-
Guilhem Saurel authoredGuilhem Saurel authored
poppy.urdf 28.67 KiB
<?xml version="1.0" encoding="utf-8"?>
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<visual>
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<geometry>
<mesh filename="package://meshes/r_shoulder_visual.STL"></mesh>
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<material name="">
<color rgba="0.9 0.9 0.9 1.0"></color>
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<geometry>
<mesh filename="package://meshes/r_shoulder_respondable.STL"></mesh>
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<mass value="0.0828144098443213"></mass>
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<visual>
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<geometry>
<mesh filename="package://meshes/r_shoulder_motor_visual.STL"></mesh>
</geometry>
<material name="">
<color rgba="0.9 0.9 0.9 1.0"></color>
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</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<geometry>
<mesh filename="package://meshes/r_shoulder_motor_respondable.STL"></mesh>
</geometry>
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<link name="r_upper_arm">
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<origin xyz="-3.32548713521223E-05 0.0628256242258387 -0.0106376027333001" rpy="0 0 0"></origin>
<mass value="0.16814085957724"></mass>
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</inertial> <visual>
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<geometry>
<mesh filename="package://meshes/r_upper_arm_visual.STL"></mesh>
</geometry>
<material name="">
<color rgba="0.9 0.9 0.9 1.0"></color>
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<collision>
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<geometry>
<mesh filename="package://meshes/r_upper_arm_respondable.STL"></mesh>
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<link name="r_forearm">
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<origin xyz="-0.00691618587524222 0.107157908858058 0.00498983982891094" rpy="0 0 0"></origin>
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<visual>
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<geometry>
<mesh filename="package://meshes/r_forearm_visual.STL"></mesh>
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<material name="">
<color rgba="0.9 0.9 0.9 1.0"></color>
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<collision>
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<geometry>
<mesh filename="package://meshes/r_forearm_respondable.STL"></mesh>
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<mass>0.04863</mass>
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<parent link="pelvis"></parent>
<child link="r_hip"></child>
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<joint name="r_hip_z" type="revolute">
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<parent link="r_hip"></parent>
<child link="r_hip_motor"></child>
<axis xyz="0 -1 0"></axis>
<limit effort="3.1" lower="-1.57079632679" upper="0.436332312999" velocity="7.0"></limit>
</joint>
<joint name="r_hip_y" type="revolute">
<origin xyz="0 -0.024 0" rpy="0 0 0"></origin>
<parent link="r_hip_motor"></parent>
<child link="r_thigh"></child>
<axis xyz="-1 0 0"></axis>
<limit effort="7.3" lower="-1.4835298642" upper="1.83259571459" velocity="8.2"></limit>
</joint>
<joint name="r_knee_y" type="revolute">
<origin xyz="0 -0.182 0" rpy="0 1.5707963267949 0"></origin>
<parent link="r_thigh"></parent>
<child link="r_shin"></child>
<axis xyz="0 0 -1"></axis>
<limit effort="3.1" lower="-2.33874119767" upper="0.0610865238198" velocity="7.0"></limit>
</joint>
<joint name="r_ankle_y" type="revolute">
<origin xyz="0 -0.18 0" rpy="0 -1.5708 0"></origin> <parent link="r_shin"></parent>
<child link="r_foot"></child>
<axis xyz="-1 0 0"></axis>
<limit effort="3.1" lower="-0.785398163397" upper="0.785398163397" velocity="7.0"></limit>
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<joint name="l_hip_x" type="revolute">
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<parent link="pelvis"></parent>
<child link="l_hip"></child>
<axis xyz="0 0 -1"></axis>
<limit effort="3.1" lower="-0.523598775598" upper="0.497418836818" velocity="7.0"></limit>
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<joint name="l_hip_z" type="revolute">
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<parent link="l_hip"></parent>
<child link="l_hip_motor"></child>
<axis xyz="0 -1 0"></axis>
<limit effort="3.1" lower="-0.436332312999" upper="1.57079632679" velocity="7.0"></limit>
</joint>
<joint name="l_hip_y" type="revolute">
<origin xyz="0 -0.024 0" rpy="0 0 0"></origin>
<parent link="l_hip_motor"></parent>
<child link="l_thigh"></child>
<axis xyz="1 0 0"></axis>
<limit effort="7.3" lower="-1.81514242207" upper="1.46607657168" velocity="8.2"></limit>
</joint>
<joint name="l_knee_y" type="revolute">
<origin xyz="0 -0.182 0" rpy="0 1.5707963267949 0"></origin>
<parent link="l_thigh"></parent>
<child link="l_shin"></child>
<axis xyz="0 0 -1"></axis>
<limit effort="3.1" lower="-0.0610865238198" upper="2.33874119767" velocity="7.0"></limit>
</joint>
<joint name="l_ankle_y" type="revolute">
<origin xyz="0 -0.18 0" rpy="0 -1.5708 0"></origin>
<parent link="l_shin"></parent>
<child link="l_foot"></child>
<axis xyz="1 0 0"></axis>
<limit effort="3.1" lower="-0.785398163397" upper="0.785398163397" velocity="7.0"></limit>
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<joint name="abs_y" type="revolute">
<origin xyz="0 -0.017 0.061" rpy="1.5707963267949 0 0"></origin>
<parent link="pelvis"></parent>
<child link="abs_motors"></child>
<axis xyz="-1 0 0"></axis>
<limit effort="7.3" lower="-0.872664625997" upper="0.209439510239" velocity="8.2"></limit>
</joint>
<joint name="abs_x" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"></origin>
<parent link="abs_motors"></parent>
<child link="abdomen"></child>
<axis xyz="0 0 1"></axis>
<limit effort="7.3" lower="-0.785398163397" upper="0.785398163397" velocity="8.2"></limit>
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<joint name="abs_z" type="revolute">
<origin xyz="0 0.0516374742048976 0" rpy="0 0 0"></origin>
<parent link="abdomen"></parent>
<child link="spine"></child>
<axis xyz="0 1 0"></axis>
<limit effort="3.1" lower="-1.57079632679" upper="1.57079632679" velocity="7.0"></limit>
</joint>
<joint name="bust_y" type="revolute">
<origin xyz="0 0.07985 0.00279999999999998" rpy="0 0 0"></origin>
<parent link="spine"></parent>
<child link="bust_motors"></child>
<axis xyz="-1 0 0"></axis>
<limit effort="3.1" lower="-1.16937059884" upper="0.471238898038" velocity="7.0"></limit>
</joint>
<joint name="bust_x" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"></origin> <parent link="bust_motors"></parent>
<child link="chest"></child>
<axis xyz="0 0 1"></axis>
<limit effort="3.1" lower="-0.698131700798" upper="0.698131700798" velocity="7.0"></limit>
</joint>
<joint name="head_z" type="revolute">
<origin xyz="0 0.084 0.00499999999999996" rpy="0 0 0"></origin>
<parent link="chest"></parent>
<child link="neck"></child>
<axis xyz="0 1 0"></axis>
<limit effort="1.8" lower="-1.57079632679" upper="1.57079632679" velocity="10.0"></limit>
</joint>
<joint name="head_y" type="revolute">
<origin xyz="0 0.0199999999999999 0" rpy="-0.349065850398866 0 0"></origin>
<parent link="neck"></parent>
<child link="head"></child>
<axis xyz="-1 0 0"></axis>
<limit effort="1.8" lower="-0.785398163397" upper="0.10471975512" velocity="10.0"></limit>
</joint>
<joint name="l_shoulder_y" type="revolute">
<origin xyz="0.0771000000000001 0.0499999999999999 0.00399999999999997" rpy="-1.5707963267949 0 0"></origin>
<parent link="chest"></parent>
<child link="l_shoulder"></child>
<axis xyz="1 0 0"></axis>
<limit effort="3.1" lower="-2.09439510239" upper="2.70526034059" velocity="7.0"></limit>
</joint>
<joint name="l_shoulder_x" type="revolute">
<origin xyz="0.0284 0 0" rpy="3.14159265358979 0 1.5707963267949"></origin>
<parent link="l_shoulder"></parent>
<child link="l_shoulder_motor"></child>
<axis xyz="0 0 1"></axis>
<limit effort="3.1" lower="-1.83259571459" upper="1.91986217719" velocity="7.0"></limit>
</joint>
<joint name="l_arm_z" type="revolute">
<origin xyz="0 0.03625 0.0185000000000001" rpy="0 0 0"></origin>
<parent link="l_shoulder_motor"></parent>
<child link="l_upper_arm"></child>
<axis xyz="0 1 0"></axis>
<limit effort="3.1" lower="-1.83259571459" upper="1.83259571459" velocity="7.0"></limit>
</joint>
<joint name="l_elbow_y" type="revolute">
<origin xyz="0 0.11175 -0.00999999999999998" rpy="0 0 0"></origin>
<parent link="l_upper_arm"></parent>
<child link="l_forearm"></child>
<axis xyz="1 0 0"></axis>
<limit effort="3.1" lower="-2.58308729295" upper="0.0174532925199" velocity="7.0"></limit>
</joint>
<joint name="r_shoulder_y" type="revolute">
<origin xyz="-0.0770999999999999 0.0500000000000002 0.00400000000000003" rpy="-1.5707963267949 0 0"></origin>
<parent link="chest"></parent>
<child link="r_shoulder"></child>
<axis xyz="-1 0 0"></axis>
<limit effort="3.1" lower="-2.70526034059" upper="2.09439510239" velocity="7.0"></limit>
</joint>
<joint name="r_shoulder_x" type="revolute">
<origin xyz="-0.0284 0 0" rpy="3.14159265358979 0 -1.5707963267949"></origin>
<parent link="r_shoulder"></parent>
<child link="r_shoulder_motor"></child>
<axis xyz="0 0 -1"></axis>
<limit effort="3.1" lower="-1.91986217719" upper="1.83259571459" velocity="7.0"></limit>
</joint>
<joint name="r_arm_z" type="revolute">
<origin xyz="0 0.03625 0.0185000000000002" rpy="0 0 0"></origin>
<parent link="r_shoulder_motor"></parent>
<child link="r_upper_arm"></child>
<axis xyz="0 1 0"></axis>
<limit effort="3.1" lower="-1.83259571459" upper="1.83259571459" velocity="7.0"></limit>
</joint>
<joint name="r_elbow_y" type="revolute">
<origin xyz="0 0.11175 -0.01" rpy="0 0 0"></origin> <parent link="r_upper_arm"></parent>
<child link="r_forearm"></child>
<axis xyz="-1 0 0"></axis>
<limit effort="3.1" lower="-0.0174532925199" upper="2.58308729295" velocity="7.0"></limit>
</joint>
</robot>