Update chain.
Browse files- chain.urdf +5 -12
chain.urdf
CHANGED
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@@ -7,13 +7,6 @@
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<!-- Base link -->
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<link name="base">
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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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<box size="0.2 0.2 0.1"/>
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</geometry>
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<material name="Grey"/>
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</visual>
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<inertial>
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<mass value="10.0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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@@ -22,7 +15,7 @@
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<!-- Chain 1: base -> fixed_1 -> fixed_2 -> fixed_3 -> revolute -> arm -->
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<joint name="fix_j1" type="fixed">
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<origin xyz="0.1 0 0" rpy="0 0 0"/>
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<parent link="base"/>
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<child link="fixed_1"/>
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</joint>
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@@ -41,7 +34,7 @@
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</link>
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<joint name="fix_j2" type="fixed">
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<origin xyz="0.1 0 0" rpy="0 0 0"/>
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<parent link="fixed_1"/>
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<child link="fixed_2"/>
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</joint>
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@@ -60,7 +53,7 @@
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</link>
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<joint name="fix_j3" type="fixed">
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<origin xyz="0.1 0 0" rpy="0 0 0"/>
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<parent link="fixed_2"/>
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<child link="fixed_3"/>
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</joint>
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@@ -101,7 +94,7 @@
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<!-- Chain 2: arm -> adapter_1 -> adapter_2 -> prismatic -> slider -->
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<joint name="adapt_j1" type="fixed">
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<origin xyz="0 0 0.5" rpy="0 0 0"/>
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<parent link="arm"/>
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<child link="adapter_1"/>
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</joint>
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@@ -120,7 +113,7 @@
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</link>
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<joint name="adapt_j2" type="fixed">
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<parent link="adapter_1"/>
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<child link="adapter_2"/>
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</joint>
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<!-- Base link -->
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<link name="base">
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<inertial>
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<mass value="10.0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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<!-- Chain 1: base -> fixed_1 -> fixed_2 -> fixed_3 -> revolute -> arm -->
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<joint name="fix_j1" type="fixed">
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<origin xyz="0.1 0 0" rpy="0.3 0 0"/>
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<parent link="base"/>
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<child link="fixed_1"/>
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</joint>
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</link>
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<joint name="fix_j2" type="fixed">
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<origin xyz="0.1 0 0" rpy="0 0.4 0"/>
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<parent link="fixed_1"/>
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<child link="fixed_2"/>
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</joint>
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</link>
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<joint name="fix_j3" type="fixed">
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<origin xyz="0.1 0 0" rpy="0 0 0.5"/>
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<parent link="fixed_2"/>
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<child link="fixed_3"/>
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</joint>
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<!-- Chain 2: arm -> adapter_1 -> adapter_2 -> prismatic -> slider -->
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<joint name="adapt_j1" type="fixed">
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<origin xyz="0 0 0.5" rpy="0.1 0.0 0.2"/>
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<parent link="arm"/>
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<child link="adapter_1"/>
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</joint>
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</link>
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<joint name="adapt_j2" type="fixed">
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<origin xyz="0 0 0.1" rpy="0 0.3 0"/>
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<parent link="adapter_1"/>
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<child link="adapter_2"/>
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</joint>
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