ROS机器人Diego 1#制作（十六）创建机器人的urdf模型描述文件

由于后续要做机械臂的控制，会用到机器人的urdf描述文件，moveit需要根据urdf中的数据进行机械臂的路径规划，这里介绍一下如何一步一步创建机器人的urdf模型描述文件，最终做好的urdf模型如下图 

1.首先要注意的是在ros中使用的右手坐标系，所以描述文件中的数据都是以此坐标系为原则 

2.先建立baseline的 

<?xml version="1.0"?>
<robot name="diego1">//机器人的名称
  <link name="base_link">//对应TF坐标体系中的设备frame的名称
    <visual>
      <geometry>
        <box size="0.20 .15 .003"/>//机器人的base_link的长、宽、高，单位是米
      </geometry>
    </visual>
  </link>

</robot>

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3.增加底盘两侧的连接件 

代码接着上面的添加就可以

  <link name="left_leg">//左侧
    <visual>
      <geometry>
        <box size="0.14 .003 .095"/>
      </geometry>
     </visual>
  </link>

  <joint name="base_to_left_leg" type="fixed">//增加base_link 和left_leg的joint
    <parent link="base_link"/>
    <child link="left_leg"/>
    <origin xyz="0.0 0.075 -0.046"/>//相对于parent link的位移
  </joint>

  <link name="right_leg">//右侧
    <visual>
      <geometry>
        <box size="0.14 .003 .095"/>
      </geometry>
     </visual>
  </link>

  <joint name="base_to_right_leg" type="fixed">
    <parent link="base_link"/>
    <child link="right_leg"/>
    <origin xyz="0.0 -0.075 -0.046"/>//相对于parent link的位移
  </joint>  

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这里可以看到图上的有三个柱子，即对应的坐标系，红x，绿y，蓝z

4.增加前后从动轮的固定装置，由于urdf基本描述文件中没有三角形，这里先暂时用矩形代替，其中参数和前面的是一样的，只要把位移算对了就ok，这里就不做解释，只贴上代码 

  <link name="left_leg_front">//左侧前端
    <visual>
      <geometry>
        <box size="0.05 .003 .03"/>
      </geometry>
     </visual>
  </link>

  <joint name="base_to_left_leg_front" type="fixed">
    <parent link="left_leg"/>
    <child link="left_leg_front"/>
    <origin xyz="0.095 0.0 -0.0025"/>
  </joint>

  <link name="left_leg_back">
    <visual>
      <geometry>
        <box size="0.05 .003 .03"/>
      </geometry>
     </visual>
  </link>

  <joint name="base_to_left_leg_back" type="fixed">
    <parent link="left_leg"/>
    <child link="left_leg_back"/>
    <origin xyz="-0.095 0.0 -0.0325"/>
  </joint>

  <link name="right_leg_front">
    <visual>
      <geometry>
        <box size="0.05 .003 .03"/>
      </geometry>
     </visual>
  </link>

  <joint name="base_to_right_leg_front" type="fixed">
    <parent link="right_leg"/>
    <child link="right_leg_front"/>
    <origin xyz="0.095 0.0 -0.0025"/>
  </joint>

  <link name="right_leg_back">
    <visual>
      <geometry>
        <box size="0.05 .003 .03"/>
      </geometry>
     </visual>
  </link>

  <joint name="base_to_right_leg_back" type="fixed">
    <parent link="right_leg"/>
    <child link="right_leg_back"/>
    <origin xyz="-0.095 0.0 -0.0325"/>
  </joint>

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5.增加履带主动轮轴，在urdf中圆柱体默认是平面朝上，需要沿X轴旋转90度 

  <link name="tyer_master_right_axis">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_master_right_axix" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="right_leg"/>
    <child link="tyer_master_right_axis"/>
    <origin rpy="1.57075 0 0" xyz="0.03 -0.0315 0.0175"/>//旋转90度，并相对于right_leg位移相应距离
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_master_left_axis">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_leg_to_master_left_axis" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="left_leg"/>
    <child link="tyer_master_left_axis"/>
    <origin rpy="1.57075 0 0" xyz="0.03 0.0315 0.0175"/>//旋转90度，并相对于left_leg位移相应距离
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

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6.增加底部电机马达 

  <link name="tyer_master_right_motor">
    <visual>
      <geometry>
       <cylinder length=".068" radius="0.0075"></cylinder>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_master_right_motor" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="right_leg"/>
    <child link="tyer_master_right_motor"/>
    <origin rpy="1.57075 0 0" xyz="0.03 0.0315 0.0175"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_master_left_motor">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.0075"></cylinder>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_leg_to_master_left_motor" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="left_leg"/>
    <child link="tyer_master_left_motor"/>
    <origin rpy="1.57075 0 0" xyz="0.03 -0.0315 0.0175"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

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7.增加从动轮轴 

  <link name="tyer_slave_right_axis1">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_right_axix1" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="right_leg_front"/>
    <child link="tyer_slave_right_axis1"/>
    <origin rpy="1.57075 0 0" xyz="0.02 -0.0315 0.0"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_slave_right_axis2">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_right_axix2" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="right_leg"/>
    <child link="tyer_slave_right_axis2"/>
    <origin rpy="1.57075 0 0" xyz="0.063 -0.0315 -0.0405"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_slave_right_axis3">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_right_axix3" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="right_leg"/>
    <child link="tyer_slave_right_axis3"/>
    <origin rpy="1.57075 0 0" xyz="0.008 -0.0315 -0.0405"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_slave_right_axis4">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_right_axix4" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="right_leg"/>
    <child link="tyer_slave_right_axis4"/>
    <origin rpy="1.57075 0 0" xyz="-0.047 -0.0315 -0.0405"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="tyer_slave_right_axis5">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_right_axix5" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="right_leg_back"/>
    <child link="tyer_slave_right_axis5"/>
    <origin rpy="1.57075 0 0" xyz="-0.018 -0.0315 -0.008"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <link name="tyer_slave_left_axis1">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_left_axix1" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="left_leg_front"/>
    <child link="tyer_slave_left_axis1"/>
    <origin rpy="1.57075 0 0" xyz="0.02 0.0315 0.0"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_slave_left_axis2">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_left_axix2" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="left_leg"/>
    <child link="tyer_slave_left_axis2"/>
    <origin rpy="1.57075 0 0" xyz="0.063 0.0315 -0.0405"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_slave_left_axis3">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_left_axix3" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="left_leg"/>
    <child link="tyer_slave_left_axis3"/>
    <origin rpy="1.57075 0 0" xyz="0.008 0.0315 -0.0405"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="tyer_slave_left_axis4">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_left_axix4" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="left_leg"/>
    <child link="tyer_slave_left_axis4"/>
    <origin rpy="1.57075 0 0" xyz="-0.047 0.0315 -0.0405"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <link name="tyer_slave_left_axis5">
    <visual>
      <geometry>
       <cylinder length=".06" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave_left_axix5" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="left_leg_back"/>
    <child link="tyer_slave_left_axis5"/>
    <origin rpy="1.57075 0 0" xyz="-0.018 0.0315 -0.008"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

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8.增加主动轮 

  <link name="tyer_master_left">
    <visual>
      <geometry>
       <cylinder length=".03" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_master_left" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_master_left_axis"/>
    <child link="tyer_master_left"/>
    <origin rpy="0 0 0" xyz="0.0 0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="tyer_master_right">
    <visual>
      <geometry>
       <cylinder length=".03" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_master_right" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_master_right_axis"/>
    <child link="tyer_master_right"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

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9.增加从动轮 

  <link name="tyer_slave1_left">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave1_left" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_left_axis1"/>
    <child link="tyer_slave1_left"/>
    <origin rpy="0 0 0" xyz="0.0 0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>         

  <link name="tyer_slave2_left">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave2_left" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_left_axis2"/>
    <child link="tyer_slave2_left"/>
    <origin rpy="0 0 0" xyz="0.0 0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="tyer_slave3_left">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave3_left" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_left_axis3"/>
    <child link="tyer_slave3_left"/>
    <origin rpy="0 0 0" xyz="0.0 0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>   

  <link name="tyer_slave4_left">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave4_left" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_left_axis4"/>
    <child link="tyer_slave4_left"/>
    <origin rpy="0 0 0" xyz="0.0 0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <link name="tyer_slave5_left">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave5_left" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_left_axis5"/>
    <child link="tyer_slave5_left"/>
    <origin rpy="0 0 0" xyz="0.0 0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>           

  <link name="tyer_slave1_right">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave1_right" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_right_axis1"/>
    <child link="tyer_slave1_right"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>   

  <link name="tyer_slave2_right">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave2_right" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_right_axis2"/>
    <child link="tyer_slave2_right"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>      


  <link name="tyer_slave3_right">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave3_right" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_right_axis3"/>
    <child link="tyer_slave3_right"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>   

  <link name="tyer_slave4_right">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave4_right" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_right_axis4"/>
    <child link="tyer_slave4_right"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <link name="tyer_slave5_right">
    <visual>
      <geometry>
       <cylinder length=".024" radius="0.0275"></cylinder>
      </geometry>
      <material name="green">
          <color rgba="0 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_leg_to_slave5_right" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="tyer_slave_right_axis5"/>
    <child link="tyer_slave5_right"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0025 0.00"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

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10.增加履带，这里用巨型拼接，主要是要计算好角度，但效果不是很好 

  <link name="caterpilar_left1">
    <visual>
      <geometry>
       <box size="0.10 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_left1" type="fixed">
    <parent link="tyer_master_left_motor"/>
    <child link="caterpilar_left1"/>
    <origin rpy="1.57075 0 -0.24178" xyz="0.05 0.02 -0.068"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="caterpilar_left2">
    <visual>
      <geometry>
       <box size="0.16 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_left2" type="fixed">
    <parent link="tyer_master_left_motor"/>
    <child link="caterpilar_left2"/>
    <origin rpy="1.57075 0 0.38178" xyz="-0.080 -0.00 -0.068"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <link name="caterpilar_left3">
    <visual>
      <geometry>
       <box size="0.07 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_left3" type="fixed">
    <parent link="tyer_slave2_left"/>
    <child link="caterpilar_left3"/>
    <origin rpy="1.57075 0 0.64178" xyz="0.0405 -0.0065 -0.002"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="caterpilar_left4">
    <visual>
      <geometry>
       <box size="0.18 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_left4" type="fixed">
    <parent link="tyer_slave2_left"/>
    <child link="caterpilar_left4"/>
    <origin rpy="1.57075 0 0" xyz="-0.09 -0.028 -0.002"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <link name="caterpilar_right1">
    <visual>
      <geometry>
       <box size="0.10 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_right1" type="fixed">
    <parent link="tyer_master_right_motor"/>
    <child link="caterpilar_right1"/>
    <origin rpy="1.57075 0 -0.24178" xyz="0.05 0.02 0.068"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="caterpilar_right2">
    <visual>
      <geometry>
       <box size="0.16 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_right2" type="fixed">
    <parent link="tyer_master_right_motor"/>
    <child link="caterpilar_right2"/>
    <origin rpy="1.57075 0 0.38178" xyz="-0.080 -0.00 0.068"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <link name="caterpilar_right3">
    <visual>
      <geometry>
       <box size="0.07 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_right3" type="fixed">
    <parent link="tyer_slave2_right"/>
    <child link="caterpilar_right3"/>
    <origin rpy="1.57075 0 0.64178" xyz="0.0405 -0.0065 0.002"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="caterpilar_right4">
    <visual>
      <geometry>
       <box size="0.18 .045 .0015"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1"/>
      </material>  
    </visual>
  </link>    

  <joint name="tyer_master_left_motor_to_caterpilar_right4" type="fixed">
    <parent link="tyer_slave2_right"/>
    <child link="caterpilar_right4"/>
    <origin rpy="1.57075 0 0" xyz="-0.09 -0.028 0.002"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>   

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11.增加身体 

  <link name="body">
    <visual>
      <geometry>
       <box size="0.19 .11 .08"/>
      </geometry>
      <material name="blue">
          <color rgba="0 0 255 1"/>
      </material>  
    </visual>
  </link>  

  <joint name="base_to_body" type="fixed">
    <parent link="base_link"/>
    <child link="body"/>
    <origin xyz="0.0 0.0 0.04"/>
  </joint> 

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12.增加xtion pro，用矩形拼接 

  <link name="xtion_camera_base">
    <visual>
      <geometry>
       <box size="0.038 .10 .025"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 1 1"/>
      </material>  
    </visual>
  </link>  

  <joint name="body_to_xtion_camera_base" type="fixed">
    <parent link="body"/>
    <child link="xtion_camera_base"/>
    <origin xyz="0.076 0.0 0.0525"/>
  </joint>

  <link name="xtion_camera_base_neck">
    <visual>
      <geometry>
       <box size="0.020 .020 .020"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 50 1"/>
      </material>  
    </visual>
  </link>  

  <joint name="xtion_camera_base_to_neck" type="fixed">
    <parent link="xtion_camera_base"/>
    <child link="xtion_camera_base_neck"/>
    <origin xyz="0.009 0.0 0.0125"/>
  </joint>   

  <link name="xtion_camera">
    <visual>
      <geometry>
       <box size="0.038 .18 .027"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 1 1"/>
      </material>  
    </visual>
  </link>  

  <joint name="xtion_camera_base_neck_to_camera" type="fixed">
    <parent link="xtion_camera_base_neck"/>
    <child link="xtion_camera"/>
    <origin xyz="0.0 0.0 0.0235"/>
  </joint>      

  <link name="xtion_camera_eye_left">
    <visual>
      <geometry>
       <cylinder length=".002" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="xtion_camera_to_eye_left" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="xtion_camera"/>
    <child link="xtion_camera_eye_left"/>
    <origin rpy="0 1.57075 0" xyz="0.0191 0.045 0.0"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>   

  <link name="xtion_camera_eye_right">
    <visual>
      <geometry>
       <cylinder length=".002" radius="0.005"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="xtion_camera_to_eye_right" type="fixed">
    <axis xyz="0 0 1"/> 
    <parent link="xtion_camera"/>
    <child link="xtion_camera_eye_right"/>
    <origin rpy="0 1.57075 0" xyz="0.0191 -0.045 0.0"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>   

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13.增加左右肩部XZ平面旋转舵机

  <!-- left_shoulder stevo-->
  <link name="left_shoulder_stevo">
    <visual>
      <geometry>
       <box size="0.054 .0403 .027"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="body_to_left_shoulder_stevo" type="fixed">
    <parent link="body"/>
    <child link="left_shoulder_stevo"/>
    <origin xyz="0.04 0.035 0.026"/>
  </joint>  

  <link name="left_shoulder_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".04" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_shoulder_stevo_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="left_shoulder_stevo"/>
    <child link="left_shoulder_stevo_axis"/>
    <origin rpy="1.57075 0 0" xyz="0.0 0.027 0.0"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <!-- righ_shoulder stevo 6-->
  <link name="right_shoulder_stevo">
    <visual>
      <geometry>
       <box size="0.054 .0403 .027"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="body_to_right_shoulder_stevo" type="fixed">
    <parent link="body"/>
    <child link="right_shoulder_stevo"/>
    <origin xyz="0.04 -0.035 0.026"/>
  </joint>  

  <link name="right_shoulder_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".04" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_shoulder_stevo_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="right_shoulder_stevo"/>
    <child link="right_shoulder_stevo_axis"/>
    <origin rpy="1.57075 0 0" xyz="0.0 -0.027 0.0"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint> 

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14.肩部摆动的舵机

    <!-- left_shoulder stevo lift -->
  <link name="left_shoulder_stevo_lift">
    <visual>
      <geometry>
       <box size="0.054 .0403 .027"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_shoulder_stevo_axis_to_lift_stevo" type="fixed">
    <parent link="left_shoulder_stevo_axis"/>
    <child link="left_shoulder_stevo_lift"/>
    <origin xyz="0.0 -0.01015 -0.028"/>
  </joint>

  <link name="left_shoulder_stevo_lift_axis">
    <visual>
      <geometry>
       <cylinder length=".0704" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_shoulder_stevo_lift_to_axis" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="left_shoulder_stevo_lift"/>
    <child link="left_shoulder_stevo_lift_axis"/>
    <origin rpy="1.57075 0 0" xyz="0.0135 0.0 0.0"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>     

    <!-- right_shoulder stevo lift-->
  <link name="right_shoulder_stevo_lift">
    <visual>
      <geometry>
       <box size="0.054 .0403 .027"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_shoulder_stevo_axis_to_lift_stevo" type="fixed">
    <parent link="right_shoulder_stevo_axis"/>
    <child link="right_shoulder_stevo_lift"/>
    <origin xyz="0.0 -0.01015 0.028"/>
  </joint>

  <link name="right_shoulder_stevo_lift_axis">
    <visual>
      <geometry>
       <cylinder length=".0704" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_shoulder_stevo_lift_to_axis" type="continuous">
    <axis xyz="0 0 1"/> 
    <parent link="right_shoulder_stevo_lift"/>
    <child link="right_shoulder_stevo_lift_axis"/>
    <origin rpy="1.57075 0 0" xyz="0.0135 0.0 0.0"/>
    <limit effort="100" velocity="100"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>   

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15.上臂

    <!-- left_big arm -->
  <link name="left_big_arm_up">
    <visual>
      <geometry>
       <box size="0.145 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_shoulder_stevo_lift_axis_to_left_big_arm" type="fixed">
    <parent link="left_shoulder_stevo_lift_axis"/>
    <child link="left_big_arm_up"/>
    <origin xyz="0.059 0.0 -0.035"/>
  </joint>  

  <link name="left_big_arm_down">
    <visual>
      <geometry>
       <box size="0.145 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_big_arm_up_to_left_big_arm_down" type="fixed">
    <parent link="left_big_arm_up"/>
    <child link="left_big_arm_down"/>
    <origin xyz="0.0 0.0 0.07"/>
  </joint>   

    <!-- right_big arm -->
  <link name="right_big_arm_up">
    <visual>
      <geometry>
       <box size="0.145 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_shoulder_stevo_lift_axis_to_right_big_arm" type="fixed">
    <parent link="right_shoulder_stevo_lift_axis"/>
    <child link="right_big_arm_up"/>
    <origin xyz="0.059 0.0 -0.035"/>
  </joint>  

  <link name="right_big_arm_down">
    <visual>
      <geometry>
       <box size="0.145 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_big_arm_up_to_right_big_arm_down" type="fixed">
    <parent link="right_big_arm_up"/>
    <child link="right_big_arm_down"/>
    <origin xyz="0.0 0.0 0.07"/>
  </joint>     

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16.肘部关键舵机 

  <!--left arm stevo-->
  <link name="left_arm_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".0704" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_big_arm_up_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="left_big_arm_up"/>
    <child link="left_arm_stevo_axis"/>
    <origin rpy="0 0 0.5" xyz="0.059 0.0 0.0352"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="left_arm_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_big_arm_up_to_axis_to_left_arm_stevo" type="fixed">
    <parent link="left_arm_stevo_axis"/>
    <child link="left_arm_stevo"/>
    <origin xyz="0.0135 0.0 0.0"/>
  </joint>  

  <!--right arm stevo-->
  <link name="right_arm_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".0704" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_big_arm_up_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="right_big_arm_up"/>
    <child link="right_arm_stevo_axis"/>
    <origin rpy="0 0 -0.5" xyz="0.059 0.0 0.0352"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="right_arm_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_big_arm_up_to_axis_to_right_arm_stevo" type="fixed">
    <parent link="right_arm_stevo_axis"/>
    <child link="right_arm_stevo"/>
    <origin xyz="0.0135 0.0 0.0"/>
  </joint>    

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17.小臂 

    <!-- left_small arm -->
  <link name="left_small_arm_up">
    <visual>
      <geometry>
       <box size="0.0725 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_arm_stevo_to_left_small_arm_up" type="fixed">
    <parent link="left_arm_stevo"/>
    <child link="left_small_arm_up"/>
    <origin xyz="0.059 0.0 -0.035"/>
  </joint>  

  <link name="left_small_arm_down">
    <visual>
      <geometry>
       <box size="0.0725 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_small_arm_up_to_left_small_arm_down" type="fixed">
    <parent link="left_small_arm_up"/>
    <child link="left_small_arm_down"/>
    <origin xyz="0.0 0.0 0.07"/>
  </joint>  

  <link name="left_small_arm_middle">
    <visual>
      <geometry>
       <box size="0.07 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_small_arm_up_to_left_small_arm_middle" type="fixed">
    <parent link="left_small_arm_up"/>
    <child link="left_small_arm_middle"/>
    <origin rpy="0 1.57075 0" xyz="-0.035 0.0 0.035"/>
  </joint> 

    <!-- right_small arm -->
  <link name="right_small_arm_up">
    <visual>
      <geometry>
       <box size="0.0725 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_arm_stevo_to_right_small_arm_up" type="fixed">
    <parent link="right_arm_stevo"/>
    <child link="right_small_arm_up"/>
    <origin xyz="0.059 0.0 -0.035"/>
  </joint>  

  <link name="right_small_arm_down">
    <visual>
      <geometry>
       <box size="0.0725 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_small_arm_up_to_right_small_arm_down" type="fixed">
    <parent link="right_small_arm_up"/>
    <child link="right_small_arm_down"/>
    <origin xyz="0.0 0.0 0.07"/>
  </joint>  

  <link name="right_small_arm_middle">
    <visual>
      <geometry>
       <box size="0.07 .027 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_small_arm_up_to_right_small_arm_middle" type="fixed">
    <parent link="right_small_arm_up"/>
    <child link="right_small_arm_middle"/>
    <origin rpy="0 1.57075 0" xyz="-0.035 0.0 0.035"/>
  </joint> 

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18.手腕手臂方向关节舵机 

  <!--left wrist stevo-->
  <link name="left_wrist_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".0704" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_small_arm_up_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="left_small_arm_up"/>
    <child link="left_wrist_stevo_axis"/>
    <origin rpy="0 0 0.5" xyz="0.0295 0.0 0.0352"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="left_wrist_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_small_arm_up_to_axis_to_left_axis_stevo" type="fixed">
    <parent link="left_wrist_stevo_axis"/>
    <child link="left_wrist_stevo"/>
    <origin xyz="0.0135 0.0 0.0"/>
  </joint> 

  <!--right wrist stevo-->
  <link name="right_wrist_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".0704" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_small_arm_up_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="right_small_arm_up"/>
    <child link="right_wrist_stevo_axis"/>
    <origin rpy="0 0 -0.5" xyz="0.0295 0.0 0.0352"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

  <link name="right_wrist_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="black">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_small_arm_up_to_axis_to_right_axis_stevo" type="fixed">
    <parent link="right_wrist_stevo_axis"/>
    <child link="right_wrist_stevo"/>
    <origin xyz="0.0135 0.0 0.0"/>
  </joint>   

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19.手腕旋转关节舵机 

  <!--left wrist run stevo-->
  <link name="left_wrist_run_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="color1">
          <color rgba="0 255 255 1 "/>
      </material>  
    </visual>
  </link> 

 <joint name="right_wrist_stevo_to_left_wrist_run_stevo" type="fixed">
    <parent link="left_wrist_stevo"/>
    <child link="left_wrist_run_stevo"/>
    <origin rpy="0 1.57075 0" xyz="0.0135 -0.027 0.0"/>
  </joint>   

  <link name="left_wrist_run_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".04" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_wrist_run_stevo_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="left_wrist_run_stevo"/>
    <child link="left_wrist_run_stevo_axis"/>
    <origin rpy="0 0 0" xyz="0.0135 0 0.020"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>     

  <!--right wrist run stevo-->
  <link name="right_wrist_run_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="color1">
          <color rgba="0 255 255 1 "/>
      </material>  
    </visual>
  </link> 

 <joint name="right_wrist_stevo_to_right_wrist_run_stevo" type="fixed">
    <parent link="right_wrist_stevo"/>
    <child link="right_wrist_run_stevo"/>
    <origin rpy="0 1.57075 0" xyz="0.0135 0.027 0.0"/>
  </joint>   

  <link name="right_wrist_run_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".04" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_wrist_run_stevo_to_axis" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="right_wrist_run_stevo"/>
    <child link="right_wrist_run_stevo_axis"/>
    <origin rpy="0 0 0" xyz="0.0135 0 0.020"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>  

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20.手部抓取舵机 

  <!--left wrist run stevo-->
  <link name="left_hand_run_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1 "/>
      </material>  
    </visual>
  </link> 

 <joint name="left_wrist_run_stevo_axis_to_left_hand_run_stevo" type="fixed">
    <parent link="left_wrist_run_stevo_axis"/>
    <child link="left_hand_run_stevo"/>
    <origin rpy="1.57075 0 0" xyz="0.0 0.0 0.0335"/>
  </joint>  

  <link name="left_hand_run_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".04" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="left_hand_run_stevo_to_left_hand_run_stevo" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="left_hand_run_stevo"/>
    <child link="left_hand_run_stevo_axis"/>
    <origin rpy="0 0 0" xyz="0.0135 0 0.0135"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

  <!--right wrist run stevo-->
  <link name="right_hand_run_stevo">
    <visual>
      <geometry>
       <box size="0.054 .027 .0403"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1 "/>
      </material>  
    </visual>
  </link> 

 <joint name="right_wrist_run_stevo_axis_to_right_hand_run_stevo" type="fixed">
    <parent link="right_wrist_run_stevo_axis"/>
    <child link="right_hand_run_stevo"/>
    <origin rpy="1.57075 0 0" xyz="0.0 0.0 0.0335"/>
  </joint>  

  <link name="right_hand_run_stevo_axis">
    <visual>
      <geometry>
       <cylinder length=".04" radius="0.0029"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="right_hand_run_stevo_to_right_hand_run_stevo" type="revolute">
    <axis xyz="0 0 1"/> 
    <parent link="right_hand_run_stevo"/>
    <child link="right_hand_run_stevo_axis"/>
    <origin rpy="0 0 0" xyz="0.0135 0 -0.0135"/>
    <limit effort="100" velocity="100" lower="0" upper="3.1415926"/> 
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>    

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21.手指用标准urdf元素很难描述出来，这里先只简单的放一根手指，后续在修改。

  <!--left finger-->
  <link name="left_finger">
    <visual>
      <geometry>
       <box size="0.0375 .0135 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="left_hand_run_stevo_axis_to_left_finger" type="fixed">
    <parent link="left_hand_run_stevo_axis"/>
    <child link="left_finger"/>
    <origin rpy="0 0 1.57075" xyz="0.0 0.0173 0.02"/>
  </joint>   

  <!--right finger-->
  <link name="right_finger">
    <visual>
      <geometry>
       <box size="0.0375 .0135 .002"/>
      </geometry>
      <material name="sliver">
          <color rgba="223 223 223 1"/>
      </material>  
    </visual>
  </link> 

 <joint name="right_hand_run_stevo_axis_to_right_finger" type="fixed">
    <parent link="right_hand_run_stevo_axis"/>
    <child link="right_finger"/>
    <origin rpy="0 0 1.57075" xyz="0.0 0.0173 -0.02"/>
  </joint>  

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版权声明：本文为博主原创文章，未经博主允许不得转载。