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body.urdf
256 lines (256 loc) · 8.22 KB
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body.urdf
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<robot name = "robot">
<link name="Torso">
<inertial>
<origin xyz="0 0 1.5" 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 1.5" 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 1.5" 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 -0.5 1.5"/>
<axis xyz="1 0 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 .5 1.5"/>
<axis xyz="1 0 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="-.5 0 1.5"/>
<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=".5 0 1.5"/>
<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="backLeg_backFoot" type="revolute">
<parent link="backLeg"/>
<child link="backFoot"/>
<origin rpy="0 0 0" xyz="0 -1 0"/>
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="backFoot">
<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_frontFoot" type="revolute">
<parent link="frontLeg"/>
<child link="frontFoot"/>
<origin rpy="0 0 0" xyz="0 1 0"/>
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="frontFoot">
<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="leftLeg_leftFoot" type="revolute">
<parent link="leftLeg"/>
<child link="leftFoot"/>
<origin rpy="0 0 0" xyz="-1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="leftFoot">
<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_rightFoot" type="revolute">
<parent link="rightLeg"/>
<child link="rightFoot"/>
<origin rpy="0 0 0" xyz="1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<link name="rightFoot">
<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>