blob: a3ee524f0f886135a8fdbb6a1e2ca1acb10a5667 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
|
<robot name="dumpUrdf">
<link name="chest" >
<inertial>
<origin rpy = "0 0 0" xyz = "0.000000 0.00000 0.000000" />
<mass value = "4.000000" />
<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
</inertial>
<collision>
<origin rpy = "0 0 0" xyz = "0.000000 0.00000 0.000000" />
<geometry>
<box size="0.6 0.6 0.6"/>
</geometry>
</collision>
</link>
<link name="neck" >
<inertial>
<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.30000" />
<mass value = "1.00000" />
<inertia ixx = "0.01" ixy = "0" ixz = "0" iyy = "0.001" iyz = "0" izz = "0.001" />
</inertial>
<collision>
<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.30000" />
<geometry>
<box size="0.1 0.2 0.6"/>
</geometry>
</collision>
</link>
<joint name="neck" type="spherical" >
<parent link="chest" />
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
<child link="neck" />
<origin rpy = "0 0 0" xyz = "0.000000 0.0 1.000000" />
<axis xyz="0 0 1"/>
</joint>
</robot>
|
