488 lines
13 KiB
XML
488 lines
13 KiB
XML
<?xml version="1.0"?>
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<robot name="dual_arm_leg_robot">
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<!-- 基础底座 -->
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.3 0.3 0.1"/>
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</geometry>
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<material name="gray">
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<color rgba="0.5 0.5 0.5 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.3 0.3 0.1"/>
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</geometry>
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</collision>
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</link>
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<!-- 左手 (6自由度) -->
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<!-- 肩关节1 - 旋转 -->
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<joint name="left_arm_joint1" type="revolute">
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<parent link="base_link"/>
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<child link="left_arm_link1"/>
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<origin xyz="0.1 0.15 0.05" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="left_arm_link1">
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<visual>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 肩关节2 -->
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<joint name="left_arm_joint2" type="revolute">
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<parent link="left_arm_link1"/>
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<child link="left_arm_link2"/>
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<origin xyz="0 0 0.2" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="left_arm_link2">
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<visual>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 肘关节 -->
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<joint name="left_arm_joint3" type="revolute">
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<parent link="left_arm_link2"/>
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<child link="left_arm_link3"/>
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<origin xyz="0 0 0.3" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="left_arm_link3">
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<visual>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 腕关节1 -->
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<joint name="left_arm_joint4" type="revolute">
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<parent link="left_arm_link3"/>
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<child link="left_arm_link4"/>
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<origin xyz="0 0 0.3" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="left_arm_link4">
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<visual>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 腕关节2 -->
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<joint name="left_arm_joint5" type="revolute">
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<parent link="left_arm_link4"/>
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<child link="left_arm_link5"/>
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<origin xyz="0 0 0.2" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="left_arm_link5">
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<visual>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 腕关节3 -->
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<joint name="left_arm_joint6" type="revolute">
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<parent link="left_arm_link5"/>
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<child link="left_arm_end_effector"/>
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<origin xyz="0 0 0.2" rpy="0 0 0"/>
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<limit lower="-3.14" upper="3.14" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="left_arm_end_effector">
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<visual>
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<origin xyz="0 0 0.05" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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<material name="cyan">
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<color rgba="0 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.05" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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</collision>
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</link>
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<!-- 右手 (6自由度) -->
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<!-- 肩关节1 - 旋转 -->
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<joint name="right_arm_joint1" type="revolute">
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<parent link="base_link"/>
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<child link="right_arm_link1"/>
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<origin xyz="0.1 -0.15 0.05" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="right_arm_link1">
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<visual>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 肩关节2 -->
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<joint name="right_arm_joint2" type="revolute">
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<parent link="right_arm_link1"/>
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<child link="right_arm_link2"/>
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<origin xyz="0 0 0.2" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="right_arm_link2">
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<visual>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 肘关节 -->
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<joint name="right_arm_joint3" type="revolute">
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<parent link="right_arm_link2"/>
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<child link="right_arm_link3"/>
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<origin xyz="0 0 0.3" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="right_arm_link3">
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<visual>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 腕关节1 -->
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<joint name="right_arm_joint4" type="revolute">
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<parent link="right_arm_link3"/>
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<child link="right_arm_link4"/>
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<origin xyz="0 0 0.3" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="right_arm_link4">
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<visual>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 腕关节2 -->
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<joint name="right_arm_joint5" type="revolute">
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<parent link="right_arm_link4"/>
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<child link="right_arm_link5"/>
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<origin xyz="0 0 0.2" rpy="0 0 0"/>
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<limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="right_arm_link5">
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<visual>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.2" radius="0.02"/>
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</geometry>
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</collision>
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</link>
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<!-- 腕关节3 -->
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<joint name="right_arm_joint6" type="revolute">
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<parent link="right_arm_link5"/>
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<child link="right_arm_end_effector"/>
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<origin xyz="0 0 0.2" rpy="0 0 0"/>
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<limit lower="-3.14" upper="3.14" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="right_arm_end_effector">
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<visual>
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<origin xyz="0 0 0.05" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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<material name="magenta">
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<color rgba="1 0 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.05" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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</collision>
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</link>
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<!-- 左腿 (3自由度) -->
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<!-- 髋关节1 -->
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<joint name="left_leg_joint1" type="revolute">
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<parent link="base_link"/>
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<child link="left_leg_link1"/>
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<origin xyz="-0.1 0.1 0" rpy="0 0 0"/>
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<limit lower="-0.785" upper="0.785" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="left_leg_link1">
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<visual>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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</collision>
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</link>
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<!-- 膝关节 -->
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<joint name="left_leg_joint2" type="revolute">
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<parent link="left_leg_link1"/>
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<child link="left_leg_link2"/>
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<origin xyz="0 0 -0.3" rpy="0 0 0"/>
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<limit lower=0 upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="left_leg_link2">
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<visual>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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</collision>
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</link>
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<!-- 踝关节 -->
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<joint name="left_leg_joint3" type="revolute">
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<parent link="left_leg_link2"/>
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<child link="left_foot"/>
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<origin xyz="0 0 -0.3" rpy="0 0 0"/>
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<limit lower="-0.52" upper="0.52" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="left_foot">
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<visual>
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<origin xyz="0 0 -0.05" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.08 0.03"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin xyz="0 0 -0.05" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.08 0.03"/>
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</geometry>
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</collision>
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</link>
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<!-- 右腿 (3自由度) -->
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<!-- 髋关节1 -->
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<joint name="right_leg_joint1" type="revolute">
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<parent link="base_link"/>
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<child link="right_leg_link1"/>
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<origin xyz="-0.1 -0.1 0" rpy="0 0 0"/>
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<limit lower="-0.785" upper="0.785" effort="100" velocity="1.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="right_leg_link1">
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<visual>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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<material name="yellow">
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<color rgba="1 1 0 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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</collision>
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</link>
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<!-- 膝关节 -->
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<joint name="right_leg_joint2" type="revolute">
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<parent link="right_leg_link1"/>
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<child link="right_leg_link2"/>
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<origin xyz="0 0 -0.3" rpy="0 0 0"/>
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<limit lower=0 upper="1.57" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="right_leg_link2">
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<visual>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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<material name="yellow"/>
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</visual>
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<collision>
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<origin xyz="0 0 -0.15" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.3" radius="0.025"/>
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</geometry>
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</collision>
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</link>
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<!-- 踝关节 -->
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<joint name="right_leg_joint3" type="revolute">
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<parent link="right_leg_link2"/>
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<child link="right_foot"/>
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<origin xyz="0 0 -0.3" rpy="0 0 0"/>
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<limit lower="-0.52" upper="0.52" effort="100" velocity="1.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="right_foot">
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<visual>
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<origin xyz="0 0 -0.05" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.08 0.03"/>
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</geometry>
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<material name="yellow"/>
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</visual>
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<collision>
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<origin xyz="0 0 -0.05" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.08 0.03"/>
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</geometry>
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</collision>
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</link>
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</robot>
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