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- <robot name="H20_robot">
- <link name="stand_link">
- <visual>
- <geometry>
- <box size="0.20 0.10 1"/>
- </geometry>
- <origin rpy="0 0 0" xyz="0 0 -.5"/>
- <material name="orange">
- <color rgba="1 0.5 0 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <box size="0.20 0.10 1"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -.5"/>
- </collision>
- <inertial>
- <mass value="20.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <link name="base_link">
- <visual>
- <geometry>
- <cylinder length="0.38" radius="0.0325"/>
- </geometry>
- <origin rpy="0 1.57057 0" xyz="0 0 0"/>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.38" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 1.57057 0" xyz="0 0 0"/>
- </collision>
- <inertial>
- <mass value="10.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="base_to_stand" type="fixed">
- <parent link="stand_link"/>
- <child link="base_link"/>
- <origin xyz="0 0 0" rpy="0 0 0" />
- </joint>
- <link name="head_link">
- <visual>
- <geometry>
- <sphere radius="0.15"/>
- </geometry>
- <origin rpy="0 0 0" xyz="0 0 0.1825"/>
- <material name="orange"/>
- </visual>
- <collision>
- <geometry>
- <sphere radius="0.15"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 0.1825"/>
- </collision>
- <inertial>
- <mass value="2.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="head_to_base" type="fixed">
- <parent link="base_link"/>
- <child link="head_link"/>
- <origin xyz="0 0 0" rpy="0 0 0" />
- </joint>
- <link name="left_shoulder_link">
- <visual>
- <geometry>
- <cylinder length="0.06" radius="0.0175"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 1.57057 0" xyz="0.03 0 0"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.06" radius="0.0175"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 1.57057 0" xyz="0.03 0 0"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="base_to_left_shoulder" type="revolute">
- <parent link="base_link"/>
- <child link="left_shoulder_link"/>
- <origin xyz="0.19 0 0" rpy="0 0 0" />
- <axis xyz="1 0 0" />
- <limit effort="1000.0" lower="-3.14" upper="1.57" velocity="0.5"/>
- </joint>
- <link name="right_shoulder_link">
- <visual>
- <geometry>
- <cylinder length="0.06" radius="0.0175"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 -1.57057 0" xyz="-0.03 0 0"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.06" radius="0.0175"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 -1.57057 0" xyz="-0.03 0 0"/>
- </collision>
- <inertial>
- <mass value="0.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="base_to_right_shoulder" type="revolute">
- <parent link="base_link"/>
- <child link="right_shoulder_link"/>
- <origin xyz="-0.19 0 0" rpy="0 0 0" />
- <axis xyz="1 0 0" />
- <limit effort="1000.0" lower="-3.14" upper="1.57" velocity="0.5"/>
- </joint>
- <link name="left_rotator_link">
- <visual>
- <geometry>
- <cylinder length="0.0150" radius="0.01"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="1.57 0 0" xyz="0.045 0 0"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.0150" radius="0.01"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="1.57 0 0" xyz="0.045 0 0"/>
- </collision>
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_shoulder_to_rotator" type="fixed">
- <parent link="left_shoulder_link"/>
- <child link="left_rotator_link"/>
- <origin xyz="0 0.025 0" rpy="0 0 0" />
- </joint>
- <link name="right_rotator_link">
- <visual>
- <geometry>
- <cylinder length="0.0150" radius="0.01"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="-1.57 0 0" xyz="-0.045 0 0"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.0150" radius="0.01"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="-1.57 0 0" xyz="-0.045 0 0"/>
- </collision>
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_shoulder_to_rotator" type="fixed">
- <parent link="right_shoulder_link"/>
- <child link="right_rotator_link"/>
- <origin xyz="0 0.025 0" rpy="0 0 0" />
- </joint>
- <link name="left_tricep_link">
- <visual>
- <geometry>
- <cylinder length="0.29" radius="0.0325"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.29" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
- </collision>
- <inertial>
- <mass value="5.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_rotator_to_tricep" type="revolute">
- <parent link="left_rotator_link"/>
- <child link="left_tricep_link"/>
- <origin xyz="0.045 0.0075 0" rpy="0 0 0" />
- <axis xyz="0 1 0" />
- <limit effort="1000.0" lower="-1.57" upper="0" velocity="0.5"/>
- </joint>
- <link name="right_tricep_link">
- <visual>
- <geometry>
- <cylinder length="0.29" radius="0.0325"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.29" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
- </collision>
- <inertial>
- <mass value="5.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_rotator_to_tricep" type="revolute">
- <parent link="right_rotator_link"/>
- <child link="right_tricep_link"/>
- <origin xyz="-0.045 0.0075 0" rpy="0 0 0" />
- <axis xyz="0 -1 0" />
- <limit effort="1000.0" lower="-1.57" upper="0" velocity="0.5"/>
- </joint>
- <link name="left_upper_bicep_link">
- <visual>
- <geometry>
- <cylinder length="0.145" radius="0.0325"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.145" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_tricep_to_upper_bicep" type="fixed">
- <parent link="left_tricep_link"/>
- <child link="left_upper_bicep_link"/>
- <origin xyz="0 0 -.145" rpy="0 0 0" />
- </joint>
- <link name="right_upper_bicep_link">
- <visual>
- <geometry>
- <cylinder length="0.145" radius="0.0325"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.145" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_tricep_to_upper_bicep" type="fixed">
- <parent link="right_tricep_link"/>
- <child link="right_upper_bicep_link"/>
- <origin xyz="0 0 -.145" rpy="0 0 0" />
- </joint>
- <link name="left_lower_bicep_link">
- <visual>
- <geometry>
- <cylinder length="0.11" radius="0.0175"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 0 0" xyz="0 0 -0.055"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.11" radius="0.0175"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -0.055"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_upper_to_lower_bicep" type="revolute">
- <parent link="left_upper_bicep_link"/>
- <child link="left_lower_bicep_link"/>
- <origin xyz="0 -.0325 -0.0725" rpy="0 0 0" />
- <axis xyz="0 0 1" />
- <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
- </joint>
- <link name="right_lower_bicep_link">
- <visual>
- <geometry>
- <cylinder length="0.11" radius="0.0175"/>
- </geometry>
- <material name="grey"/>
- <origin rpy="0 0 0" xyz="0 0 -0.055"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.11" radius="0.0175"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -0.055"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_upper_to_lower_bicep" type="revolute">
- <parent link="right_upper_bicep_link"/>
- <child link="right_lower_bicep_link"/>
- <origin xyz="0 -.0325 -0.0725" rpy="0 0 0" />
- <axis xyz="0 0 -1" />
- <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
- </joint>
- <link name="left_upper_forearm_link">
- <visual>
- <geometry>
- <cylinder length="0.27" radius="0.0325"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="-0.0325 0 -0.095"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.27" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="-0.0325 0 -0.095"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_lower_bicep_to_upper_forearm" type="revolute">
- <parent link="left_lower_bicep_link"/>
- <child link="left_upper_forearm_link"/>
- <origin xyz="0 0 -.11" rpy="0 0 0" />
- <axis xyz="1 0 0" />
- <limit effort="1000.0" lower="-2.39" upper="0.785" velocity="0.5"/>
- </joint>
- <link name="right_upper_forearm_link">
- <visual>
- <geometry>
- <cylinder length="0.27" radius="0.0325"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="0.0325 0 -0.095"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.27" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0.0325 0 -0.095"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_lower_bicep_to_upper_forearm" type="revolute">
- <parent link="right_lower_bicep_link"/>
- <child link="right_upper_forearm_link"/>
- <origin xyz="0 0 -.11" rpy="0 0 0" />
- <axis xyz="1 0 0" />
- <limit effort="1000.0" lower="-2.39" upper="0.785" velocity="0.5"/>
- </joint>
- <link name="left_lower_forearm_link">
- <visual>
- <geometry>
- <cylinder length="0.065" radius="0.0325"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="0 0 -.1975"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.065" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -.1975"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_upper_to_lower_forearm" type="fixed">
- <parent link="left_upper_forearm_link"/>
- <child link="left_lower_forearm_link"/>
- <origin xyz="0 0 0" rpy="0 0 0" />
- </joint>
- <link name="right_lower_forearm_link">
- <visual>
- <geometry>
- <cylinder length="0.065" radius="0.0325"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="0 0 -.1975"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.065" radius="0.0325"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -.1975"/>
- </collision>
- <inertial>
- <mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_upper_to_lower_forearm" type="fixed">
- <parent link="right_upper_forearm_link"/>
- <child link="right_lower_forearm_link"/>
- <origin xyz="0 0 0" rpy="0 0 0" />
- </joint>
- <link name="left_wrist_link">
- <visual>
- <geometry>
- <cylinder length="0.055" radius="0.0175"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.055" radius="0.0175"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
- </collision>
- <inertial>
- <mass value="1.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_lower_forearm_to_wrist" type="revolute">
- <parent link="left_lower_forearm_link"/>
- <child link="left_wrist_link"/>
- <origin xyz="0 0 -.23" rpy="0 0 0" />
- <axis xyz="0 0 1" />
- <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
- </joint>
- <link name="right_wrist_link">
- <visual>
- <geometry>
- <cylinder length="0.055" radius="0.0175"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.055" radius="0.0175"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
- </collision>
- <inertial>
- <mass value="1.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_lower_forearm_to_wrist" type="revolute">
- <parent link="right_lower_forearm_link"/>
- <child link="right_wrist_link"/>
- <origin xyz="0 0 -.23" rpy="0 0 0" />
- <axis xyz="0 0 -1" />
- <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
- </joint>
- <link name="left_hand_link">
- <visual>
- <geometry>
- <box size="0.04 0.05 0.09"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="0 0 -0.045"/>
- </visual>
- <collision>
- <geometry>
- <box size="0.04 0.05 0.09"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -0.045"/>
- </collision>
- <inertial>
- <mass value="0.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="left_wrist_to_hand" type="revolute">
- <parent link="left_wrist_link"/>
- <child link="left_hand_link"/>
- <origin xyz="0 0 -0.055" rpy="0 0 0" />
- <axis xyz="0 1 0" />
- <limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
- </joint>
- <link name="right_hand_link">
- <visual>
- <geometry>
- <box size="0.04 0.05 0.09"/>
- </geometry>
- <material name="orange"/>
- <origin rpy="0 0 0" xyz="0 0 -0.045"/>
- </visual>
- <collision>
- <geometry>
- <box size="0.04 0.05 0.09"/>
- </geometry>
- <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
- <origin rpy="0 0 0" xyz="0 0 -0.045"/>
- </collision>
- <inertial>
- <mass value="0.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin/>
- </inertial>
- </link>
- <joint name="right_wrist_to_hand" type="revolute">
- <parent link="right_wrist_link"/>
- <child link="right_hand_link"/>
- <origin xyz="0 0 -0.055" rpy="0 0 0" />
- <axis xyz="0 -1 0" />
- <limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
- </joint>
- </robot>
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