000225113633002584"
|
||
|
|
izz="0.00925763732044222"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_thigh_yaw.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_thigh_yaw.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_hip_yaw"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0.048 0 -0.030499"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_thigh_roll"/>
|
||
|
|
<child
|
||
|
|
link="r_thigh_yaw"/>
|
||
|
|
<axis
|
||
|
|
xyz="1.2209E-05 6.8349E-05 1"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.7"
|
||
|
|
upper="0.7"
|
||
|
|
effort="82.5"
|
||
|
|
velocity="16.76"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_thigh_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.00284199593611564 0.021700884823371 -0.0919987122372821"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="6.36895320063918"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.0424483438482445"
|
||
|
|
ixy="-1.47927561603623E-05"
|
||
|
|
ixz="0.000984281537641053"
|
||
|
|
iyy="0.0532347537596881"
|
||
|
|
iyz="7.05431175910573E-05"
|
||
|
|
izz="0.013497669133255"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_thigh_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.15"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.25" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_thigh_pitch.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_hip_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.11"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_thigh_yaw"/>
|
||
|
|
<child
|
||
|
|
link="r_thigh_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 6.8349E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-1.75"
|
||
|
|
upper="0.7"
|
||
|
|
effort="160"
|
||
|
|
velocity="37.38"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_shank_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.00236658249661569 4.56188310302558E-05 -0.115531948381968"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="2.1894662603365"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.0161181947280801"
|
||
|
|
ixy="5.07999055973116E-06"
|
||
|
|
ixz="-5.80047175383452E-05"
|
||
|
|
iyy="0.0162705809299741"
|
||
|
|
iyz="8.20054646838796E-06"
|
||
|
|
izz="0.001135584923079"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_shank_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.15"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.2" radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_shank_pitch.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_knee_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 2.4606E-05 -0.36"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_thigh_pitch"/>
|
||
|
|
<child
|
||
|
|
link="r_shank_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 -6.8349E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.09"
|
||
|
|
upper="1.92"
|
||
|
|
effort="160"
|
||
|
|
velocity="37.38"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_foot_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="1.75705006100202E-11 4.40342345919831E-11 -1.0991207943789E-14"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0799218634469264"/>
|
||
|
|
<inertia
|
||
|
|
ixx="5.11122380590824E-06"
|
||
|
|
ixy="-7.90463256918838E-16"
|
||
|
|
ixz="1.13183213108103E-11"
|
||
|
|
iyy="4.40003788346816E-06"
|
||
|
|
iyz="1.50971653307747E-11"
|
||
|
|
izz="4.17953587325444E-06"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_foot_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_foot_pitch.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_ankle_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 2.3239E-05 -0.34"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_shank_pitch"/>
|
||
|
|
<child
|
||
|
|
link="r_foot_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 6.8349E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-1.05"
|
||
|
|
upper="0.52"
|
||
|
|
effort="8"
|
||
|
|
velocity="20.32"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_foot_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.043909 -0.00032475 -0.039419"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.58089"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.00036866"
|
||
|
|
ixy="-2.4583E-06"
|
||
|
|
ixz="2.061E-05"
|
||
|
|
iyy="0.0024886"
|
||
|
|
iyz="1.0326E-06"
|
||
|
|
izz="0.0028008"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_foot_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.75294 0.75294 0.75294 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>-->
|
||
|
|
<!-- <origin-->
|
||
|
|
<!-- xyz="0 0 0"-->
|
||
|
|
<!-- rpy="0 0 0"/>-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <mesh-->
|
||
|
|
<!-- filename="../meshes/r_foot_roll.STL"/>-->
|
||
|
|
<!-- </geometry>-->
|
||
|
|
<!-- </collision>-->
|
||
|
|
<collision name="r_foot_1">
|
||
|
|
<origin rpy="0 1.5708 0" xyz="0.05 0.02 -0.035"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.24" radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision name="r_foot_2">
|
||
|
|
<origin rpy="0 1.5708 0" xyz="0.05 -0.02 -0.035"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.24" radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_ankle_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_foot_pitch"/>
|
||
|
|
<child
|
||
|
|
link="r_foot_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.44"
|
||
|
|
upper="0.44"
|
||
|
|
effort="3"
|
||
|
|
velocity="20.32"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="waist_yaw">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="-0.01038801904175 -0.0016963578434683 0.0224708834468219"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.378859790655159"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000196919706249791"
|
||
|
|
ixy="2.12382402842255E-08"
|
||
|
|
ixz="2.56981032600088E-05"
|
||
|
|
iyy="0.000354992150456574"
|
||
|
|
iyz="2.2415775111576E-10"
|
||
|
|
izz="0.00038367592149874"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/waist_yaw.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>-->
|
||
|
|
<!-- <origin-->
|
||
|
|
<!-- xyz="0 0 -0.06"-->
|
||
|
|
<!-- rpy="1.57 0 0"/>-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <cylinder length="0.29" radius="0.039"/>-->
|
||
|
|
<!-- </geometry>-->
|
||
|
|
<!-- </collision>-->
|
||
|
|
<!-- <!– <origin-->
|
||
|
|
<!-- xyz="0 0 0"-->
|
||
|
|
<!-- rpy="0 0 0" />-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <mesh-->
|
||
|
|
<!-- filename="../meshes/waist_yaw.STL" />-->
|
||
|
|
<!-- </geometry> –>-->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="waist_yaw"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.0065"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="base"/>
|
||
|
|
<child
|
||
|
|
link="waist_yaw"/>
|
||
|
|
<axis
|
||
|
|
xyz="-1.221E-05 -6.8349E-05 1"/>
|
||
|
|
<limit
|
||
|
|
lower="-1.05"
|
||
|
|
upper="1.05"
|
||
|
|
effort="82.5"
|
||
|
|
velocity="16.76"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="waist_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.00229172837325653 -0.00229363862540611 0.0425378199809092"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="4.40328023801883"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.00487323232531471"
|
||
|
|
ixy="-1.33065018698405E-06"
|
||
|
|
ixz="-4.0266051775557E-05"
|
||
|
|
iyy="0.00486933742500086"
|
||
|
|
iyz="-5.32468490704019E-05"
|
||
|
|
izz="0.00355689827572313"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/waist_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/waist_pitch.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="waist_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.055"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="waist_yaw"/>
|
||
|
|
<child
|
||
|
|
link="waist_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 -6.8349E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.52"
|
||
|
|
upper="1.22"
|
||
|
|
effort="82.5"
|
||
|
|
velocity="16.76"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="waist_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="-0.00982804024116587 -1.29539615708683E-05 0.160653030053409"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="7.34392576050251"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.03052609429886"
|
||
|
|
ixy="-7.04406839473537E-07"
|
||
|
|
ixz="8.78092229296906E-05"
|
||
|
|
iyy="0.0217567392965276"
|
||
|
|
iyz="2.92528051867509E-07"
|
||
|
|
izz="0.013678748857541"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/waist_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.2"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.25" radius="0.1"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/waist_roll.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="waist_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.085"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="waist_pitch"/>
|
||
|
|
<child
|
||
|
|
link="waist_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.7"
|
||
|
|
upper="0.7"
|
||
|
|
effort="82.5"
|
||
|
|
velocity="16.76"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="head_yaw">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.000255272678900229 -1.43142991538659E-05 0.0571736596753861"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.168424767391324"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000120637037320682"
|
||
|
|
ixy="-5.93229450399767E-09"
|
||
|
|
ixz="-1.70979295447655E-05"
|
||
|
|
iyy="0.00013240987030897"
|
||
|
|
iyz="-4.69267427280031E-08"
|
||
|
|
izz="7.43274136318794E-05"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/head_yaw.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/head_yaw.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="head_yaw"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 -2.3548E-05 0.34453"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="waist_roll"/>
|
||
|
|
<child
|
||
|
|
link="head_yaw"/>
|
||
|
|
<axis
|
||
|
|
xyz="-1.221E-05 -6.8349E-05 1"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.71"
|
||
|
|
upper="2.71"
|
||
|
|
effort="10.2"
|
||
|
|
velocity="24.4"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="head_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="-0.00053971727334301 0.00299722575980531 -0.00194710854925029"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0189573887284304"/>
|
||
|
|
<inertia
|
||
|
|
ixx="3.07261028096843E-06"
|
||
|
|
ixy="4.10292725305652E-08"
|
||
|
|
ixz="1.78312300579722E-08"
|
||
|
|
iyy="5.66077116289085E-06"
|
||
|
|
iyz="-1.51708218419401E-08"
|
||
|
|
izz="3.71878356025897E-06"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/head_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/head_roll.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="head_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.1225"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="head_yaw"/>
|
||
|
|
<child
|
||
|
|
link="head_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.35"
|
||
|
|
upper="0.35"
|
||
|
|
effort="3.95"
|
||
|
|
velocity="27.96"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="head_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.01799372239635 0.000157202623736513 -0.0107883907241233"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.315067351746468"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.00100471588146565"
|
||
|
|
ixy="-8.2389801869501E-07"
|
||
|
|
ixz="0.000209876082162464"
|
||
|
|
iyy="0.00105272220107397"
|
||
|
|
iyz="2.28002016869807E-06"
|
||
|
|
izz="0.00114154911943759"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/head_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>-->
|
||
|
|
<!-- <origin-->
|
||
|
|
<!-- xyz="0 0 0"-->
|
||
|
|
<!-- rpy="0 0 0"/>-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <sphere radius="0.07"/>-->
|
||
|
|
<!-- </geometry>-->
|
||
|
|
<!-- </collision>-->
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/head_pitch.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="head_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="head_roll"/>
|
||
|
|
<child
|
||
|
|
link="head_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 6.8349E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.52"
|
||
|
|
upper="0.35"
|
||
|
|
effort="3.95"
|
||
|
|
velocity="27.96"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="l_upper_arm_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.00515733406641455 0.0588336893604175 0.000122943787672525"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.777393531978708"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000546409518236063"
|
||
|
|
ixy="4.5500097592642E-07"
|
||
|
|
ixz="6.15521787285397E-08"
|
||
|
|
iyy="0.000340546617645802"
|
||
|
|
iyz="8.62383243316686E-07"
|
||
|
|
izz="0.000319394142648864"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_upper_arm_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_upper_arm_pitch.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_shoulder_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.12661 0.21727"
|
||
|
|
rpy="0.4364 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="waist_roll"/>
|
||
|
|
<child
|
||
|
|
link="l_upper_arm_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 0"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.79"
|
||
|
|
upper="1.92"
|
||
|
|
effort="38"
|
||
|
|
velocity="9.11"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="l_upper_arm_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.0260054889695985 0.0238304608304643 -0.0272078144143461"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0841110150281994"/>
|
||
|
|
<inertia
|
||
|
|
ixx="8.86545692234474E-05"
|
||
|
|
ixy="1.10261615048222E-05"
|
||
|
|
ixz="-1.68388747194297E-05"
|
||
|
|
iyy="6.47384851947623E-05"
|
||
|
|
iyz="2.98032549399858E-05"
|
||
|
|
izz="5.86690192674296E-05"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_upper_arm_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>-->
|
||
|
|
<!-- <origin-->
|
||
|
|
<!-- xyz="0 0 0"-->
|
||
|
|
<!-- rpy="0 0 0"/>-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <sphere radius="0.03"/>-->
|
||
|
|
<!-- </geometry>-->
|
||
|
|
<!-- </collision>-->
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_upper_arm_roll.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_shoulder_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.067 0"
|
||
|
|
rpy="-0.4364 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="l_upper_arm_pitch"/>
|
||
|
|
<child
|
||
|
|
link="l_upper_arm_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 -1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.57"
|
||
|
|
upper="3.27"
|
||
|
|
effort="38"
|
||
|
|
velocity="9.11"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="l_upper_arm_yaw">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="-4.12427484584449E-05 0.0013503058680803 -0.101007372712731"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.789929607890225"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000420362349750673"
|
||
|
|
ixy="-4.29935210110168E-08"
|
||
|
|
ixz="2.9021678251778E-07"
|
||
|
|
iyy="0.000479981540492924"
|
||
|
|
iyz="1.20389492536702E-05"
|
||
|
|
izz="0.00031649091251987"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_upper_arm_yaw.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.05"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.11" radius="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_upper_arm_yaw.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_shoulder_yaw"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.040004 -0.057502"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="l_upper_arm_roll"/>
|
||
|
|
<child
|
||
|
|
link="l_upper_arm_yaw"/>
|
||
|
|
<axis
|
||
|
|
xyz="1.221E-05 6.8349E-05 1"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.97"
|
||
|
|
upper="2.97"
|
||
|
|
effort="30"
|
||
|
|
velocity="7.33"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="l_lower_arm_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="2.6051859526588E-07 0.0196936824971259 -0.0210902088376421"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0553958425180931"/>
|
||
|
|
<inertia
|
||
|
|
ixx="2.63266982648187E-05"
|
||
|
|
ixy="8.99558077509379E-11"
|
||
|
|
ixz="1.02219606504308E-10"
|
||
|
|
iyy="2.41073388509647E-05"
|
||
|
|
iyz="-7.43975788176561E-06"
|
||
|
|
izz="1.84112656900213E-05"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_lower_arm_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision> -->
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_lower_arm_pitch.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
<!-- </collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_elbow_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 1.28869477361571E-05 -0.188546025627068"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="l_upper_arm_yaw"/>
|
||
|
|
<child
|
||
|
|
link="l_lower_arm_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 0.999999997664201 6.83490816804566E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.27"
|
||
|
|
upper="2.27"
|
||
|
|
effort="30"
|
||
|
|
velocity="7.33"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="l_hand_yaw">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="-4.20995524185452E-05 0.000336116177448609 -0.0559829380105823"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.606076158384213"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000747174769416669"
|
||
|
|
ixy="6.19684554111363E-07"
|
||
|
|
ixz="6.37825833529036E-06"
|
||
|
|
iyy="0.000708647092597255"
|
||
|
|
iyz="-1.62066266681277E-05"
|
||
|
|
izz="0.000281470921643104"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_hand_yaw.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.08"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.17" radius="0.035"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_hand_yaw.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_wrist_yaw"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.0405043040990825"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="l_lower_arm_pitch"/>
|
||
|
|
<child
|
||
|
|
link="l_hand_yaw"/>
|
||
|
|
<axis
|
||
|
|
xyz="1.22100045815953E-05 6.83490816738029E-05 0.999999997589659"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.97"
|
||
|
|
upper="2.97"
|
||
|
|
effort="10.2"
|
||
|
|
velocity="24.4"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="l_hand_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="-1.5483E-08 -0.00044846 -1.9394E-08"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0054473"/>
|
||
|
|
<inertia
|
||
|
|
ixx="7.344E-08"
|
||
|
|
ixy="-5.3228E-13"
|
||
|
|
ixz="-5.6785E-12"
|
||
|
|
iyy="3.5527E-07"
|
||
|
|
iyz="-1.577E-13"
|
||
|
|
izz="3.6036E-07"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_hand_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.75294 0.75294 0.75294 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_hand_roll.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_wrist_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 1.3775E-05 -0.20155"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="l_hand_yaw"/>
|
||
|
|
<child
|
||
|
|
link="l_hand_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 -1.2211E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.61"
|
||
|
|
upper="0.61"
|
||
|
|
effort="3.95"
|
||
|
|
velocity="27.96"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="l_hand_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.0071289 -0.0026192 -0.078567"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.5239"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.00020226"
|
||
|
|
ixy="1.8145E-06"
|
||
|
|
ixz="7.7506E-06"
|
||
|
|
iyy="0.00034574"
|
||
|
|
iyz="2.8432E-06"
|
||
|
|
izz="0.00020545"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_hand_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.75294 0.75294 0.75294 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.07"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/l_hand_pitch.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="l_wrist_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="l_hand_roll"/>
|
||
|
|
<child
|
||
|
|
link="l_hand_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 6.8349E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.61"
|
||
|
|
upper="0.61"
|
||
|
|
effort="3.95"
|
||
|
|
velocity="27.96"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_upper_arm_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.00515734616689043 -0.0587916277840502 0.000122943533844955"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.77739058985746"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000546409635698001"
|
||
|
|
ixy="-2.01826802297192E-07"
|
||
|
|
ixz="6.15757092559119E-08"
|
||
|
|
iyy="0.000340546280880716"
|
||
|
|
iyz="-1.08167740978519E-06"
|
||
|
|
izz="0.00031939499037216"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_upper_arm_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_upper_arm_pitch.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_shoulder_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 -0.12664 0.21725"
|
||
|
|
rpy="-0.43627 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="waist_roll"/>
|
||
|
|
<child
|
||
|
|
link="r_upper_arm_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 0"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.79"
|
||
|
|
upper="1.92"
|
||
|
|
effort="38"
|
||
|
|
velocity="9.11"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_upper_arm_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.0260058558522785 -0.0238263693878023 -0.0272108671462995"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0840988886420018"/>
|
||
|
|
<inertia
|
||
|
|
ixx="8.86445321866659E-05"
|
||
|
|
ixy="-1.10218258816922E-05"
|
||
|
|
ixz="-1.68368503833084E-05"
|
||
|
|
iyy="6.47370003862284E-05"
|
||
|
|
iyz="-2.9799108598388E-05"
|
||
|
|
izz="5.86526415191045E-05"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_upper_arm_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>-->
|
||
|
|
<!-- <origin-->
|
||
|
|
<!-- xyz="0 0 0"-->
|
||
|
|
<!-- rpy="0 0 0"/>-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <sphere radius="0.03"/>-->
|
||
|
|
<!-- </geometry>-->
|
||
|
|
<!-- </collision>-->
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_upper_arm_roll.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_shoulder_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 -0.067 0"
|
||
|
|
rpy="0.43627 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_upper_arm_pitch"/>
|
||
|
|
<child
|
||
|
|
link="r_upper_arm_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 -1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-3.27"
|
||
|
|
upper="0.57"
|
||
|
|
effort="38"
|
||
|
|
velocity="9.11"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_upper_arm_yaw">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.00017082971927132 -0.00124147770094965 -0.100980640933926"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.789929613522641"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000420162267467054"
|
||
|
|
ixy="9.56785696731752E-07"
|
||
|
|
ixz="-3.81937864165678E-08"
|
||
|
|
iyy="0.000480249411637188"
|
||
|
|
iyz="-1.18111475395093E-05"
|
||
|
|
izz="0.000316423129953537"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_upper_arm_yaw.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.05"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.11" radius="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_upper_arm_yaw.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_shoulder_yaw"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 -0.039996 -0.057473"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_upper_arm_roll"/>
|
||
|
|
<child
|
||
|
|
link="r_upper_arm_yaw"/>
|
||
|
|
<axis
|
||
|
|
xyz="1.221E-05 6.8349E-05 1"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.97"
|
||
|
|
upper="2.97"
|
||
|
|
effort="30"
|
||
|
|
velocity="7.33"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_lower_arm_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="2.54537579028047E-07 -0.0196907994945518 -0.0210929007516363"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0553958425155445"/>
|
||
|
|
<inertia
|
||
|
|
ixx="2.63266982660393E-05"
|
||
|
|
ixy="-9.17316256555676E-11"
|
||
|
|
ixz="9.10503314379193E-11"
|
||
|
|
iyy="2.4105304727251E-05"
|
||
|
|
iyz="7.4405362533913E-06"
|
||
|
|
izz="1.84132998138921E-05"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_lower_arm_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_lower_arm_pitch.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_elbow_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 1.28858724863512E-05 -0.188530329837713"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_upper_arm_yaw"/>
|
||
|
|
<child
|
||
|
|
link="r_lower_arm_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 0.999999997664136 -6.83500416450034E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.27"
|
||
|
|
upper="2.27"
|
||
|
|
effort="30"
|
||
|
|
velocity="7.33"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_hand_yaw">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.000158043899506258 -0.000478821798581081 -0.0559415052246017"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.606076127067475"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.000748031289868089"
|
||
|
|
ixy="-2.3854566608948E-07"
|
||
|
|
ixz="-6.67415672551873E-06"
|
||
|
|
iyy="0.000707789468859292"
|
||
|
|
iyz="1.63905136248605E-05"
|
||
|
|
izz="0.000281472007554911"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_hand_yaw.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.08"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.17" radius="0.035"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_hand_yaw.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_wrist_yaw"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.0404999999249678"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_lower_arm_pitch"/>
|
||
|
|
<child
|
||
|
|
link="r_hand_yaw"/>
|
||
|
|
<axis
|
||
|
|
xyz="1.22100046176447E-05 6.83500416387496E-05 0.999999997589594"/>
|
||
|
|
<limit
|
||
|
|
lower="-2.97"
|
||
|
|
upper="2.97"
|
||
|
|
effort="10.2"
|
||
|
|
velocity="24.4"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_hand_roll">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="1.5545E-08 0.00044846 4.1938E-08"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.0054473"/>
|
||
|
|
<inertia
|
||
|
|
ixx="7.344E-08"
|
||
|
|
ixy="-5.3559E-13"
|
||
|
|
ixz="-1.3224E-12"
|
||
|
|
iyy="3.5527E-07"
|
||
|
|
iyz="-5.3178E-13"
|
||
|
|
izz="3.6036E-07"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_hand_roll.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.75294 0.75294 0.75294 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<!-- <collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_hand_roll.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_wrist_roll"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 1.3775E-05 -0.20153"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_hand_yaw"/>
|
||
|
|
<child
|
||
|
|
link="r_hand_roll"/>
|
||
|
|
<axis
|
||
|
|
xyz="1 0 1.221E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.61"
|
||
|
|
upper="0.61"
|
||
|
|
effort="3.95"
|
||
|
|
velocity="27.96"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="r_hand_pitch">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.0060733 0.0018907 -0.084578"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<mass
|
||
|
|
value="0.53221"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.00018966"
|
||
|
|
ixy="-1.685E-06"
|
||
|
|
ixz="6.9527E-06"
|
||
|
|
iyy="0.00031983"
|
||
|
|
iyz="-3.4284E-06"
|
||
|
|
izz="0.00018923"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_hand_pitch.STL"/>
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.75294 0.75294 0.75294 1"/>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 -0.07"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.05"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<!-- <origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../meshes/r_hand_pitch.STL" />
|
||
|
|
</geometry> -->
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="r_wrist_pitch"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0"/>
|
||
|
|
<parent
|
||
|
|
link="r_hand_roll"/>
|
||
|
|
<child
|
||
|
|
link="r_hand_pitch"/>
|
||
|
|
<axis
|
||
|
|
xyz="0 1 -6.835E-05"/>
|
||
|
|
<limit
|
||
|
|
lower="-0.61"
|
||
|
|
upper="0.61"
|
||
|
|
effort="3.95"
|
||
|
|
velocity="27.96"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|