mirror of
https://github.com/PotentiaRobotics/Olympian-URDF.git
synced 2025-04-09 22:50:18 -04:00
179 lines
4.0 KiB
XML
179 lines
4.0 KiB
XML
<?xml version="1.0" ?>
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<robot name="olympian" xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<xacro:property name="body_color" value="Gazebo/Silver" />
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="control"/>
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</gazebo>
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<gazebo reference="base_link">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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<gravity>true</gravity>
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</gazebo>
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<gazebo reference="Pelvis_v4_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Chest_v6_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Arm_Link_type_b_v2_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Arm_Roll_Link_v2_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Arm_v8_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Lower_Arm_v3_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Arm_Link_type_b_v2_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Arm_Roll_Link_v2_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Arm_v8_3">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Lower_Arm_v3_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Box_Head_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Leg_Pitch_v2_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Leg_Roll_v2_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Leg_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Lower_Leg_v2_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Ankle_Link_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Foot_v2_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Leg_Pitch_v2_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Leg_Roll_v2_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Upper_Leg_v1_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Lower_Leg_v2_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Ankle_Link_v1_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="Foot_v2_2">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<selfCollide>true</selfCollide>
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</gazebo>
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</robot>
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