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<?xml version="1.0"?>
<robot name="simple_arm">
<link name="world"/>
<!--base link-->
<link name="base">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<geometry>
<box size="0.02 0.02 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<geometry>
<box size="0.02 0.02 0.1"/>
</geometry>
<material name="gray">
<color rgba="0.8 0.8 0.8 0.5"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value="1"/>
<inertia ixx="0.083" ixy="0.0" ixz="0.0"
iyy="0.083" iyz="0.0"
izz="0.0000666"/>
<!-- Ixx = (1/12)*M*(y^2+z^2) Iyy = (1/12)*M*(x^2+z^2) Izz = (1/12)*M*(x^2+y^2) -->
</inertial>
</link>
<!--first_arm link-->
<link name="first_arm">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<geometry>
<box size="0.02 0.02 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<geometry>
<box size="0.02 0.02 0.1"/>
</geometry>
<material name="gray">
<color rgba="0.8 0.8 0.8 0.5"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<mass value="1"/>
<inertia ixx="0.083" ixy="0.0" ixz="0.0"
iyy="0.083" iyz="0.0"
izz="0.0000666"/>
</inertial>
</link>
<!--second_arm link-->
<link name="second_arm">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<geometry>
<box size="0.02 0.02 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<geometry>
<box size="0.02 0.02 0.1"/>
</geometry>
<material name="gray">
<color rgba="0.8 0.8 0.8 0.5"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<mass value="1"/>
<inertia ixx="0.083" ixy="0.0" ixz="0.0"
iyy="0.083" iyz="0.0"
izz="0.0000666"/>
</inertial>
</link>
<!--world to base fixed-->
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base"/>
</joint>
<!--base to first_arm joint-->
<joint name="joint1" type="revolute">
<parent link="base"/>
<child link="first_arm"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0 0.09"/>
<limit effort="1000" lower="-2.0" upper="2.0" velocity="0.5"/>
</joint>
<joint name="joint2" type="revolute">
<parent link="first_arm"/>
<child link="second_arm"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0 0.09"/>
<limit effort="1000" lower="-2.0" upper="2.0" velocity="0.5"/>
</joint>
</robot>