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body.urdf
256 lines (256 loc) · 8.3 KB
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body.urdf
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<robot name = "robot">
<link name="Torso">
<inertial>
<origin xyz="0 0 1" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 1" rpy="0 0 0"/>
<geometry>
<box size="1 1 1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 1" rpy="0 0 0"/>
<geometry>
<box size="1 1 1" />
</geometry>
</collision>
</link>
<joint name="Torso_BackLeg" type="revolute">
<parent link="Torso"/>
<child link="BackLeg"/>
<origin rpy="0 0 0" xyz="0.0 -0.5 1.0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="BackLeg">
<inertial>
<origin xyz="0 -0.5 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 -0.5 0" rpy="0 0 0"/>
<geometry>
<box size="0.2 1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.5 0" rpy="0 0 0"/>
<geometry>
<box size="0.2 1 0.2" />
</geometry>
</collision>
</link>
<joint name="Torso_FrontLeg" type="revolute">
<parent link="Torso"/>
<child link="FrontLeg"/>
<origin rpy="0 0 0" xyz="0.0 0.5 1.0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="FrontLeg">
<inertial>
<origin xyz="0 0.5 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0.5 0" rpy="0 0 0"/>
<geometry>
<box size="0.2 1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0.5 0" rpy="0 0 0"/>
<geometry>
<box size="0.2 1 0.2" />
</geometry>
</collision>
</link>
<joint name="Torso_LeftLeg" type="revolute">
<parent link="Torso"/>
<child link="LeftLeg"/>
<origin rpy="0 0 0" xyz="-0.5 0.0 1.0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="LeftLeg">
<inertial>
<origin xyz="-0.5 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-0.5 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 0.2 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.5 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 0.2 0.2" />
</geometry>
</collision>
</link>
<joint name="Torso_RightLeg" type="revolute">
<parent link="Torso"/>
<child link="RightLeg"/>
<origin rpy="0 0 0" xyz="0.5 0.0 1.0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="RightLeg">
<inertial>
<origin xyz="0.5 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0.5 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 0.2 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.5 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 0.2 0.2" />
</geometry>
</collision>
</link>
<joint name="LeftLeg_LeftLowerLeg" type="revolute">
<parent link="LeftLeg"/>
<child link="LeftLowerLeg"/>
<origin rpy="0 0 0" xyz="-1.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="LeftLowerLeg">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
</collision>
</link>
<joint name="RightLeg_RightLowerLeg" type="revolute">
<parent link="RightLeg"/>
<child link="RightLowerLeg"/>
<origin rpy="0 0 0" xyz="1.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="RightLowerLeg">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
</collision>
</link>
<joint name="BackLeg_BackLowerLeg" type="revolute">
<parent link="BackLeg"/>
<child link="BackLowerLeg"/>
<origin rpy="0 0 0" xyz="0.0 -1.0 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="BackLowerLeg">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
</collision>
</link>
<joint name="FrontLeg_FrontLowerLeg" type="revolute">
<parent link="FrontLeg"/>
<child link="FrontLowerLeg"/>
<origin rpy="0 0 0" xyz="0.0 1.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="FrontLowerLeg">
<inertial>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.5" rpy="0 0 0"/>
<geometry>
<box size="0.2 0.2 1" />
</geometry>
</collision>
</link>
</robot>