565 lines
12 KiB
XML
565 lines
12 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="2foot">
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<link
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name="head_link">
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<inertial>
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<origin
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xyz="0.00637927718522201 8.36838553548436E-05 0.0502679117290854"
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rpy="0 0 0" />
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<mass
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value="0.104147639434427" />
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<inertia
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ixx="0.000119888626287878"
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ixy="4.26649795023379E-08"
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ixz="-3.14056079328627E-06"
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iyy="9.2091610344693E-05"
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iyz="1.01375294153974E-07"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/head_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/head_link.STL" />
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</geometry>
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</collision>
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<contact>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</contact>
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<contact>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</contact>
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</link>
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<link
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name="lf0_link">
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<inertial>
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<origin
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xyz="2.5034674019167E-06 -0.00399152370097755 -0.0136055723537577"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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filename="package://2foot/meshes/lf0_link.STL" />
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</geometry>
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<material
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name="">
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf0_link.STL" />
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</geometry>
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</collision>
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<contact>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</contact>
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<contact>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</contact>
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</link>
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<joint
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name="jlf0_link"
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type="revolute">
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<origin
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xyz="-0.0031441 0.025688 -0.006475"
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rpy="0 0 0" />
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<parent
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link="head_link" />
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<child
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link="lf0_link" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="-1.0"
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upper="1.0"
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effort="10.0"
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velocity="5.0" />
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</joint>
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<link
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name="lf1_link">
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<inertial>
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<origin
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xyz="2.91696425805399E-06 0.004390376864982 -0.0296712953157869"
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rpy="0 0 0" />
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<mass
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value="0.013323922418148" />
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<inertia
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ixz="2.07253296776833E-10"
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iyy="2.92090153101514E-06"
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iyz="-3.25175555348237E-08"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf1_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf1_link.STL" />
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</geometry>
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</collision>
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<contact>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</contact>
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<contact>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</contact>
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</link>
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<joint
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name="jlf1_link"
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type="revolute">
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<origin
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xyz="9.7027E-05 0.011975 -0.012388"
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rpy="0 0 0" />
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<parent
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link="lf0_link" />
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<child
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link="lf1_link" />
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<axis
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xyz="0 -1 0" />
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<limit
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lower="-1.0"
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upper="1.0"
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effort="10.0"
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velocity="5.0" />
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</joint>
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<link
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name="lf2_link">
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<inertial>
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<origin
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xyz="2.43737372657149E-06 0.00363613025354126 -0.0425732788173739"
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rpy="0 0 0" />
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<mass
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<inertia
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ixz="2.07253296776739E-10"
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iyy="5.71315402728463E-06"
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iyz="-2.13454759600996E-08"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf2_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf2_link.STL" />
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</geometry>
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</collision>
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<contact>
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<contact>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</contact>
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</link>
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<joint
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name="jlf2_link"
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type="revolute">
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<origin
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xyz="9.7027E-05 -0.008475 -0.040938"
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rpy="0 0 0" />
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<parent
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link="lf1_link" />
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<child
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link="lf2_link" />
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<axis
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xyz="0 1 0" />
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lower="-1.0"
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upper="1.0"
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effort="10.0"
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velocity="5.0" />
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</joint>
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<link
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name="lf3_link">
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<inertial>
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<origin
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xyz="-4.82253126321552E-16 -0.000451394188820231 -0.0198245674059442"
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<inertia
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xyz="0 0 0"
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<geometry>
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filename="package://2foot/meshes/lf3_link.STL" />
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name="">
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://2foot/meshes/lf3_link.STL" />
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</geometry>
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</collision>
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<contact>
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<contact>
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<joint
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name="jlf3_link"
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type="revolute">
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xyz="9.7027E-05 -0.006475 -0.060937"
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<parent
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link="lf3_link" />
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name="jrf0_link"
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<origin
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xyz="-0.0033382 -0.025687 -0.006475"
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<parent
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name="rf2_link">
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<contact>
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name="jrf2_link"
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type="revolute">
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xyz="-9.7027E-05 0.008475 -0.040937"
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rpy="0 0 0" />
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<parent
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link="rf1_link" />
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link="rf2_link" />
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lower="-1.0"
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effort="10.0"
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velocity="5.0" />
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<link
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name="rf3_link">
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xyz="0 0 0"
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</contact>
|
|
<contact>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
</contact>
|
|
</link>
|
|
<joint
|
|
name="jrf3_link"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-9.7027E-05 0.006475 -0.060938"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="rf2_link" />
|
|
<child
|
|
link="rf3_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-1.0"
|
|
upper="1.0"
|
|
effort="10.0"
|
|
velocity="5.0" />
|
|
</joint>
|
|
</robot> |