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/gist:5945589
Created Jul 8, 2013

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<?xml verison="1.0"?>
<robot name="orbit"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<link name="orbit_torso">
<inertial>
<!-- origin is relative -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="3.51"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<!-- rotate PI/2 -->
<geometry>
<mesh filename="package://orbit_description/cad/orbit_torso.STL" />
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<!-- rotate PI/2 -->
<geometry>
<mesh filename="package://orbit_description/cad/orbit_torso.STL" />
</geometry>
</collision>
</link>
<link name="orbit_hip_left">
<inertial>
<!-- origin is relative -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.65"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 1.570795" xyz="0 0 0"/>
<!-- rotate PI/2 -->
<geometry>
<mesh filename="package://orbit_description/cad/orbit_hip_left.STL" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 1.570795" xyz="0 0 0"/>
<!-- rotate PI/2 -->
<geometry>
<mesh filename="package://orbit_description/cad/orbit_hip_left.STL" />
</geometry>
</collision>
</link>
<link name="orbit_upperleg_left">
<inertial>
<!-- origin is relative -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.66"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- rotate PI/2 -->
<geometry>
<mesh filename="package://orbit_description/cad/orbit_upperleg_left.STL" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- rotate PI/2 -->
<geometry>
<mesh filename="package://orbit_description/cad/orbit_upperleg_left.STL" />
</geometry>
</collision>
</link>
<joint name="Left_hip_yaw" type="revolute">
<parent link="orbit_torso"/>
<child link="orbit_hip_left"/>
<origin rpy="0 0 1.570795" xyz="0.09000 -0.02000 0"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-15.0" upper="15.0" velocity="0"/>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="Left_hip_pitch" type="revolute">
<parent link="orbit_hip_left"/>
<child link="orbit_upperleg_left"/>
<origin rpy="0 0 0" xyz="0 0 -0.11010"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-98.0" upper="30.0" velocity="0"/>
<dynamics damping="0" friction="0"/>
</joint>
<gazebo reference="orbit_torso">
<material>Gazebo/White</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="orbit_hip_left">
<material>Gazebo/White</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="orbit_upperleg_left">
<material>Gazebo/White</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</robot>
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