Add primitive geom with color overwrite + chained fixed links.
Browse files- chain.urdf +161 -0
chain.urdf
ADDED
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@@ -0,0 +1,161 @@
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| 1 |
+
<?xml version="1.0"?>
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| 2 |
+
<robot name="chain_test">
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| 3 |
+
<!-- Material definition -->
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| 4 |
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<material name="Grey">
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| 5 |
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<color rgba="0.2 0.2 0.2 1.0"/>
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| 6 |
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</material>
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| 7 |
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| 8 |
+
<!-- Base link -->
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| 9 |
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<link name="base">
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| 10 |
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<visual>
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| 11 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 12 |
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<geometry>
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| 13 |
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<box size="0.2 0.2 0.1"/>
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| 14 |
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</geometry>
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| 15 |
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<material name="Grey"/>
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| 16 |
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</visual>
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| 17 |
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<inertial>
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| 18 |
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<mass value="10.0"/>
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| 19 |
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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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| 20 |
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</inertial>
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| 21 |
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</link>
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<!-- Chain 1: base -> fixed_1 -> fixed_2 -> fixed_3 -> revolute -> arm -->
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| 24 |
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<joint name="fix_j1" type="fixed">
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| 25 |
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<origin xyz="0.1 0 0" rpy="0 0 0"/>
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| 26 |
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<parent link="base"/>
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| 27 |
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<child link="fixed_1"/>
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| 28 |
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</joint>
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| 29 |
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<link name="fixed_1">
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| 30 |
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<visual>
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| 31 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 32 |
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<geometry>
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| 33 |
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<cylinder radius="0.02" length="0.05"/>
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| 34 |
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</geometry>
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| 35 |
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<material name="Grey"/>
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| 36 |
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</visual>
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| 37 |
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<inertial>
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| 38 |
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<mass value="1.0"/>
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| 39 |
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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| 40 |
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</inertial>
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| 41 |
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</link>
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| 42 |
+
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| 43 |
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<joint name="fix_j2" type="fixed">
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| 44 |
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<origin xyz="0.1 0 0" rpy="0 0 0"/>
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| 45 |
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<parent link="fixed_1"/>
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| 46 |
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<child link="fixed_2"/>
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| 47 |
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</joint>
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| 48 |
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<link name="fixed_2">
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| 49 |
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<visual>
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| 50 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 51 |
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<geometry>
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| 52 |
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<cylinder radius="0.025" length="0.05"/>
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| 53 |
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</geometry>
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| 54 |
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<material name="Grey"/>
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| 55 |
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</visual>
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| 56 |
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<inertial>
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| 57 |
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<mass value="2.0"/>
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| 58 |
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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| 59 |
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</inertial>
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| 60 |
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</link>
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| 61 |
+
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| 62 |
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<joint name="fix_j3" type="fixed">
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| 63 |
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<origin xyz="0.1 0 0" rpy="0 0 0"/>
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| 64 |
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<parent link="fixed_2"/>
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| 65 |
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<child link="fixed_3"/>
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| 66 |
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</joint>
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| 67 |
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<link name="fixed_3">
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| 68 |
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<visual>
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| 69 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 70 |
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<geometry>
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| 71 |
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<cylinder radius="0.03" length="0.05"/>
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| 72 |
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</geometry>
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| 73 |
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<material name="Grey"/>
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| 74 |
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</visual>
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| 75 |
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<inertial>
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| 76 |
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<mass value="3.0"/>
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| 77 |
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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| 78 |
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</inertial>
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| 79 |
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</link>
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| 80 |
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| 81 |
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<joint name="shoulder" type="revolute">
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| 82 |
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<origin xyz="0.4 0 0" rpy="0 0 0"/>
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| 83 |
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<axis xyz="0 1 0"/>
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| 84 |
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<parent link="fixed_3"/>
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| 85 |
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<child link="arm"/>
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| 86 |
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<limit lower="-3.14" upper="3.14" effort="100.0" velocity="2.0"/>
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| 87 |
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</joint>
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| 88 |
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<link name="arm">
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| 89 |
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<visual>
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| 90 |
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<origin xyz="0 0 0.25" rpy="0 0 0"/>
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| 91 |
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<geometry>
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| 92 |
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<box size="0.05 0.05 0.5"/>
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| 93 |
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</geometry>
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| 94 |
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<material name="Grey"/>
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| 95 |
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</visual>
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| 96 |
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<inertial>
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| 97 |
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<mass value="5.0"/>
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| 98 |
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<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
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| 99 |
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</inertial>
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| 100 |
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</link>
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| 101 |
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| 102 |
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<!-- Chain 2: arm -> adapter_1 -> adapter_2 -> prismatic -> slider -->
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| 103 |
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<joint name="adapt_j1" type="fixed">
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| 104 |
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<origin xyz="0 0 0.5" rpy="0 0 0"/>
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| 105 |
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<parent link="arm"/>
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| 106 |
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<child link="adapter_1"/>
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| 107 |
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</joint>
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| 108 |
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<link name="adapter_1">
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| 109 |
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<visual>
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| 110 |
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<origin xyz="0 0 0.05" rpy="0 0 0"/>
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| 111 |
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<geometry>
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| 112 |
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<cylinder radius="0.03" length="0.1"/>
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| 113 |
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</geometry>
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| 114 |
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<material name="Grey"/>
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| 115 |
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</visual>
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| 116 |
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<inertial>
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| 117 |
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<mass value="0.5"/>
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| 118 |
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
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| 119 |
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</inertial>
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| 120 |
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</link>
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| 121 |
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| 122 |
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<joint name="adapt_j2" type="fixed">
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| 123 |
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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| 124 |
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<parent link="adapter_1"/>
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| 125 |
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<child link="adapter_2"/>
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| 126 |
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</joint>
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| 127 |
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<link name="adapter_2">
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| 128 |
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<visual>
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| 129 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 130 |
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<geometry>
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| 131 |
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<sphere radius="0.04"/>
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| 132 |
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</geometry>
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| 133 |
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<material name="Grey"/>
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| 134 |
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</visual>
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| 135 |
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<inertial>
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| 136 |
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<mass value="0.3"/>
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| 137 |
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
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| 138 |
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</inertial>
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| 139 |
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</link>
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| 140 |
+
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| 141 |
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<joint name="slider" type="prismatic">
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| 142 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 143 |
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<axis xyz="0 0 1"/>
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| 144 |
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<parent link="adapter_2"/>
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| 145 |
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<child link="end_effector"/>
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| 146 |
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<limit lower="0.0" upper="0.5" effort="50.0" velocity="1.0"/>
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| 147 |
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</joint>
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| 148 |
+
<link name="end_effector">
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| 149 |
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<visual>
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| 150 |
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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| 151 |
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<geometry>
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| 152 |
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<box size="0.06 0.06 0.2"/>
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| 153 |
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</geometry>
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| 154 |
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<material name="Grey"/>
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| 155 |
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</visual>
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| 156 |
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<inertial>
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| 157 |
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<mass value="2.0"/>
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| 158 |
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<inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.005"/>
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| 159 |
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</inertial>
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| 160 |
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</link>
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| 161 |
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</robot>
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