84 lines
3.3 KiB
Plaintext
84 lines
3.3 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:property name="arm_base_length" value="0.1" />
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<xacro:property name="arm_base_width" value="0.1" />
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<xacro:property name="arm_base_height" value="0.02" />
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<xacro:property name="forearm_radius" value="0.02" />
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<xacro:property name="forearm_length" value="0.3" />
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<xacro:property name="hand_radius" value="0.02" />
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<xacro:property name="hand_length" value="0.3" />
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<link name="arm_base_link">
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<visual>
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<geometry>
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<box size="${arm_base_length} ${arm_base_width} ${arm_base_height}" />
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</geometry>
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<origin xyz="0 0 ${arm_base_height / 2.0}" rpy="0 0 0" />
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<material name="orange" />
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</visual>
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<collision>
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<geometry>
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<box size="${arm_base_length} ${arm_base_width} ${arm_base_height}" />
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</geometry>
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<origin xyz="0 0 ${arm_base_height / 2.0}" rpy="0 0 0" />
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</collision>
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<xacro:box_inertia m="0.5" l="${2*arm_base_length}" w="${2*arm_base_width}" h="${2*arm_base_height}"
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xyz="0 0 ${arm_base_height / 2.0}" rpy="0 0 0" />
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</link>
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<link name="forearm_link">
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<visual>
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<geometry>
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<cylinder radius="${forearm_radius}" length="${forearm_length}" />
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</geometry>
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<origin xyz="0 0 ${forearm_length / 2.0}" rpy="0 0 0" />
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<material name="yellow" />
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</visual>
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<collision>
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<geometry>
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<cylinder radius="${forearm_radius}" length="${forearm_length}" />
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</geometry>
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<origin xyz="0 0 ${forearm_length / 2.0}" rpy="0 0 0" />
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</collision>
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<xacro:cylinder_inertia m="0.3" r="${2*forearm_radius}" h="${2*forearm_length}"
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xyz="0 0 ${forearm_length / 2.0}" rpy="0 0 0" />
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</link>
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<link name="hand_link">
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<visual>
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<geometry>
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<cylinder radius="${hand_radius}" length="${hand_length}" />
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</geometry>
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<origin xyz="0 0 ${hand_length / 2.0}" rpy="0 0 0" />
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<material name="orange" />
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</visual>
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<collision>
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<geometry>
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<cylinder radius="${hand_radius}" length="${hand_length}" />
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</geometry>
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<origin xyz="0 0 ${hand_length / 2.0}" rpy="0 0 0" />
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</collision>
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<xacro:cylinder_inertia m="0.3" r="${2*hand_radius}" h="${2*hand_length}"
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xyz="0 0 ${hand_length / 2.0}" rpy="0 0 0" />
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</link>
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<joint name="arm_base_forearm_joint" type="revolute">
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<parent link="arm_base_link" />
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<child link="forearm_link" />
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<origin xyz="0 0 ${arm_base_height}" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<limit lower="0" upper="${pi/2}" effort="100" velocity="100" />
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<dynamics friction="0.05" damping="0.1" />
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</joint>
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<joint name="forearm_hand_joint" type="revolute">
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<parent link="forearm_link" />
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<child link="hand_link" />
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<origin xyz="0 0 ${forearm_length}" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<limit lower="0" upper="${pi/2}" effort="100" velocity="100" />
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<dynamics friction="0.05" damping="0.1" />
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</joint>
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</robot>
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