-
Notifications
You must be signed in to change notification settings - Fork 0
/
Atlas.xml
54 lines (47 loc) · 1.38 KB
/
Atlas.xml
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
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
<?xml version="1.0" encoding="UTF-8"?>
<robot name="Atlas" legsNo="6">
<robotBody name="body">
<inertial>
<mass value="17.882"/>
</inertial>
<collision>
<origin xyz="0 2 0" rpy="0 0 0"/>
<geometry>
<box xyz="0.2 0.1 0.13"/>
</geometry>
<material name="Cyan">
<color r="0" g="1.0" b="1.0"/>
</material>
</collision>
<visualization>
<model3ds filename="../../resources/Atlas_Model/pelvis.3ds" scale="25.4 25.4 25.4" xyz="0 0 0" rpy="0 0 0"/>
</visualization>
</robotBody>
<!--
**********************************************************************
LEGS
**********************************************************************
-->
<!-- *** TORSO *** -->
<leg type="antropomorph" config="Atlas_torso.xml">
<attach xyz="-0.0125 0 0.1" rpy="0 0 0"/>
</leg>
<!-- *** LEGS *** -->
<leg type="antropomorph" config="Atlas_lLeg.xml">
<attach xyz="0 0.09 0" rpy="0 0 0"/>
</leg>
<leg type="antropomorph" config="Atlas_rLeg.xml">
<attach xyz="0 -0.09 0" rpy="0 0 0"/>
</leg>
<!-- *** ARMS *** -->
<leg type="antropomorph" config="Atlas_lArm.xml">
<attach xyz="0.03 0.125 0.3" rpy="0 0 0"/>
</leg>
<leg type="antropomorph" config="Atlas_rArm.xml">
<attach xyz="0.03 -0.125 0.3" rpy="0 0 0"/>
</leg>
<!-- *** HEAD *** -->
<leg type="antropomorph" config="Atlas_head.xml">
<attach xyz="0.13 0 0.53" rpy="0 0 0"/>
</leg>
</robot>