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<?xml version='1.0' encoding='utf-8'?>
<robot name="sts3215">
<material name="black">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<material name="green">
<color rgba="0.06 0.4 0.1 1.0"/>
</material>
<link name="Base">
<visual>
<origin xyz="0 0 -0.01" rpy="-1.57079 0 0"/>
<geometry>
<mesh filename="bambot_assets/Base_Motor.stl"/>
</geometry>
<material name="black"/>
</visual>
</link>
<link name="Rotation_Pitch">
<inertial>
<mass value="0.119226"/>
<origin xyz="-9.07886e-05 0.0590972 0.01089" rpy="0 0 0"/>
<inertia ixx="5.94278e-05" ixy="0" ixz="0" iyy="5.89975e-05" iyz="0" izz="3.13712e-05"/>
</inertial>
<visual>
<geometry>
<box size="0.07 0.005 0.021"/>
</geometry>
<material name="green"/>
</visual>
</link>
<joint name="Rotation" type="revolute">
<parent link="Base"/>
<child link="Rotation_Pitch"/>
<origin xyz="0 0.065 0.036" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-3.14158" upper="3.14158" effort="35" velocity="1"/>
</joint>
</robot> |