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4.urdf
256 lines (256 loc) · 9.45 KB
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4.urdf
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<robot name = "robot">
<link name="Start">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 0.7755555202687354 1.4542073176366395" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 0.7755555202687354 1.4542073176366395" />
</geometry>
</collision>
</link>
<link name="Link1">
<inertial>
<origin xyz="-0.5299857667207379 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-0.5299857667207379 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.8760162531614937 0.6353518991907352 0.9391204795650361" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.5299857667207379 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.8760162531614937 0.6353518991907352 0.9391204795650361" />
</geometry>
</collision>
</link>
<link name="Link2">
<inertial>
<origin xyz="0 0 0.9003703749556335" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0.9003703749556335" rpy="0 0 0"/>
<geometry>
<box size="0.95819773076701 0.98680882561835 1.3829004874443531" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.9003703749556335" rpy="0 0 0"/>
<geometry>
<box size="0.95819773076701 0.98680882561835 1.3829004874443531" />
</geometry>
</collision>
</link>
<link name="Link3">
<inertial>
<origin xyz="0 -0.735812348742814 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 -0.735812348742814 0" rpy="0 0 0"/>
<geometry>
<box size="1.993590536095618 1.471624697485628 1.8582131835104905" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.735812348742814 0" rpy="0 0 0"/>
<geometry>
<box size="1.993590536095618 1.471624697485628 1.8582131835104905" />
</geometry>
</collision>
</link>
<link name="Link4">
<inertial>
<origin xyz="0.9537280772548464 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0.9537280772548464 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.5705909832760687 0.9781745532390533 1.114034592809385" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.9537280772548464 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.5705909832760687 0.9781745532390533 1.114034592809385" />
</geometry>
</collision>
</link>
<link name="Link5">
<inertial>
<origin xyz="0 0 -0.196717974910957" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.196717974910957" rpy="0 0 0"/>
<geometry>
<box size="0.3882665464414199 0.9706856321371817 0.393435949821914" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.196717974910957" rpy="0 0 0"/>
<geometry>
<box size="0.3882665464414199 0.9706856321371817 0.393435949821914" />
</geometry>
</collision>
</link>
<link name="Link6">
<inertial>
<origin xyz="0 0 -0.9066790824295589" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.9066790824295589" rpy="0 0 0"/>
<geometry>
<box size="0.3791331900300262 1.7579807439256812 1.8133581648591177" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.9066790824295589" rpy="0 0 0"/>
<geometry>
<box size="0.3791331900300262 1.7579807439256812 1.8133581648591177" />
</geometry>
</collision>
</link>
<link name="Link7">
<inertial>
<origin xyz="0 -0.7749667330807363 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 -0.7749667330807363 0" rpy="0 0 0"/>
<geometry>
<box size="1.3642186180669087 1.5499334661614725 1.9262627210565832" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.7749667330807363 0" rpy="0 0 0"/>
<geometry>
<box size="1.3642186180669087 1.5499334661614725 1.9262627210565832" />
</geometry>
</collision>
</link>
<link name="Link8">
<inertial>
<origin xyz="0 0.3310630720025759 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0.3310630720025759 0" rpy="0 0 0"/>
<geometry>
<box size="1.4886731034106473 0.6621261440051518 0.22880211330657257" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0.3310630720025759 0" rpy="0 0 0"/>
<geometry>
<box size="1.4886731034106473 0.6621261440051518 0.22880211330657257" />
</geometry>
</collision>
</link>
<joint name="Start_Link1" type="revolute">
<parent link="Start"/>
<child link="Link1"/>
<origin rpy="0 0 0" xyz="-0.5 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link2" type="revolute">
<parent link="Start"/>
<child link="Link2"/>
<origin rpy="0 0 0" xyz="0 0 0.5" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link2_Link3" type="revolute">
<parent link="Link2"/>
<child link="Link3"/>
<origin rpy="0 0 0" xyz="0 -0.32372737663009826 0.9003703749556335" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link2_Link4" type="revolute">
<parent link="Link2"/>
<child link="Link4"/>
<origin rpy="0 0 0" xyz="0.479098865383505 0 0.9003703749556335" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link4_Link5" type="revolute">
<parent link="Link4"/>
<child link="Link5"/>
<origin rpy="0 0 0" xyz="0.9537280772548464 0 -0.5570172964046926" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link1_Link6" type="revolute">
<parent link="Link1"/>
<child link="Link6"/>
<origin rpy="0 0 0" xyz="-0.5299857667207379 0 -0.46956023978251804" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link4_Link7" type="revolute">
<parent link="Link4"/>
<child link="Link7"/>
<origin rpy="0 0 0" xyz="0.9537280772548464 -0.48908727661952667 0" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link4_Link8" type="revolute">
<parent link="Link4"/>
<child link="Link8"/>
<origin rpy="0 0 0" xyz="0.9537280772548464 0.48908727661952667 0" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
</robot>