mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
417 lines
10 KiB
XML
417 lines
10 KiB
XML
<?xml version="1.0"?>
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<robot name="physics">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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</collision>
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<inertial>
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<mass value="10"/>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="right_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_base_joint" type="fixed">
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<parent link="right_leg"/>
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<child link="right_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="right_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_front_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="right_base"/>
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<child link="right_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="right_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_back_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="right_base"/>
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<child link="right_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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</inertial>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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<link name="left_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="left_base_joint" type="fixed">
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<parent link="left_leg"/>
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<child link="left_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="left_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="left_front_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="left_base"/>
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<child link="left_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="left_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="left_back_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="left_base"/>
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<child link="left_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<joint name="gripper_extension" type="prismatic">
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<parent link="base_link"/>
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<child link="gripper_pole"/>
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<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
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<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
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</joint>
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<link name="gripper_pole">
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<visual>
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<geometry>
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<cylinder length="0.2" radius=".01"/>
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</geometry>
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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<material name="Gray">
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<color rgba=".7 .7 .7 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.2" radius=".01"/>
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</geometry>
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="left_gripper_joint" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
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<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="left_gripper"/>
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</joint>
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<link name="left_gripper">
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="l_finger.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="l_finger.stl"/>
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</geometry>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="left_tip_joint" type="fixed">
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<parent link="left_gripper"/>
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<child link="left_tip"/>
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</joint>
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<link name="left_tip">
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<visual>
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<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="l_finger_tip.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="l_finger_tip.stl"/>
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</geometry>
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<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_gripper_joint" type="revolute">
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<axis xyz="0 0 -1"/>
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<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
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<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="right_gripper"/>
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</joint>
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<link name="right_gripper">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="l_finger.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="l_finger.stl"/>
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</geometry>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_tip_joint" type="fixed">
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<parent link="right_gripper"/>
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<child link="right_tip"/>
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</joint>
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<link name="right_tip">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="l_finger_tip.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="l_finger_tip.stl"/>
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</geometry>
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<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<link name="head">
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<visual>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="head_swivel" type="continuous">
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<parent link="base_link"/>
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<child link="head"/>
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<axis xyz="0 0 1"/>
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<origin xyz="0 0 0.3"/>
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</joint>
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<link name="box">
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<visual>
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<geometry>
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<box size=".08 .08 .08"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<box size=".08 .08 .08"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="tobox" type="fixed">
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<parent link="head"/>
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<child link="box"/>
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<origin xyz="0 0.1414 0.1414"/>
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</joint>
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</robot>
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