Created
April 4, 2023 17:11
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`drake` unable to instantiate joint actuators when loading the following `urdf`
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| <?xml version="1.0" ?> | |
| <!-- =================================================================================== --> | |
| <!-- | This is a newer version of the Nextage robot from Vlad's git repo | --> | |
| <!-- | The urdf is compiled from xarco file, which is problematic to pybullet | --> | |
| <!-- | This document was autogenerated by xacro from NextageAOpen.urdf.xacro | --> | |
| <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> | |
| <!-- | Note: in this urdf, there are 1 plus joint, 17 in total, "base_to_dummy" | --> | |
| <!-- =================================================================================== --> | |
| <robot name="NextageAOpen" | |
| xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" | |
| xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" | |
| xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" | |
| xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" | |
| xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" | |
| xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" | |
| xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" | |
| xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" | |
| xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" | |
| xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" | |
| xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" | |
| xmlns:xi="http://www.w3.org/2001/xinclude"> | |
| <material name="Black"> | |
| <color rgba="0.0 0.0 0.0 1.0"/> | |
| </material> | |
| <material name="Blue"> | |
| <color rgba="0.0 0.0 0.8 1.0"/> | |
| </material> | |
| <material name="Green"> | |
| <color rgba="0.0 0.8 0.0 1.0"/> | |
| </material> | |
| <material name="LightGrey"> | |
| <color rgba="0.6 0.6 0.6 1.0"/> | |
| </material> | |
| <material name="Grey"> | |
| <color rgba="0.4 0.4 0.4 1.0"/> | |
| </material> | |
| <material name="DarkGrey"> | |
| <color rgba="0.2 0.2 0.2 1.0"/> | |
| </material> | |
| <material name="Red"> | |
| <color rgba="0.8 0.0 0.0 1.0"/> | |
| </material> | |
| <material name="White"> | |
| <color rgba="1.0 1.0 1.0 1.0"/> | |
| </material> | |
| <link name="base_link"/> | |
| <joint name="base_to_dummy" type="fixed"> | |
| <parent link="base_link"/> | |
| <child link="nextage_base"/> | |
| </joint> | |
| <link name="nextage_base"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/BASE_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="-0.19 0 -0.435"/> | |
| <geometry> | |
| <box size="0.585 0.585 0.72"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0675 0.2575 -0.82"/> | |
| <geometry> | |
| <sphere radius="0.03"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0675 -0.2575 -0.82"/> | |
| <geometry> | |
| <sphere radius="0.03"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="-0.4475 0.2575 -0.82"/> | |
| <geometry> | |
| <sphere radius="0.03"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="-0.4475 -0.2575 -0.82"/> | |
| <geometry> | |
| <sphere radius="0.03"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="40"/> | |
| <origin rpy="0 0 0" xyz="-0.19 0 -0.435"/> | |
| <inertia ixx="2.86875" ixy="0.0" ixz="0.0" iyy="2.86875" iyz="0.0" izz="2.2815"/> | |
| </inertial> | |
| </link> | |
| <joint name="base_to_waist" type="fixed"> | |
| <parent link="nextage_base"/> | |
| <child link="WAIST"/> | |
| </joint> | |
| <link name="WAIST"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/WAIST_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0 0 0.098"/> | |
| <geometry> | |
| <cylinder length="0.376" radius="0.06"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="5"/> | |
| <origin rpy="0 0 0" xyz="0 0 0.15"/> | |
| <inertia ixx="0.05416666666666667" ixy="0.0" ixz="0.0" iyy="0.05416666666666667" iyz="0.0" izz="0.03333333333333334"/> | |
| </inertial> | |
| </link> | |
| <link name="CHEST_JOINT0_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/CHEST_JOINT0_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.1575"/> | |
| <geometry> | |
| <cylinder length="0.385" radius="0.08"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.04 0.135 0.0423"/> | |
| <geometry> | |
| <cylinder length="0.09" radius="0.05"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.04 -0.135 0.0423"/> | |
| <geometry> | |
| <cylinder length="0.09" radius="0.05"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.055"/> | |
| <geometry> | |
| <box size="0.23 0.18 0.12"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="-0.04 0 0.2325"/> | |
| <geometry> | |
| <box size="0.25 0.18 0.245"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="-0.1525 0 0.279"/> | |
| <geometry> | |
| <box size="0.17 0.29 0.225"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.03 0 0.315"/> | |
| <geometry> | |
| <box size="0.085 0.5 0.0365"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="10.0"/> | |
| <origin rpy="0 -0 0" xyz="0 0 0.2"/> | |
| <inertia ixx="0.12708333333333333" ixy="0.0" ixz="0.0" iyy="0.12708333333333333" iyz="0.0" izz="0.10416666666666667"/> | |
| </inertial> | |
| </link> | |
| <link name="HEAD_JOINT0_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/HEAD_JOINT0_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.57079 0 0" xyz="0 0.01 0.08"/> | |
| <geometry> | |
| <cylinder length="0.135" radius="0.035"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.317929"/> | |
| <origin rpy="0 -0 0" xyz="0 0.00547848 0"/> | |
| <inertia ixx="0.0005298816666666668" ixy="0.0" ixz="0.0" iyy="0.0005298816666666668" iyz="0.0" izz="0.0005298816666666668"/> | |
| </inertial> | |
| </link> | |
| <link name="HEAD_JOINT1_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/HEAD_JOINT1_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0.26 0" xyz="-0.05 0 0.12"/> | |
| <geometry> | |
| <box size="0.27 0.22 0.115"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.4"/> | |
| <origin rpy="0 0.26 0" xyz="-0.05 0 0.12"/> | |
| <inertia ixx="0.002054166666666667" ixy="0.0" ixz="0.0" iyy="0.0028708333333333333" iyz="0.0" izz="0.004043333333333334"/> | |
| </inertial> | |
| </link> | |
| <link name="LARM_JOINT0_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT0_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0.00775 0.095"/> | |
| <geometry> | |
| <box size="0.1 0.0815 0.19"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.57079 0 0" xyz="0 0.0875 0.066"/> | |
| <geometry> | |
| <cylinder length="0.175" radius="0.042"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="-0.7 0 0" xyz="0 0.125 0.145"/> | |
| <geometry> | |
| <box size="0.048 0.1 0.035"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="1.32626"/> | |
| <origin rpy="0 -0 0" xyz="0.0 0.05 0.05"/> | |
| <inertia ixx="0.00207537" ixy="0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="-4.57e-05" izz="0.00141912"/> | |
| </inertial> | |
| </link> | |
| <link name="LARM_JOINT1_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT1_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0.3 0" xyz="-0.043 0.12 -0.13"/> | |
| <geometry> | |
| <box size="0.08 0.11 0.28"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0.45 0" xyz="-0.03 0.0518 -0.236"/> | |
| <geometry> | |
| <box size="0.122 0.0338 0.062"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="1.14898"/> | |
| <origin rpy="0 -0 0" xyz="-0.04 0.1 -0.12"/> | |
| <inertia ixx="0.0154168" ixy="9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="0.00213719" izz="0.0012658"/> | |
| </inertial> | |
| </link> | |
| <link name="LARM_JOINT2_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT2_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.57079 0 0" xyz="0 0.025 0"/> | |
| <geometry> | |
| <cylinder length="0.11" radius="0.049"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0945 0.015 -0.03"/> | |
| <geometry> | |
| <box size="0.119 0.125 0.1"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 1.57079 0" xyz="0.17 0 -0.03"/> | |
| <geometry> | |
| <cylinder length="0.04" radius="0.047"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.577518"/> | |
| <origin rpy="0 -0 0" xyz="0.1 0.01167107 -0.04"/> | |
| <inertia ixx="0.00143966" ixy="-3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="-7.596e-05" izz="0.0001972"/> | |
| </inertial> | |
| </link> | |
| <link name="LARM_JOINT3_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT3_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.57079 0 0" xyz="0.1495 -0.003 0"/> | |
| <geometry> | |
| <cylinder length="0.12" radius="0.035"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 1.57079 0" xyz="0.075 0.0 0.018"/> | |
| <geometry> | |
| <cylinder length="0.15" radius="0.04"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0585 0.01 0.0185"/> | |
| <geometry> | |
| <box size="0.093 0.112 0.037"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.457418"/> | |
| <origin rpy="0 -0 0" xyz="0.1 -0.00395812 -0.00273"/> | |
| <inertia ixx="0.00069205" ixy="3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="-1.915e-05" izz="0.00013509"/> | |
| </inertial> | |
| </link> | |
| <link name="LARM_JOINT4_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT4_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 -0.002 -0.06"/> | |
| <geometry> | |
| <box size="0.04 0.118 0.06"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 -0.08"/> | |
| <geometry> | |
| <cylinder length="0.08" radius="0.037"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.418434"/> | |
| <origin rpy="0 -0 0" xyz="0.00243131 0.00379733 -0.0577036"/> | |
| <inertia ixx="0.00052016" ixy="1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="-5.377e-05" izz="0.00014004"/> | |
| </inertial> | |
| </link> | |
| <link name="LARM_JOINT5_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT5_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/L_CAM.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 -0.02"/> | |
| <geometry> | |
| <cylinder length="0.07" radius="0.037"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0525 0.029 -0.02"/> | |
| <geometry> | |
| <box size="0.057 0.106 0.042"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="1.05156"/> | |
| <origin rpy="0 -0 0" xyz="0.0 0.0 -0.08"/> | |
| <inertia ixx="0.00194072" ixy="1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="1.2e-07" izz="0.00035788"/> | |
| </inertial> | |
| </link> | |
| <link name="RARM_JOINT0_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT0_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 -0.00775 0.095"/> | |
| <geometry> | |
| <box size="0.1 0.0815 0.19"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.57079 0 0" xyz="0 -0.0875 0.066"/> | |
| <geometry> | |
| <cylinder length="0.175" radius="0.042"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.7 0 0" xyz="0 -0.125 0.145"/> | |
| <geometry> | |
| <box size="0.048 0.1 0.035"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="1.32626"/> | |
| <origin rpy="0 -0 0" xyz="0.0 -0.05 0.05"/> | |
| <inertia ixx="0.00207537" ixy="-0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="4.57e-05" izz="0.00141912"/> | |
| </inertial> | |
| </link> | |
| <link name="RARM_JOINT1_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT1_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0.3 0" xyz="-0.043 -0.12 -0.13"/> | |
| <geometry> | |
| <box size="0.08 0.11 0.28"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0.45 0" xyz="-0.03 -0.0518 -0.236"/> | |
| <geometry> | |
| <box size="0.122 0.0338 0.062"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="1.14898"/> | |
| <origin rpy="0 -0 0" xyz="-0.04 -0.1 -0.12"/> | |
| <inertia ixx="0.0154168" ixy="-9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="-0.00213719" izz="0.0012658"/> | |
| </inertial> | |
| </link> | |
| <link name="RARM_JOINT2_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT2_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.57079 0 0" xyz="0 -0.025 0"/> | |
| <geometry> | |
| <cylinder length="0.11" radius="0.049"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0945 -0.015 -0.03"/> | |
| <geometry> | |
| <box size="0.119 0.125 0.1"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 1.57079 0" xyz="0.17 0 -0.03"/> | |
| <geometry> | |
| <cylinder length="0.04" radius="0.047"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.577518"/> | |
| <origin rpy="0 -0 0" xyz="0.1 -0.01167107 -0.04"/> | |
| <inertia ixx="0.00143966" ixy="3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="7.596e-05" izz="0.0001972"/> | |
| </inertial> | |
| </link> | |
| <link name="RARM_JOINT3_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT3_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="1.57079 0 0" xyz="0.1495 -0.003 0"/> | |
| <geometry> | |
| <cylinder length="0.12" radius="0.035"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 1.57079 0" xyz="0.075 0.0 0.018"/> | |
| <geometry> | |
| <cylinder length="0.15" radius="0.04"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0585 -0.01 0.0185"/> | |
| <geometry> | |
| <box size="0.093 0.112 0.037"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.457418"/> | |
| <origin rpy="0 -0 0" xyz="0.1 0.00395812 -0.00273"/> | |
| <inertia ixx="0.00069205" ixy="-3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="1.915e-05" izz="0.00013509"/> | |
| </inertial> | |
| </link> | |
| <link name="RARM_JOINT4_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT4_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 -0.002 -0.06"/> | |
| <geometry> | |
| <box size="0.04 0.118 0.06"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 -0.08"/> | |
| <geometry> | |
| <cylinder length="0.08" radius="0.037"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.418434"/> | |
| <origin rpy="0 -0 0" xyz="0.00243131 -0.00379733 -0.0577036"/> | |
| <inertia ixx="0.00052016" ixy="-1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="5.377e-05" izz="0.00014004"/> | |
| </inertial> | |
| </link> | |
| <link name="RARM_JOINT5_Link"> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT5_Link_mesh.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="package://nextagea_description/urdf/meshes/R_CAM.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 -0.02"/> | |
| <geometry> | |
| <cylinder length="0.07" radius="0.037"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0525 -0.029 -0.02"/> | |
| <geometry> | |
| <box size="0.057 0.106 0.042"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="1.05156"/> | |
| <origin rpy="0 -0 0" xyz="0.0 0.0 -0.08"/> | |
| <inertia ixx="0.00194072" ixy="-1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="-1.2e-07" izz="0.00035788"/> | |
| </inertial> | |
| </link> | |
| <joint name="CHEST_JOINT0" type="revolute"> | |
| <parent link="WAIST"/> | |
| <child link="CHEST_JOINT0_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0 0.267"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="100" lower="-3.14159" upper="3.14159" velocity="1.0"/> | |
| <dynamics damping="0.2" friction="0"/> | |
| </joint> | |
| <joint name="HEAD_JOINT0" type="revolute"> | |
| <parent link="CHEST_JOINT0_Link"/> | |
| <child link="HEAD_JOINT0_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0 0.302"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="100" lower="-1.22173" upper="1.22173" velocity="1.0"/> | |
| </joint> | |
| <joint name="HEAD_JOINT1" type="revolute"> | |
| <parent link="HEAD_JOINT0_Link"/> | |
| <child link="HEAD_JOINT1_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0 0.08"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="100" lower="-0.401425" upper="1.308997" velocity="1.0"/> | |
| </joint> | |
| <joint name="LARM_JOINT0" type="revolute"> | |
| <parent link="CHEST_JOINT0_Link"/> | |
| <child link="LARM_JOINT0_Link"/> | |
| <origin rpy="0 0 0" xyz="0.04 0.135 0.1015"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="150" lower="-1.5707963" upper="1.5707963" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="LARM_JOINT1" type="revolute"> | |
| <parent link="LARM_JOINT0_Link"/> | |
| <child link="LARM_JOINT1_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0 0.066"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150" lower="-2.44346" upper="1.0471975" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="LARM_JOINT2" type="revolute"> | |
| <parent link="LARM_JOINT1_Link"/> | |
| <child link="LARM_JOINT2_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0.095 -0.25"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150" lower="-1.22173" upper="1.5707963" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="LARM_JOINT3" type="revolute"> | |
| <parent link="LARM_JOINT2_Link"/> | |
| <child link="LARM_JOINT3_Link"/> | |
| <origin rpy="0 0 0" xyz="0.1805 0 -0.03"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="150" lower="-3.1415926" upper="1.7453292" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="LARM_JOINT4" type="revolute"> | |
| <parent link="LARM_JOINT3_Link"/> | |
| <child link="LARM_JOINT4_Link"/> | |
| <origin rpy="0 0 0" xyz="0.1495 0 0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150" lower="-3.57792" upper="1.134464" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="LARM_JOINT5" type="revolute"> | |
| <parent link="LARM_JOINT4_Link"/> | |
| <child link="LARM_JOINT5_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0 -0.1335"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="150" lower="-2.7123889" upper="2.7123889" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="RARM_JOINT0" type="revolute"> | |
| <parent link="CHEST_JOINT0_Link"/> | |
| <child link="RARM_JOINT0_Link"/> | |
| <origin rpy="0 0 0" xyz="0.04 -0.135 0.1015"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="150" lower="-1.570796" upper="1.570796" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="RARM_JOINT1" type="revolute"> | |
| <parent link="RARM_JOINT0_Link"/> | |
| <child link="RARM_JOINT1_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0 0.066"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150" lower="-2.44346" upper="1.047197" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="RARM_JOINT2" type="revolute"> | |
| <parent link="RARM_JOINT1_Link"/> | |
| <child link="RARM_JOINT2_Link"/> | |
| <origin rpy="0 0 0" xyz="0 -0.095 -0.25"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150" lower="-1.22173" upper="1.570796" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="RARM_JOINT3" type="revolute"> | |
| <parent link="RARM_JOINT2_Link"/> | |
| <child link="RARM_JOINT3_Link"/> | |
| <origin rpy="0 0 0" xyz="0.1805 0 -0.03"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="150" lower="-1.74532" upper="3.141592" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="RARM_JOINT4" type="revolute"> | |
| <parent link="RARM_JOINT3_Link"/> | |
| <child link="RARM_JOINT4_Link"/> | |
| <origin rpy="0 0 0" xyz="0.1495 0 0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150" lower="-3.5779" upper="1.134464" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| <joint name="RARM_JOINT5" type="revolute"> | |
| <parent link="RARM_JOINT4_Link"/> | |
| <child link="RARM_JOINT5_Link"/> | |
| <origin rpy="0 0 0" xyz="0 0 -0.1335"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="150" lower="-2.712388" upper="2.712388" velocity="1.0"/> | |
| <dynamics damping="0.5" friction="0.0"/> | |
| </joint> | |
| </robot> |
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