Created
February 3, 2015 15:35
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[31mERROR: cannot launch node of type [gazebo_ros/gzserver]: gazebo_ros | |
ROS path [0]=/opt/ros/hydro/share/ros | |
ROS path [1]=/home/marcio/ros_workspace/sandbox | |
ROS path [2]=/opt/ros/hydro/share | |
ROS path [3]=/opt/ros/hydro/stacks[0m | |
[31mERROR: cannot launch node of type [gazebo_ros/gzclient]: gazebo_ros | |
ROS path [0]=/opt/ros/hydro/share/ros | |
ROS path [1]=/home/marcio/ros_workspace/sandbox | |
ROS path [2]=/opt/ros/hydro/share | |
ROS path [3]=/opt/ros/hydro/stacks[0m | |
[31mERROR: cannot launch node of type [robots/spawn_model]: can't locate node [spawn_model] in package [robots][0m |
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<launch> | |
<include | |
file="$(find worlds)/gazebo_ros/launch/empty_world.launch" /> | |
<node | |
name="tf_footprint_base" | |
pkg="tf" | |
type="static_transform_publisher" | |
args="0 0 0 0 0 0 base_link base_footprint 40" /> | |
<node | |
name="hexapod" | |
pkg="robots" | |
type="hexapod" | |
args="-file $(find robots)/hexapod_launch/robots/hexapod_launch.URDF -urdf -model hexapod" | |
output="screen" /> | |
</launch> |
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<robot | |
name="hexapod"> | |
<link | |
name="plate"> | |
<inertial> | |
<origin | |
xyz="-0.00106734868776533 -0.0241891486231736 0.00698973900755083" | |
rpy="0 0 0" /> | |
<mass | |
value="0.641458824297461" /> | |
<inertia | |
ixx="0.00515428609805617" | |
ixy="4.33382792757166E-07" | |
ixz="-3.15832673198832E-06" | |
iyy="0.00893359519751371" | |
iyz="-1.56262777241968E-05" | |
izz="0.00405010739619337" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/plate.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/plate.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<link | |
name="leg1"> | |
<inertial> | |
<origin | |
xyz="-0.0194650788238926 -0.020875491305913 7.68165447209701E-07" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0103887475268773" /> | |
<inertia | |
ixx="4.25540404932904E-06" | |
ixy="4.28080675887047E-07" | |
ixz="-2.88327550608186E-11" | |
iyy="5.11198464183834E-06" | |
iyz="-1.69545869136138E-11" | |
izz="5.66777890034494E-06" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg1.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg1.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg1" | |
type="revolute"> | |
<origin | |
xyz="0.090789 -0.13766 -0.0012933" | |
rpy="1.5708 4.4963E-17 2.3169" /> | |
<parent | |
link="plate" /> | |
<child | |
link="leg1" /> | |
<axis | |
xyz="0 -1 0" /> | |
<limit | |
lower="-0.74613" | |
upper="2.3955" | |
effort="0" | |
velocity="0" /> | |
</joint> | |
<link | |
name="leg1-2"> | |
<inertial> | |
<origin | |
xyz="0.0214594299369455 -0.018331713567611 -0.0344333058920237" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0881030883727184" /> | |
<inertia | |
ixx="7.24415421790821E-05" | |
ixy="-5.00727505042254E-07" | |
ixz="-3.62431838225838E-05" | |
iyy="9.07410129932118E-05" | |
iyz="8.00591093469313E-07" | |
izz="3.68879753030412E-05" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg1-2.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg1-2.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg1-2" | |
type="fixed"> | |
<origin | |
xyz="-0.048 -0.023 -0.018" | |
rpy="-1.5708 2.2538E-14 -3.1416" /> | |
<parent | |
link="leg1" /> | |
<child | |
link="leg1-2" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg1-3"> | |
<inertial> | |
<origin | |
xyz="-0.0359347150616664 -0.0174214981619291 -1.96507843056859E-05" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0381656832413196" /> | |
<inertia | |
ixx="1.77506933673593E-05" | |
ixy="7.91671339131252E-07" | |
ixz="-1.84513562439172E-08" | |
iyy="0.000144038943177988" | |
iyz="1.87854239421716E-08" | |
izz="0.00015484263240412" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg1-3.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg1-3.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg1-3" | |
type="fixed"> | |
<origin | |
xyz="0.043901 0 -0.070439" | |
rpy="-3.1416 1.1155 -3.1416" /> | |
<parent | |
link="leg1-2" /> | |
<child | |
link="leg1-3" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg2"> | |
<inertial> | |
<origin | |
xyz="-0.019465078823893 -0.0208754913059129 7.68165454248342E-07" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0103887475268773" /> | |
<inertia | |
ixx="4.25540404932905E-06" | |
ixy="4.28080675887055E-07" | |
ixz="-2.88327553984142E-11" | |
iyy="5.11198464183839E-06" | |
iyz="-1.69545870934364E-11" | |
izz="5.66777890034498E-06" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg2.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg2.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg2" | |
type="revolute"> | |
<origin | |
xyz="0.13458 -0.0058387 -0.0012933" | |
rpy="1.5708 4.8216E-16 3.0709" /> | |
<parent | |
link="plate" /> | |
<child | |
link="leg2" /> | |
<axis | |
xyz="0 -1 0" /> | |
<limit | |
lower="-1.5001" | |
upper="1.6415" | |
effort="0" | |
velocity="0" /> | |
</joint> | |
<link | |
name="leg2-2"> | |
<inertial> | |
<origin | |
xyz="0.0214593953425564 -0.0183317427547274 -0.0344332414114862" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0881032661970152" /> | |
<inertia | |
ixx="7.24417803436748E-05" | |
ixy="-5.00683003480892E-07" | |
ixz="-3.62432902968056E-05" | |
iyy="9.0741263196215E-05" | |
iyz="8.005071530159E-07" | |
izz="3.68880723284981E-05" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg2-2.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg2-2.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg2-2" | |
type="fixed"> | |
<origin | |
xyz="-0.048 -0.023 -0.018" | |
rpy="-1.5708 -2.77E-14 -3.1416" /> | |
<parent | |
link="leg2" /> | |
<child | |
link="leg2-2" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg2-3"> | |
<inertial> | |
<origin | |
xyz="-0.0359347130789357 -0.0174214969684498 -1.9650774544161E-05" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0381656853622241" /> | |
<inertia | |
ixx="1.77506943422425E-05" | |
ixy="7.91672966392537E-07" | |
ixz="-1.84513429529511E-08" | |
iyy="0.000144038945906827" | |
iyz="1.87854303204051E-08" | |
izz="0.000154842636079243" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg2-3.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg2-3.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg2-3" | |
type="fixed"> | |
<origin | |
xyz="0.0439011742567943 0 -0.0704392426057688" | |
rpy="-3.14159265358979 1.11545069820049 -3.14159265358979" /> | |
<parent | |
link="leg2-2" /> | |
<child | |
link="leg2-3" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg3"> | |
<inertial> | |
<origin | |
xyz="-0.0194650788238931 -0.0208754913059129 7.68165450679148E-07" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0103887475268773" /> | |
<inertia | |
ixx="4.25540404932904E-06" | |
ixy="4.28080675887058E-07" | |
ixz="-2.88327552179432E-11" | |
iyy="5.11198464183839E-06" | |
iyz="-1.69545869822353E-11" | |
izz="5.66777890034498E-06" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg3.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg3.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg3" | |
type="revolute"> | |
<origin | |
xyz="0.090789 0.12598 -0.0012933" | |
rpy="1.5708 3.8782E-15 -2.3218" /> | |
<parent | |
link="plate" /> | |
<child | |
link="leg3" /> | |
<axis | |
xyz="0 -1 0" /> | |
<limit | |
lower="-0.75102" | |
upper="2.3906" | |
effort="0" | |
velocity="0" /> | |
</joint> | |
<link | |
name="leg3-2"> | |
<inertial> | |
<origin | |
xyz="0.0214594300253947 -0.0183317135495977 -0.0344333060379287" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0881030882977147" /> | |
<inertia | |
ixx="7.24415421720318E-05" | |
ixy="-5.00727590120496E-07" | |
ixz="-3.62431838131499E-05" | |
iyy="9.07410129811927E-05" | |
iyz="8.00591235499483E-07" | |
izz="3.6887975276297E-05" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg3-2.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg3-2.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg3-2" | |
type="fixed"> | |
<origin | |
xyz="-0.0480000000000001 -0.0230000000000016 -0.0179999999999995" | |
rpy="-1.5707963267949 1.83186799063151E-15 -3.14159265358979" /> | |
<parent | |
link="leg3" /> | |
<child | |
link="leg3-2" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg3-3"> | |
<inertial> | |
<origin | |
xyz="0.0154035950292933 -0.0908054166914206 0.0205785018361457" | |
rpy="0 0 0" /> | |
<mass | |
value="0.038165683237695" /> | |
<inertia | |
ixx="0.000151006103413935" | |
ixy="-2.26105856125804E-05" | |
ixz="-1.13810511931961E-07" | |
iyy="2.15872223376277E-05" | |
iyz="7.83673120808818E-07" | |
izz="0.000144038943161023" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg3-3.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg3-3.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg3-3" | |
type="fixed"> | |
<origin | |
xyz="0.0191749371044299 -0.0379999999999986 -0.120871857016402" | |
rpy="-1.57079632679489 0.287402496907156 9.84052035906305E-16" /> | |
<parent | |
link="leg3-2" /> | |
<child | |
link="leg3-3" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg4"> | |
<inertial> | |
<origin | |
xyz="-0.0194650788238939 -0.020873954970826 -7.68169631265581E-07" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0103887475268772" /> | |
<inertia | |
ixx="4.25533620795254E-06" | |
ixy="4.28000315537551E-07" | |
ixz="3.55669966804303E-11" | |
iyy="5.11198464183838E-06" | |
iyz="1.6966101145556E-11" | |
izz="5.66771105896861E-06" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg4.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg4.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg4" | |
type="revolute"> | |
<origin | |
xyz="-0.092851 0.12598 -0.0012933" | |
rpy="1.5708 -4.2166E-17 -0.75961" /> | |
<parent | |
link="plate" /> | |
<child | |
link="leg4" /> | |
<axis | |
xyz="0 -1 0" /> | |
<limit | |
lower="-2.3304" | |
upper="0.81118" | |
effort="0" | |
velocity="0" /> | |
</joint> | |
<link | |
name="leg4-2"> | |
<inertial> | |
<origin | |
xyz="0.0214594300254638 -0.0183317135628296 -0.03443330603788" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0881030883884304" /> | |
<inertia | |
ixx="7.24415422275673E-05" | |
ixy="-5.00727595418128E-07" | |
ixz="-3.62431838370117E-05" | |
iyy="9.07410130364849E-05" | |
iyz="8.00591243685759E-07" | |
izz="3.68879753120674E-05" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg4-2.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg4-2.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg4-2" | |
type="fixed"> | |
<origin | |
xyz="-0.0480000000000018 -0.0229999999999998 -0.0179999999999931" | |
rpy="-1.57079632679489 -3.24185123190546E-14 3.14159265358978" /> | |
<parent | |
link="leg4" /> | |
<child | |
link="leg4-2" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg4-3"> | |
<inertial> | |
<origin | |
xyz="-0.0359347150645253 -0.0174214981616084 -1.96507761711928E-05" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0381656832424673" /> | |
<inertia | |
ixx="1.77506933674504E-05" | |
ixy="7.91671337076717E-07" | |
ixz="-1.84513450555655E-08" | |
iyy="0.000144038943168688" | |
iyz="1.87854291235263E-08" | |
izz="0.000154842632394857" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg4-3.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg4-3.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg4-3" | |
type="fixed"> | |
<origin | |
xyz="0.043901174256791 0 -0.0704392426057717" | |
rpy="-3.14159265358979 1.11545069820046 -3.14159265358979" /> | |
<parent | |
link="leg4-2" /> | |
<child | |
link="leg4-3" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg5"> | |
<inertial> | |
<origin | |
xyz="-0.019465078823893 -0.020873954970826 -7.68169634244101E-07" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0103887475268772" /> | |
<inertia | |
ixx="4.25533620795255E-06" | |
ixy="4.28000315537529E-07" | |
ixz="3.55669968491487E-11" | |
iyy="5.1119846418383E-06" | |
iyz="1.69661011986378E-11" | |
izz="5.66771105896853E-06" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg5.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg5.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg5" | |
type="revolute"> | |
<origin | |
xyz="-0.13664 -0.0058387 -0.0012933" | |
rpy="1.5708 -1.6728E-18 -0.027324" /> | |
<parent | |
link="plate" /> | |
<child | |
link="leg5" /> | |
<axis | |
xyz="0 -1 0" /> | |
<limit | |
lower="-1.5435" | |
upper="1.5981" | |
effort="0" | |
velocity="0" /> | |
</joint> | |
<link | |
name="leg5-2"> | |
<inertial> | |
<origin | |
xyz="0.0214594313679113 -0.0183317722316229 -0.0344333082501692" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0881034395082296" /> | |
<inertia | |
ixx="7.24420296858361E-05" | |
ixy="-5.007311181375E-07" | |
ixz="-3.62434033610348E-05" | |
iyy="9.07415293970138E-05" | |
iyz="8.00596837570718E-07" | |
izz="3.68881715116802E-05" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg5-2.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg5-2.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg5-2" | |
type="fixed"> | |
<origin | |
xyz="-0.0480000000000004 -0.0229999999999989 -0.0179999999999973" | |
rpy="-1.57079632679489 -1.33747179997812E-14 3.14159265358979" /> | |
<parent | |
link="leg5" /> | |
<child | |
link="leg5-2" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg5-3"> | |
<inertial> | |
<origin | |
xyz="0.0154035946948792 -0.0908054147304743 0.0205785030304097" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0381656853595186" /> | |
<inertia | |
ixx="0.00015100610702974" | |
ixy="-2.26105860629793E-05" | |
ixz="-1.13810785753231E-07" | |
iyy="2.15872233901235E-05" | |
iyz="7.8367472959624E-07" | |
izz="0.000144038945906619" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg5-3.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg5-3.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg5-3" | |
type="fixed"> | |
<origin | |
xyz="0.0191749371044288 -0.038 -0.120871857016401" | |
rpy="-1.5707963267949 0.287402496907164 7.99542279173875E-16" /> | |
<parent | |
link="leg5-2" /> | |
<child | |
link="leg5-3" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg6"> | |
<inertial> | |
<origin | |
xyz="-0.0194650788238929 -0.020873954970826 -7.68169635449734E-07" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0103887475268772" /> | |
<inertia | |
ixx="4.25533620795254E-06" | |
ixy="4.28000315537524E-07" | |
ixz="3.55669968962119E-11" | |
iyy="5.1119846418383E-06" | |
iyz="1.69661012322445E-11" | |
izz="5.66771105896854E-06" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg6.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg6.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg6" | |
type="revolute"> | |
<origin | |
xyz="-0.0928508382047849 -0.137658502549424 -0.0012932739517905" | |
rpy="1.5707963267949 4.03396070585492E-17 0.71924588488693" /> | |
<parent | |
link="plate" /> | |
<child | |
link="leg6" /> | |
<axis | |
xyz="0 -1 0" /> | |
<limit | |
lower="-2.29004221168184" | |
upper="0.851550441907963" | |
effort="0" | |
velocity="0" /> | |
</joint> | |
<link | |
name="leg6-2"> | |
<inertial> | |
<origin | |
xyz="0.0214594299057079 -0.018331713573828 -0.0344333058407594" | |
rpy="0 0 0" /> | |
<mass | |
value="0.0881030883528891" /> | |
<inertia | |
ixx="7.24415421382571E-05" | |
ixy="-5.00727460898789E-07" | |
ixz="-3.62431838053691E-05" | |
iyy="9.07410129529865E-05" | |
iyz="8.00591020851223E-07" | |
izz="3.68879752844111E-05" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg6-2.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg6-2.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg6-2" | |
type="fixed"> | |
<origin | |
xyz="-0.0480000000000009 -0.022999999999993 -0.017999999999999" | |
rpy="-1.57079632679489 -4.05231403988182E-15 3.14159265358976" /> | |
<parent | |
link="leg6" /> | |
<child | |
link="leg6-2" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
<link | |
name="leg6-3"> | |
<inertial> | |
<origin | |
xyz="0.0154035950183475 -0.0908054167024125 0.0205785018289934" | |
rpy="0 0 0" /> | |
<mass | |
value="0.03816568322164" /> | |
<inertia | |
ixx="0.00015100610339968" | |
ixy="-2.2610585628327E-05" | |
ixz="-1.13810518872766E-07" | |
iyy="2.15872223385083E-05" | |
iyz="7.83673113612187E-07" | |
izz="0.000144038943156826" /> | |
</inertial> | |
<visual> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg6-3.STL" /> | |
</geometry> | |
<material | |
name=""> | |
<color | |
rgba="1 1 1 1" /> | |
</material> | |
</visual> | |
<collision> | |
<origin | |
xyz="0 0 0" | |
rpy="0 0 0" /> | |
<geometry> | |
<mesh | |
filename="package://hexapod_launch/meshes/leg6-3.STL" /> | |
</geometry> | |
</collision> | |
</link> | |
<joint | |
name="leg6-3" | |
type="fixed"> | |
<origin | |
xyz="0.0191749371044289 -0.038 -0.120871857016401" | |
rpy="-1.5707963267949 0.287402496907163 5.78854138768416E-16" /> | |
<parent | |
link="leg6-2" /> | |
<child | |
link="leg6-3" /> | |
<axis | |
xyz="0 0 0" /> | |
</joint> | |
</robot> |
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