chenshijue
4240bb889a
- 三接口契约：自包含 MJCF / 配置 schema / 报告计算规范 - Python 流水线：urdf_to_mjcf → generate_schema → simulate_report（validate_module 一键编排） - 输入案例 urdf + 生成产物 output（自包含 MJCF/schema/报告/网格副本） - 详细架构说明 docs/architecture.md
127 lines
4.5 KiB
XML
127 lines
4.5 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot name="planetary_joint_split_motor_demo">
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/fixed_structure.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="material_fixed_structure.stl">
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<color rgba="0.62 0.68 0.72 1" />
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</material>
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</visual>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/motor_stator.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="material_motor_stator.stl">
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<color rgba="0.30 0.34 0.38 1" />
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</material>
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</visual>
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</link>
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<link name="sun_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/sun_drive.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="material_sun_drive.stl">
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<color rgba="0.95 0.62 0.16 1" />
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</material>
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</visual>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/motor_rotor.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="material_motor_rotor.stl">
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<color rgba="0.80 0.33 0.16 1" />
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</material>
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</visual>
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</link>
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<link name="carrier_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/carrier_link.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="material_carrier_link.stl">
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<color rgba="0.28 0.56 0.82 1" />
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</material>
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</visual>
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</link>
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<link name="planet_0_link">
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<visual>
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<origin xyz="-0.0535 0.0239016371622 0.00217065450165" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/planet_0_link.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="planet_steel">
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<color rgba="0.76 0.78 0.80 1" />
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</material>
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</visual>
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</link>
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<link name="planet_1_link">
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<visual>
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<origin xyz="-0.0535 -0.0138306605224 0.0196140977237" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/planet_1_link.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="planet_steel">
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<color rgba="0.76 0.78 0.80 1" />
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</material>
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</visual>
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</link>
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<link name="planet_2_link">
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<visual>
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<origin xyz="-0.0535 -0.0100709766398 -0.0217847522253" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/planet_2_link.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="planet_steel">
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<color rgba="0.76 0.78 0.80 1" />
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</material>
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</visual>
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</link>
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<joint name="sun_input_joint" type="revolute">
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<parent link="base_link" />
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<child link="sun_link" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<axis xyz="1 0 0" />
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<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
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</joint>
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<joint name="carrier_output_joint" type="revolute">
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<parent link="base_link" />
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<child link="carrier_link" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<axis xyz="1 0 0" />
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<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
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<mimic joint="sun_input_joint" multiplier="0.166666666666667" offset="0" />
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</joint>
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<joint name="planet_0_spin_joint" type="revolute">
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<parent link="carrier_link" />
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<child link="planet_0_link" />
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<origin xyz="0.0535 -0.0239016371622 -0.00217065450165" rpy="0 0 0" />
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<axis xyz="1 0 0" />
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<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
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<mimic joint="sun_input_joint" multiplier="-0.416666666666667" offset="0" />
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</joint>
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<joint name="planet_1_spin_joint" type="revolute">
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<parent link="carrier_link" />
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<child link="planet_1_link" />
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<origin xyz="0.0535 0.0138306605224 -0.0196140977237" rpy="0 0 0" />
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<axis xyz="1 0 0" />
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<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
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<mimic joint="sun_input_joint" multiplier="-0.416666666666667" offset="0" />
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</joint>
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<joint name="planet_2_spin_joint" type="revolute">
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<parent link="carrier_link" />
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<child link="planet_2_link" />
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<origin xyz="0.0535 0.0100709766398 0.0217847522253" rpy="0 0 0" />
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<axis xyz="1 0 0" />
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<limit lower="-37.6991118431" upper="37.6991118431" effort="1" velocity="6.28318530718" />
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<mimic joint="sun_input_joint" multiplier="-0.416666666666667" offset="0" />
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</joint>
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</robot>
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