|
|
<?xml version="1.0"?> |
|
|
<robot name="chain_test"> |
|
|
|
|
|
<material name="Grey"> |
|
|
<color rgba="0.2 0.2 0.2 1.0"/> |
|
|
</material> |
|
|
|
|
|
|
|
|
<link name="base"> |
|
|
<inertial> |
|
|
<mass value="10.0"/> |
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
|
|
|
<joint name="fix_j1" type="fixed"> |
|
|
<origin xyz="0.1 0 0" rpy="0.3 0 0"/> |
|
|
<parent link="base"/> |
|
|
<child link="fixed_1"/> |
|
|
</joint> |
|
|
<link name="fixed_1"> |
|
|
<visual> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<cylinder radius="0.02" length="0.05"/> |
|
|
</geometry> |
|
|
<material name="Grey"/> |
|
|
</visual> |
|
|
<inertial> |
|
|
<mass value="1.0"/> |
|
|
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
<joint name="fix_j2" type="fixed"> |
|
|
<origin xyz="0.1 0 0" rpy="0 0.4 0"/> |
|
|
<parent link="fixed_1"/> |
|
|
<child link="fixed_2"/> |
|
|
</joint> |
|
|
<link name="fixed_2"> |
|
|
<visual> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<cylinder radius="0.025" length="0.05"/> |
|
|
</geometry> |
|
|
<material name="Grey"/> |
|
|
</visual> |
|
|
<inertial> |
|
|
<mass value="2.0"/> |
|
|
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
<joint name="fix_j3" type="fixed"> |
|
|
<origin xyz="0.1 0 0" rpy="0 0 0.5"/> |
|
|
<parent link="fixed_2"/> |
|
|
<child link="fixed_3"/> |
|
|
</joint> |
|
|
<link name="fixed_3"> |
|
|
<visual> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<cylinder radius="0.03" length="0.05"/> |
|
|
</geometry> |
|
|
<material name="Grey"/> |
|
|
</visual> |
|
|
<inertial> |
|
|
<mass value="3.0"/> |
|
|
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
<joint name="shoulder" type="revolute"> |
|
|
<origin xyz="0.4 0 0" rpy="0 0 0"/> |
|
|
<axis xyz="0 1 0"/> |
|
|
<parent link="fixed_3"/> |
|
|
<child link="arm"/> |
|
|
<limit lower="-3.14" upper="3.14" effort="100.0" velocity="2.0"/> |
|
|
</joint> |
|
|
<link name="arm"> |
|
|
<visual> |
|
|
<origin xyz="0 0 0.25" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.05 0.05 0.5"/> |
|
|
</geometry> |
|
|
<material name="Grey"/> |
|
|
</visual> |
|
|
<inertial> |
|
|
<mass value="5.0"/> |
|
|
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
|
|
|
<joint name="adapt_j1" type="fixed"> |
|
|
<origin xyz="0 0 0.5" rpy="0.1 0.0 0.2"/> |
|
|
<parent link="arm"/> |
|
|
<child link="adapter_1"/> |
|
|
</joint> |
|
|
<link name="adapter_1"> |
|
|
<visual> |
|
|
<origin xyz="0 0 0.05" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<cylinder radius="0.03" length="0.1"/> |
|
|
</geometry> |
|
|
<material name="Grey"/> |
|
|
</visual> |
|
|
<inertial> |
|
|
<mass value="0.5"/> |
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
<joint name="adapt_j2" type="fixed"> |
|
|
<origin xyz="0 0 0.1" rpy="0 0.3 0"/> |
|
|
<parent link="adapter_1"/> |
|
|
<child link="adapter_2"/> |
|
|
</joint> |
|
|
<link name="adapter_2"> |
|
|
<visual> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<sphere radius="0.04"/> |
|
|
</geometry> |
|
|
<material name="Grey"/> |
|
|
</visual> |
|
|
<inertial> |
|
|
<mass value="0.3"/> |
|
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
<joint name="slider" type="prismatic"> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<axis xyz="0 0 1"/> |
|
|
<parent link="adapter_2"/> |
|
|
<child link="end_effector"/> |
|
|
<limit lower="0.0" upper="0.5" effort="50.0" velocity="1.0"/> |
|
|
</joint> |
|
|
<link name="end_effector"> |
|
|
<visual> |
|
|
<origin xyz="0 0 0.1" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.06 0.06 0.2"/> |
|
|
</geometry> |
|
|
<material name="Grey"/> |
|
|
</visual> |
|
|
<inertial> |
|
|
<mass value="2.0"/> |
|
|
<inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.005"/> |
|
|
</inertial> |
|
|
</link> |
|
|
</robot> |
