175 lines
4.8 KiB
XML
175 lines
4.8 KiB
XML
<?xml version="1.0"?>
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<robot name="sample_robot">
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<!-- Materials -->
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<material name="grey">
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<color rgba="0.0 0 0 1.0" />
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</material>
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<material name="red">
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<color rgba="1.0 0.0 0.0 1.0" />
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</material>
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<material name="blue">
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<color rgba="0 0.0 1.0 1.0" />
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</material>
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<material name="lightblue">
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<color rgba="0.0 0.22 1.0 1.0" />
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</material>
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<material name="yellow">
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<color rgba="0.96 0.76 0.13 1.0" />
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</material>
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<material name="orange">
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<color rgba="1.0 0.5 0.0 1.0" />
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</material>
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<material name="black">
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<color rgba="0.15 0.15 0.15 1.0" />
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</material>
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<!-- Links: main serial chain -->
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<link name="base_link">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="../urdf_support/sample/1.stl"/>
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</geometry>
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<material name="grey"/>
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</visual>
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</link>
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<link name="link_1">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<mesh filename="../urdf_support/sample/2.stl"/>
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</geometry>
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<material name="red"/>
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</visual>
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</link>
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<link name="link_2">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<mesh filename="../urdf_support/sample/3.stl"/>
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</geometry>
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<material name="blue"/>
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</visual>
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</link>
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<link name="link_3">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<mesh filename="../urdf_support/sample/4.stl"/>
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</geometry>
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<material name="lightblue"/>
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</visual>
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</link>
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<link name="link_4">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<mesh filename="../urdf_support/sample/5.stl"/>
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</geometry>
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<material name="yellow"/>
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</visual>
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</link>
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<link name="link_5">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<mesh filename="../urdf_support/sample/6.stl"/>
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</geometry>
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<material name="orange"/>
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</visual>
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</link>
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<link name="link_6">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<mesh filename="../urdf_support/sample/7.stl"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<!-- Joints: main serial chain -->
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<joint name="joint_1" type="revolute">
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<limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" />
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<origin rpy="0 0 0" xyz="-0.011789 0.0278 0.26158" />
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<parent link="base_link" />
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<child link="link_1" />
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<axis xyz="0 0 1" />
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</joint>
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<joint name="joint_2" type="revolute">
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<limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
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<parent link="link_1" />
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<child link="link_2" />
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<axis xyz="0 -1 0" />
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<origin rpy="0 0 0" xyz="-0.168621 0.103 0.23445" />
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</joint>
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<joint name="joint_3" type="revolute">
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<limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
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<parent link="link_2" />
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<child link="link_3" />
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<axis xyz="0 -1 0" />
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<origin rpy="0 0 0" xyz="0.35988 -0.00232 0.63457" />
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</joint>
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<joint name="joint_4" type="revolute">
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<limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
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<parent link="link_3" />
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<child link="link_4" />
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<axis xyz="0 0 1" />
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<origin rpy="0 0 0" xyz="-0.23985 -0.101766 0.0983" />
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</joint>
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<joint name="joint_5" type="revolute">
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<limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
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<parent link="link_4" />
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<child link="link_5" />
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<axis xyz="0 1 0" />
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<origin rpy="0 0 0" xyz="-0.867755 -0.037912 0.0021" />
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</joint>
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<joint name="joint_6" type="revolute">
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<limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" />
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<parent link="link_5" />
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<child link="link_6" />
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<axis xyz="0 0 1" />
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<origin rpy="0 0 0" xyz="-0.12086 0.039025 0.0002" />
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</joint>
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</robot> |