| <?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> |
