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- <?xml version='1.0'?>
- <sdf version="1.4">
- <model name="Legs">
- <static>false</static>
- <joint name="world_fix" type='fixed'>
- <parent>world</parent>
- <child>chassis</child>
- </joint>
- <link name='chassis'>
- <pose>0 0 0.62844327 0 0 0</pose>
- <collision name='collision'>
- <geometry>
- <cylinder>
- <radius> 0.095 </radius>
- <length> 0.012 </length>
- </cylinder>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <cylinder>
- <radius> 0.095 </radius>
- <length> 0.012 </length>
- </cylinder>
- </geometry>
- </visual>
- </link>
- <link name='arm1'>
- <pose>0.095 0 0.47111289 0 0 0</pose>
- <collision name='collision'>
- <geometry>
- <box>
- <size>0.01 0.01 0.25</size>
- </box>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <box>
- <size>0.01 0.01 0.25</size>
- </box>
- </geometry>
- </visual>
- </link>
- <link name='arm2'>
- <pose>-0.0475 0.08227241 0.47111289 0 0 2.094395</pose>
- <collision name='collision'>
- <geometry>
- <box>
- <size>0.01 0.01 0.25</size>
- </box>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <box>
- <size>0.01 0.01 0.25</size>
- </box>
- </geometry>
- </visual>
- </link>
- <link name='arm3'>
- <pose>-0.0475 -0.08227241 0.47111289 0 0 -2.094395</pose>
- <collision name='collision'>
- <geometry>
- <box>
- <size>0.01 0.01 0.25</size>
- </box>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <box>
- <size>0.01 0.01 0.25</size>
- </box>
- </geometry>
- </visual>
- </link>
- <joint name="arm1_chassis" type="revolute">
- <parent>chassis</parent>
- <child>arm1</child>
- <axis>
- <xyz>0 1 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis>
- <pose> 0 0 0.13 0 0 0 </pose>
- </joint>
- <joint name="arm2_chassis" type="revolute">
- <parent>chassis</parent>
- <child>arm2</child>
- <axis>
- <xyz>0.866025 0.5 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis>
- <pose> 0 0 0.13 0 0 0 </pose>
- </joint>
- <joint name="arm3_chassis" type="revolute">
- <parent>chassis</parent>
- <child>arm3</child>
- <axis>
- <xyz>0.866025 -0.5 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis>
- <pose> 0 0 0.13 0 0 0 </pose>
- </joint>
- <link name='forearm1'>
- <pose>0.06936738 0 0.17305644 0 0.1513578 0</pose>
- <collision name='collision'>
- <geometry>
- <box>
- <size>0.01 0.07 0.34</size>
- </box>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <box>
- <size>0.01 0.07 0.34</size>
- </box>
- </geometry>
- </visual>
- </link>
- <link name='forearm2'>
- <pose>-0.03468369 0.06007391 0.17305644 0 0.1513578 2.094395</pose>
- <collision name='collision'>
- <geometry>
- <box>
- <size>0.01 0.07 0.34</size>
- </box>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <box>
- <size>0.01 0.07 0.34</size>
- </box>
- </geometry>
- </visual>
- </link>
- <link name='forearm3'>
- <pose>-0.03468369 -0.06007391 0.17305644 0 0.1513578 -2.094395</pose>
- <collision name='collision'>
- <geometry>
- <box>
- <size>0.01 0.07 0.34</size>
- </box>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <box>
- <size>0.01 0.07 0.34</size>
- </box>
- </geometry>
- </visual>
- </link>
- <joint name="forearm1_arm1" type="universal">
- <parent>arm1</parent>
- <child>forearm1</child>
- <axis>
- <xyz>0 1 0</xyz>
- </axis>
- <axis2>
- <xyz>1 0 0</xyz>
- </axis2>
- <pose> 0 0 0.17 0 0 0 </pose>
- </joint>
- <joint name="forearm2_arm2" type="universal">
- <parent>arm2</parent>
- <child>forearm2</child>
- <axis>
- <xyz>-0.866025 -0.5 0</xyz>
- </axis>
- <axis2>
- <xyz>-0.5 0.866025 0</xyz>
- </axis2>
- <pose> 0 0 0.17 0 0 0 </pose>
- </joint>
- <joint name="forearm3_arm3" type="universal">
- <parent>arm3</parent>
- <child>forearm3</child>
- <axis>
- <xyz>-0.866025 0.5 0</xyz>
- </axis>
- <axis2>
- <xyz>-0.5 -0.866025 0</xyz>
- </axis2>
- <pose> 0 0 0.17 0 0 0 </pose>
- </joint>
- <link name='gripper'>
- <pose>0 0 0.0025 0 0 0</pose>
- <inertia>
- <mass> 2000 </mass>
- </inertia>
- <collision name='collision'>
- <geometry>
- <cylinder>
- <radius> 0.04373475 </radius>
- <length> 0.005 </length>
- </cylinder>
- </geometry>
- </collision>
- <visual name='visual'>
- <geometry>
- <cylinder>
- <radius> 0.04373475 </radius>
- <length> 0.005 </length>
- </cylinder>
- </geometry>
- </visual>
- </link>
- <joint name="forearm1_gripper" type="universal">
- <parent>forearm1</parent>
- <child>gripper</child>
- <axis>
- <xyz>0 1 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis>
- <axis2>
- <xyz>1 0 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis2>
- <pose> 0.04373475 0 0.0025 0 0 0 </pose>
- </joint>
- <joint name="forearm2_gripper" type="universal">
- <parent>forearm2</parent>
- <child>gripper</child>
- <axis>
- <xyz>-0.866025 0.5 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis>
- <axis2>
- <xyz>-0.5 0.866025 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis2>
- <pose> -0.02186738 0.0378754 0.0025 0 0 0 </pose>
- </joint>
- <joint name="forearm3_gripper" type="universal">
- <parent>forearm3</parent>
- <child>gripper</child>
- <axis>
- <xyz>-0.866025 -0.5 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis>
- <axis2>
- <xyz>-0.5 -0.866025 0</xyz>
- <dynamics>
- <friction> 5 </friction>
- </dynamics>
- </axis2>
- <pose> -0.02186738 -0.0378754 0.0025 0 0 0 </pose>
- </joint>
- </model>
- </sdf>
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