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May 27th, 2021
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  1. <?xml version="1.0"?>
  2.  
  3.  
  4. <robot name="robotic_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  5.  
  6. <material name="Yellow">
  7. <color rgba="1.0 1.0 0.0 1.0"/>
  8. </material>
  9.  
  10. <material name="Black">
  11. <color rgba="0.0 0.0 0.0 1.0"/>
  12. </material>
  13.  
  14. <material name="White">
  15. <color rgba="1.0 1.0 1.0 1.0"/>
  16. </material>
  17.  
  18. <material name="Blue">
  19. <color rgba="0.0 0.0 1.0 1.0"/>
  20. </material>
  21.  
  22.  
  23. <!-- Shoulder yaw link properties -->
  24. <property name="shoulder_yaw_len" value="0.195" />
  25.  
  26. <!-- Elbow roll link properties -->
  27. <property name="elbow_roll_len" value="0.16" />
  28.  
  29. <property name="deg_to_rad" value="0.01745329251994329577"/>
  30.  
  31. <!-- Constants -->
  32. <property name="M_SCALE" value="0.001 0.001 0.001"/>
  33. <property name="M_PI" value="3.14159"/>
  34.  
  35.  
  36. <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
  37. <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
  38.  
  39. <link name="bottom_link">
  40. <visual>
  41. <origin xyz="0 0 0.6" rpy="0 0 0" />
  42. <geometry>
  43. <box size="0.16 0.3 1.2" />
  44. </geometry>
  45. <material name="Black" />
  46. </visual>
  47. </link>
  48.  
  49.  
  50. <joint name="bottom_joint" type="fixed">
  51. <parent link="bottom_link"/>
  52. <child link="base_link"/>
  53. <origin xyz="0 0 0.105" rpy="0 0 0" />
  54. </joint>
  55.  
  56.  
  57. <link name="base_link">
  58. <visual>
  59. <origin xyz="0 0.24 0.9" rpy="0 0 0" />
  60. <geometry>
  61. <box size="0.1 0.16 0.1" />
  62. </geometry>
  63. <material name="White" />
  64. </visual>
  65. </link>
  66.  
  67.  
  68. <joint name="shoulder_pan_joint" type="revolute">
  69. <parent link="base_link"/>
  70. <child link="shoulder_pan_link"/>
  71. <origin xyz="0 0.348 0.9" rpy="0 0 0" />
  72. <axis xyz="0 1 0" />
  73. <limit effort="300" velocity="1" lower="-1.57" upper="0"/>
  74. </joint>
  75.  
  76.  
  77. <link name="shoulder_pan_link" >
  78. <visual>
  79. <origin xyz="0 0 0" rpy="0 0 0" />
  80. <geometry>
  81. <box size="0.08 0.05 0.038"/>
  82. </geometry>
  83. <material name="White" />
  84. </visual>
  85. </link>
  86.  
  87.  
  88. <joint name="shoulder_pitch_joint" type="revolute">
  89. <parent link="shoulder_pan_link"/>
  90. <child link="shoulder_yaw_link"/>
  91. <origin xyz="0 0.02 0" rpy="0 0 0" />
  92. <axis xyz="1 0 0" />
  93. <limit effort="300" velocity="1" lower="0" upper="1.57" />
  94. </joint>
  95.  
  96.  
  97. <link name="shoulder_yaw_link" >
  98. <visual>
  99. <origin xyz="0 0 -0.0975" rpy="0 0 0" />
  100. <geometry>
  101. <cylinder radius="0.02" length="0.195"/>
  102. </geometry>
  103. <material name="White" />
  104. </visual>
  105. </link>
  106.  
  107.  
  108. <joint name="elbow_pitch_joint" type="revolute">
  109. <parent link="shoulder_yaw_link"/>
  110. <child link="elbow_pitch_link"/>
  111. <origin xyz="0 0 -${shoulder_yaw_len}" rpy="0 0 0" />
  112. <axis xyz="0 1 0" />
  113. <limit effort="300" velocity="1" lower="-1.57" upper="1.57" />
  114. </joint>
  115.  
  116.  
  117. <link name="elbow_pitch_link" >
  118. <visual>
  119. <origin xyz="0 0 0" rpy="0 0 0" />
  120. <geometry>
  121. <sphere radius="0.02"/>
  122. </geometry>
  123. <material name="White" />
  124. </visual>
  125. </link>
  126.  
  127.  
  128. <joint name="elbow_roll_joint" type="continuous">
  129. <parent link="elbow_pitch_link"/>
  130. <child link="elbow_roll_link"/>
  131. <origin xyz="0 0 0" rpy="0 0 0" />
  132. <axis xyz="0 0 1" />
  133. <dynamics damping="50" friction="1"/>
  134. </joint>
  135.  
  136.  
  137. <link name="elbow_roll_link" >
  138. <visual>
  139. <origin xyz="0 0 -${elbow_roll_len/2}" rpy="0 0 0" />
  140. <geometry>
  141. <cylinder radius="0.02" length="${elbow_roll_len}"/>
  142. </geometry>
  143. <material name="White" />
  144. </visual>
  145. </link>
  146.  
  147.  
  148. <joint name="wrist_pitch_joint" type="revolute">
  149. <parent link="elbow_roll_link"/>
  150. <child link="wrist_pitch_link"/>
  151. <origin xyz="0 0 -${elbow_roll_len}" rpy="0 0 0" />
  152. <axis xyz="1 0 0" />
  153. <limit effort="300" velocity="1" lower="-1.57" upper="1.57" />
  154. <dynamics damping="50" friction="1"/>
  155. </joint>
  156.  
  157.  
  158. <link name="wrist_pitch_link" >
  159. <visual>
  160. <origin xyz="0 0 -0.1" rpy="0 0 0" />
  161. <geometry>
  162. <cylinder radius="0.02" length="0.2"/>
  163. </geometry>
  164. <material name="White" />
  165. </visual>
  166.  
  167.  
  168. <joint name="wrist_joint" type="continuous">
  169. <parent link="wrist_pitch_link"/>
  170. <child link="wrist_link"/>
  171. <origin xyz="0 0 0.01" rpy="0 0 0" />
  172. <axis xyz="0 0 1" />
  173. </joint>
  174.  
  175.  
  176. <link name="wrist_link" >
  177. <visual>
  178. <origin xyz="0 0 -0.22" rpy="0 0 0" />
  179. <geometry>
  180. <box size="0.03 0.04 0.02"/>
  181. </geometry>
  182. <material name="White" />
  183. </visual>
  184. </link>
  185.  
  186.  
  187.  
  188. <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
  189. <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
  190.  
  191.  
  192.  
  193. <transmission name="tran1">
  194. <type>transmission_interface/SimpleTransmission</type>
  195. <joint name="shoulder_pan_joint2">
  196. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  197. </joint>
  198. <actuator name="motor1">
  199. <hardwareInterface>EffortJointInterface</hardwareInterface>
  200. <mechanicalReduction>1.75</mechanicalReduction>
  201. </actuator>
  202. </transmission>
  203.  
  204.  
  205. </robot>
  206.  
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