mirror of https://github.com/ArduPilot/ardupilot
376 lines
7.7 KiB
XML
376 lines
7.7 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="materials">
|
|
|
|
<material name="blue">
|
|
<color rgba="0 0 0.8 1"/>
|
|
</material>
|
|
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
|
|
<material name="red">
|
|
<color rgba="0.8 0 0 1"/>
|
|
</material>
|
|
|
|
<link name="base_link">
|
|
<collision>
|
|
<geometry>
|
|
<box size="1.5 0.8 0.08"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 0"/>
|
|
<mass value="100.843" />
|
|
<inertia ixx="0.002480" ixy="9.381E-19" ixz="-3.172E-18"
|
|
iyy="1.060E-02" iyz="1002.754E-09"
|
|
izz="1.243E-02" />
|
|
</inertial>
|
|
<visual>
|
|
<geometry>
|
|
<box size="1.5 0.8 0.08"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
</visual>
|
|
</link>
|
|
|
|
|
|
#FRONT RIGHT
|
|
<link name="coxa_FR">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.3" radius="0.1"/>
|
|
</geometry>
|
|
<origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="femur_FR">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.85" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.425"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="tibia_FR">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="1.25" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.625"/>
|
|
<material name="blue"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="foot_FR">
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<mass value="200.843" />
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="coxaF_FR" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="base_link"/>
|
|
<child link="coxa_FR"/>
|
|
<origin rpy="0 0 0.785398" xyz="0.75 -0.4 0"/>
|
|
</joint>
|
|
|
|
<joint name="femurF_FR" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="coxa_FR"/>
|
|
<child link="femur_FR"/>
|
|
<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
|
|
</joint>
|
|
|
|
<joint name="tibiaF_FR" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="femur_FR"/>
|
|
<child link="tibia_FR"/>
|
|
<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
|
|
</joint>
|
|
|
|
<joint name="footF_FR" type="fixed">
|
|
<parent link="tibia_FR"/>
|
|
<child link="foot_FR"/>
|
|
<origin xyz="0 0 -1.25"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
#FRONT LEFT
|
|
|
|
|
|
|
|
<link name="coxa_FL">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.3" radius="0.1"/>
|
|
</geometry>
|
|
<origin rpy="1.57 0 0" xyz="0 -0.15 0"/>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="femur_FL">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.85" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.425"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="tibia_FL">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="1.25" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.625"/>
|
|
<material name="blue"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="foot_FL">
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<mass value="200.843" />
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="coxaF_FL" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="base_link"/>
|
|
<child link="coxa_FL"/>
|
|
<origin rpy="0 0 2.35619" xyz="0.74 0.4 0"/>
|
|
</joint>
|
|
|
|
<joint name="femurF_FL" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="coxa_FL"/>
|
|
<child link="femur_FL"/>
|
|
<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
|
|
</joint>
|
|
|
|
<joint name="tibiaF_FL" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="femur_FL"/>
|
|
<child link="tibia_FL"/>
|
|
<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
|
|
</joint>
|
|
|
|
<joint name="footF_FL" type="fixed">
|
|
<parent link="tibia_FL"/>
|
|
<child link="foot_FL"/>
|
|
<origin xyz="0 0 -1.25"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#BACK RIGHT
|
|
|
|
|
|
|
|
<link name="coxa_BR">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.3" radius="0.1"/>
|
|
</geometry>
|
|
<origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="femur_BR">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.85" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.425"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="tibia_BR">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="1.25" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.625"/>
|
|
<material name="blue"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="foot_BR">
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<mass value="200.843" />
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="coxaF_BR" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="base_link"/>
|
|
<child link="coxa_BR"/>
|
|
<origin rpy="0 0 3.92699" xyz="-0.75 0.4 0"/>
|
|
</joint>
|
|
|
|
<joint name="femurF_BR" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="coxa_BR"/>
|
|
<child link="femur_BR"/>
|
|
<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
|
|
</joint>
|
|
|
|
<joint name="tibiaF_BR" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="femur_BR"/>
|
|
<child link="tibia_BR"/>
|
|
<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
|
|
</joint>
|
|
|
|
<joint name="footF_BR" type="fixed">
|
|
<parent link="tibia_BR"/>
|
|
<child link="foot_BR"/>
|
|
<origin xyz="0 0 -1.25"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
#BACK LEFT
|
|
|
|
|
|
|
|
<link name="coxa_BL">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.3" radius="0.1"/>
|
|
</geometry>
|
|
<origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="femur_BL">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.85" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.425"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="tibia_BL">
|
|
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="1.25" radius="0.1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -0.625"/>
|
|
<material name="blue"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="foot_BL">
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<mass value="200.843" />
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="coxaF_BL" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="base_link"/>
|
|
<child link="coxa_BL"/>
|
|
<origin rpy="0 0 5.48033" xyz="-0.75 -0.4 0"/>
|
|
</joint>
|
|
|
|
<joint name="femurF_BL" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="coxa_BL"/>
|
|
<child link="femur_BL"/>
|
|
<origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
|
|
</joint>
|
|
|
|
<joint name="tibiaF_BL" type="revolute">
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" velocity="0.5"/>
|
|
<parent link="femur_BL"/>
|
|
<child link="tibia_BL"/>
|
|
<origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
|
|
</joint>
|
|
|
|
<joint name="footF_BL" type="fixed">
|
|
<parent link="tibia_BL"/>
|
|
<child link="foot_BL"/>
|
|
<origin xyz="0 0 -1.25"/>
|
|
</joint>
|
|
|
|
</robot>
|