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2026-09-10 12:19:59 +03:00
commit 1d1416d5d8
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3DV2/urdf/assets/body.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "f57a94a4fea42ed7556b7dba",
"elementId": "146bbab0692e9f239aec3d70",
"fullConfiguration": "default",
"id": "MtOrKNBIMUYTFVI92",
"isStandardContent": false,
"name": "body <1>",
"partId": "S4BXk",
"suppressed": false,
"type": "Part"
}
3DV2/urdf/assets/body.stl
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3DV2/urdf/assets/coxa.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "f57a94a4fea42ed7556b7dba",
"elementId": "4d9ee55a87f6d7d9fad606e1",
"fullConfiguration": "default",
"id": "M1zS0Pjy1uGe7Kay+",
"isStandardContent": false,
"name": "coxa <4>",
"partId": "RADf",
"suppressed": false,
"type": "Part"
}
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3DV2/urdf/assets/coxa__2.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "f57a94a4fea42ed7556b7dba",
"elementId": "3dd49b7ff17a5efa716a1a9c",
"fullConfiguration": "default",
"id": "MsYLJvNKZFtLmR5J2",
"isStandardContent": false,
"name": "coxa <6>",
"partId": "RYDL",
"suppressed": false,
"type": "Part"
}
3DV2/urdf/assets/coxa__2.stl
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3DV2/urdf/assets/femur.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "f57a94a4fea42ed7556b7dba",
"elementId": "2d2e4344d46300191ba32ba6",
"fullConfiguration": "default",
"id": "M2P88JoDrZUkmwu09",
"isStandardContent": false,
"name": "femur <4>",
"partId": "RtDf",
"suppressed": false,
"type": "Part"
}
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3DV2/urdf/assets/femur__2.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "f57a94a4fea42ed7556b7dba",
"elementId": "754e7fb04dd8060a86413d63",
"fullConfiguration": "default",
"id": "M7yPzAffUhgBrSPSU",
"isStandardContent": false,
"name": "femur <6>",
"partId": "R1DX",
"suppressed": false,
"type": "Part"
}
3DV2/urdf/assets/femur__2.stl
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3DV2/urdf/assets/tibia.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "f57a94a4fea42ed7556b7dba",
"elementId": "a4763a019883de81f1470c6f",
"fullConfiguration": "default",
"id": "M36cjh7Y+TWjney3H",
"isStandardContent": false,
"name": "tibia <4>",
"partId": "RmEP",
"suppressed": false,
"type": "Part"
}
3DV2/urdf/assets/tibia.stl
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3DV2/urdf/assets/tibia__2.part
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{
"configuration": "default",
"documentId": "ed0a3b786fedc3f5a347f5b7",
"documentMicroversion": "f57a94a4fea42ed7556b7dba",
"elementId": "a42760ede9763eea7ad60151",
"fullConfiguration": "default",
"id": "MHhLAY6k5vbrH0X3J",
"isStandardContent": false,
"name": "tibia <6>",
"partId": "RFFH",
"suppressed": false,
"type": "Part"
}
3DV2/urdf/assets/tibia__2.stl
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3DV2/urdf/blender/body.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.301961_0.301961_0.301961_0.000000_0.006
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.302000 0.302000 0.302000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/blender/body.obj
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3DV2/urdf/blender/coxa.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/blender/coxa.obj
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3DV2/urdf/blender/coxa__2.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.004
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/blender/coxa__2.obj
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3DV2/urdf/blender/femur.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.301961_0.301961_0.301961_0.000000_0.007
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.302000 0.302000 0.302000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/blender/femur.obj
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3DV2/urdf/blender/femur__2.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.301961_0.301961_0.301961_0.000000_0.008
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.302000 0.302000 0.302000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/blender/femur__2.obj
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3DV2/urdf/blender/tibia.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.005
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/blender/tibia.obj
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3DV2/urdf/blender/tibia__2.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.006
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/blender/tibia__2.obj
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3DV2/urdf/config.json
Executable
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{
// Onshape URL of the assembly
"url": "https://cad.onshape.com/documents/ed0a3b786fedc3f5a347f5b7/w/3def9d92618f589fa5e565cb/e/08b151d8d146e7283193b0e7",
// Output format
"output_format": "urdf"
}
3DV2/urdf/env
Executable
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export ONSHAPE_API=https://cad.onshape.com
export ONSHAPE_ACCESS_KEY=on_Tr2aRYrm9mPKBgfpDCpqT
export ONSHAPE_SECRET_KEY=w3BQKp02hfxlGnJWsLZzGGsdFBuMdfuefLkQsBSAOBAfySgr
3DV2/urdf/glb/base.glb
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3DV2/urdf/glb/coxa.glb
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3DV2/urdf/glb/coxa__2.glb
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3DV2/urdf/glb/femur.glb
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3DV2/urdf/glb/femur__2.glb
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3DV2/urdf/glb/tibia.glb
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3DV2/urdf/glb/tibia__2.glb
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3DV2/urdf/obj/body.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.301961_0.301961_0.301961_0.000000_0.006
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.302000 0.302000 0.302000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/obj/body.obj
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3DV2/urdf/obj/coxa.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/obj/coxa.obj
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3DV2/urdf/obj/coxa__2.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.004
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/obj/coxa__2.obj
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3DV2/urdf/obj/femur.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.301961_0.301961_0.301961_0.000000_0.007
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.302000 0.302000 0.302000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/obj/femur.obj
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3DV2/urdf/obj/femur__2.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.301961_0.301961_0.301961_0.000000_0.008
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.302000 0.302000 0.302000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/obj/femur__2.obj
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3DV2/urdf/obj/tibia.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.005
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/obj/tibia.obj
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3DV2/urdf/obj/tibia__2.mtl
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# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.006
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
3DV2/urdf/obj/tibia__2.obj
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3DV2/urdf/robot.urdf
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<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape https://cad.onshape.com/documents/ed0a3b786fedc3f5a347f5b7/w/3def9d92618f589fa5e565cb/e/08b151d8d146e7283193b0e7 -->
<robot name="urdf">
<!-- Link body -->
<link name="body">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part body -->
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/body.stl"/>
</geometry>
<material name="body_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/body.stl"/>
</geometry>
</collision>
</link>
<!-- Link coxa -->
<link name="coxa">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part coxa -->
<visual>
<origin xyz="6.74047e-19 0.115 0.0077" rpy="-2.36791e-29 -5.53584e-32 -6.76797e-61"/>
<geometry>
<mesh filename="package://assets/coxa.stl"/>
</geometry>
<material name="coxa_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="6.74047e-19 0.115 0.0077" rpy="-2.36791e-29 -5.53584e-32 -6.76797e-61"/>
<geometry>
<mesh filename="package://assets/coxa.stl"/>
</geometry>
</collision>
</link>
<!-- Link femur -->
<link name="femur">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part femur -->
<visual>
<origin xyz="0.179985 0.00789783 0.01525" rpy="1.56886 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur.stl"/>
</geometry>
<material name="femur_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0.179985 0.00789783 0.01525" rpy="1.56886 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur.stl"/>
</geometry>
</collision>
</link>
<!-- Link tibia -->
<link name="tibia">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part tibia -->
<visual>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia.stl"/>
</geometry>
<material name="tibia_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from femur to tibia -->
<joint name="Tibia2" type="revolute">
<origin xyz="-0.12 -0.000231897 -5.20417e-18" rpy="3.14159 -1.01374e-16 5.55112e-17"/>
<parent link="femur"/>
<child link="tibia"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from coxa to femur -->
<joint name="Femur2" type="revolute">
<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 2.36791e-29 1.5708"/>
<parent link="coxa"/>
<child link="femur"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from body to coxa -->
<joint name="Coxa2" type="revolute">
<origin xyz="0 -0.115 -0.0077" rpy="0 -0 0"/>
<parent link="body"/>
<child link="coxa"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link coxa_2 -->
<link name="coxa_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part coxa_2 -->
<visual>
<origin xyz="0 -0.115 0.0077" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/coxa__2.stl"/>
</geometry>
<material name="coxa_2_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.115 0.0077" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://assets/coxa__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link femur_2 -->
<link name="femur_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part femur_2 -->
<visual>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur__2.stl"/>
</geometry>
<material name="femur_2_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link tibia_2 -->
<link name="tibia_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part tibia_2 -->
<visual>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia__2.stl"/>
</geometry>
<material name="tibia_2_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia__2.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from femur_2 to tibia_2 -->
<joint name="Tibia5" type="revolute">
<origin xyz="0.12 -8.67362e-19 -5.20417e-18" rpy="3.14159 1.01374e-16 0"/>
<parent link="femur_2"/>
<child link="tibia_2"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from coxa_2 to femur_2 -->
<joint name="Femur5" type="revolute">
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -0 1.5708"/>
<parent link="coxa_2"/>
<child link="femur_2"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from body to coxa_2 -->
<joint name="Coxa5" type="revolute">
<origin xyz="0 0.115 -0.0077" rpy="0 -0 0"/>
<parent link="body"/>
<child link="coxa_2"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link coxa_3 -->
<link name="coxa_3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part coxa_3 -->
<visual>
<origin xyz="-2.1684e-19 0.115 0.0077" rpy="-4.70198e-38 -9.40395e-38 -2.54791e-17"/>
<geometry>
<mesh filename="package://assets/coxa.stl"/>
</geometry>
<material name="coxa_3_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-2.1684e-19 0.115 0.0077" rpy="-4.70198e-38 -9.40395e-38 -2.54791e-17"/>
<geometry>
<mesh filename="package://assets/coxa.stl"/>
</geometry>
</collision>
</link>
<!-- Link femur_3 -->
<link name="femur_3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part femur_3 -->
<visual>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur.stl"/>
</geometry>
<material name="femur_3_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur.stl"/>
</geometry>
</collision>
</link>
<!-- Link tibia_3 -->
<link name="tibia_3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part tibia_3 -->
<visual>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia.stl"/>
</geometry>
<material name="tibia_3_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from femur_3 to tibia_3 -->
<joint name="Tibia1" type="revolute">
<origin xyz="-0.12 -6.07153e-18 1.2837e-16" rpy="-3.14159 -7.72359e-16 -1.85502e-16"/>
<parent link="femur_3"/>
<child link="tibia_3"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from coxa_3 to femur_3 -->
<joint name="Femur1" type="revolute">
<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 9.40395e-38 1.5708"/>
<parent link="coxa_3"/>
<child link="femur_3"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from body to coxa_3 -->
<joint name="Coxa1" type="revolute">
<origin xyz="-0.128172 -0.074 -0.0077" rpy="3.06739e-22 7.25872e-22 -1.05398"/>
<parent link="body"/>
<child link="coxa_3"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link coxa_4 -->
<link name="coxa_4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part coxa_4 -->
<visual>
<origin xyz="4.33681e-18 0.115 0.0077" rpy="1.11095e-31 -1.12906e-31 -1.43379e-17"/>
<geometry>
<mesh filename="package://assets/coxa.stl"/>
</geometry>
<material name="coxa_4_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="4.33681e-18 0.115 0.0077" rpy="1.11095e-31 -1.12906e-31 -1.43379e-17"/>
<geometry>
<mesh filename="package://assets/coxa.stl"/>
</geometry>
</collision>
</link>
<!-- Link femur_4 -->
<link name="femur_4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part femur_4 -->
<visual>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur.stl"/>
</geometry>
<material name="femur_4_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur.stl"/>
</geometry>
</collision>
</link>
<!-- Link tibia_4 -->
<link name="tibia_4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part tibia_4 -->
<visual>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia.stl"/>
</geometry>
<material name="tibia_4_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from femur_4 to tibia_4 -->
<joint name="Tibia3" type="revolute">
<origin xyz="-0.12 -7.11237e-17 -2.498e-16" rpy="3.14159 -2.91581e-15 6.63744e-16"/>
<parent link="femur_4"/>
<child link="tibia_4"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from coxa_4 to femur_4 -->
<joint name="Femur3" type="revolute">
<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 -1.11095e-31 1.5708"/>
<parent link="coxa_4"/>
<child link="femur_4"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from body to coxa_4 -->
<joint name="Coxa3" type="revolute">
<origin xyz="0.128172 -0.074 -0.0077" rpy="1.36459e-15 7.45515e-16 1.07747"/>
<parent link="body"/>
<child link="coxa_4"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link coxa_5 -->
<link name="coxa_5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part coxa_5 -->
<visual>
<origin xyz="-4.33681e-18 -0.115 0.0077" rpy="1.41059e-37 -0 -9.37717e-17"/>
<geometry>
<mesh filename="package://assets/coxa__2.stl"/>
</geometry>
<material name="coxa_5_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-4.33681e-18 -0.115 0.0077" rpy="1.41059e-37 -0 -9.37717e-17"/>
<geometry>
<mesh filename="package://assets/coxa__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link femur_5 -->
<link name="femur_5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part femur_5 -->
<visual>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur__2.stl"/>
</geometry>
<material name="femur_5_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link tibia_5 -->
<link name="tibia_5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part tibia_5 -->
<visual>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia__2.stl"/>
</geometry>
<material name="tibia_5_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia__2.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from femur_5 to tibia_5 -->
<joint name="Tibia6" type="revolute">
<origin xyz="0.12 4.33681e-18 -1.70003e-16" rpy="3.14159 1.49429e-15 9.18028e-17"/>
<parent link="femur_5"/>
<child link="tibia_5"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from coxa_5 to femur_5 -->
<joint name="Femur6" type="revolute">
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -1.88079e-37 1.5708"/>
<parent link="coxa_5"/>
<child link="femur_5"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from body to coxa_5 -->
<joint name="Coxa6" type="revolute">
<origin xyz="-0.128172 0.074 -0.0077" rpy="3.00252e-22 3.46199e-22 1.0625"/>
<parent link="body"/>
<child link="coxa_5"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Link coxa_6 -->
<link name="coxa_6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part coxa_6 -->
<visual>
<origin xyz="-4.55365e-18 -0.115 0.0077" rpy="0 -0 3.05228e-17"/>
<geometry>
<mesh filename="package://assets/coxa__2.stl"/>
</geometry>
<material name="coxa_6_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-4.55365e-18 -0.115 0.0077" rpy="0 -0 3.05228e-17"/>
<geometry>
<mesh filename="package://assets/coxa__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link femur_6 -->
<link name="femur_6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part femur_6 -->
<visual>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur__2.stl"/>
</geometry>
<material name="femur_6_material">
<color rgba="0.301961 0.301961 0.301961 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
<geometry>
<mesh filename="package://assets/femur__2.stl"/>
</geometry>
</collision>
</link>
<!-- Link tibia_6 -->
<link name="tibia_6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1e-09"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<!-- Part tibia_6 -->
<visual>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia__2.stl"/>
</geometry>
<material name="tibia_6_material">
<color rgba="0.513725 0.737255 0.407843 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
<geometry>
<mesh filename="package://assets/tibia__2.stl"/>
</geometry>
</collision>
</link>
<!-- Joint from femur_6 to tibia_6 -->
<joint name="Tibia4" type="revolute">
<origin xyz="0.12 0 -5.89806e-17" rpy="3.14159 9.40223e-16 -1.07828e-16"/>
<parent link="femur_6"/>
<child link="tibia_6"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from coxa_6 to femur_6 -->
<joint name="Femur4" type="revolute">
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -4.70198e-38 1.5708"/>
<parent link="coxa_6"/>
<child link="femur_6"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
<!-- Joint from body to coxa_6 -->
<joint name="Coxa4" type="revolute">
<origin xyz="0.128172 0.074 -0.0077" rpy="2.28238e-22 4.04189e-22 -1.05148"/>
<parent link="body"/>
<child link="coxa_6"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
</joint>
</robot>
3DV2/urdf/urdf.blend
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3DV2/urdf/urdf.mtl
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@@ -0,0 +1,12 @@
# Blender 5.0.0 MTL File: 'urdf.blend'
# www.blender.org
newmtl 0.513725_0.737255_0.407843_0.000000_0.005
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.513700 0.737300 0.407800
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1