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ETS-VII With Reactionwheels

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Nov 1st, 2020
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  1. <?xml version="1.0" ?>
  2.  
  3. <robot name="ETS_VII">
  4.  
  5.   <!-- Colors -->
  6.   <material name="Grey">
  7.     <color rgba="0.2 0.2 0.2 1.0"/>
  8.   </material>
  9.   <material name="Orange">
  10.     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  11.   </material>
  12.   <material name="Blue">
  13.   <color rgba="0.5 0.7 1.0 1.0"/>      
  14.   </material>
  15.   <material name="Red">
  16.     <color rgba="1 0 0 1.0"/>      
  17.   </material>
  18.  
  19.  
  20.   <link name="Base"/>
  21.  
  22.   <link name="Base_roll"/>
  23.  
  24.   <!-- S/C Roll Joint -->
  25.   <joint name="Joint_base_roll" type="continuous">
  26.     <parent link="Base"/>
  27.     <child link="Base_roll"/>
  28.     <origin rpy="0 0 0" xyz="0 0 0"/>
  29.     <axis xyz="1 0 0"/>
  30.   </joint>
  31.  
  32.   <transmission name="Joint_base_roll_trans">
  33.     <type>transmission_interface/SimpleTransmission</type>
  34.     <actuator name="$Joint_base_roll_motor">
  35.       <mechanicalReduction>1</mechanicalReduction>
  36.     </actuator>
  37.     <joint name="Joint_base_roll">
  38.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  39.     </joint>
  40.   </transmission>
  41.  
  42.   <link name="Base_pitch"/>
  43.  
  44.   <!-- S/C Pitch Joint -->
  45.   <joint name="Joint_base_pitch" type="continuous">
  46.     <parent link="Base_roll"/>
  47.     <child link="Base_pitch"/>
  48.     <origin rpy="0 0 0" xyz="0 0 0"/>
  49.     <axis xyz="0 1 0"/>
  50.   </joint>
  51.  
  52.   <transmission name="Joint_base_pitch_trans">
  53.     <type>transmission_interface/SimpleTransmission</type>
  54.     <actuator name="$Joint_base_pitch_motor">
  55.       <mechanicalReduction>1</mechanicalReduction>
  56.     </actuator>
  57.     <joint name="Joint_base_pitch">
  58.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  59.     </joint>
  60.   </transmission>
  61.  
  62.   <!-- S/C Yaw Joint -->
  63.   <joint name="Joint_base_yaw" type="continuous">
  64.     <parent link="Base_pitch"/>
  65.     <child link="Spacecraft"/>
  66.     <origin rpy="0 0 0" xyz="0 0 0"/>
  67.     <axis xyz="0 0 1"/>
  68.   </joint>
  69.  
  70.   <transmission name="Joint_base_yaw_trans">
  71.     <type>transmission_interface/SimpleTransmission</type>
  72.     <actuator name="$Joint_base_yaw_motor">
  73.       <mechanicalReduction>1</mechanicalReduction>
  74.     </actuator>
  75.     <joint name="Joint_base_yaw">
  76.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  77.     </joint>
  78.   </transmission>
  79.  
  80.   <!--Spacecraft-->
  81.   <link name="Spacecraft">
  82.     <inertial>
  83.       <origin rpy="0 0 0" xyz="0 0 0"/>
  84.       <mass value="2550"/>
  85.       <inertia ixx="6200" ixy="48.2" ixz="78.5" iyy="3540" iyz="-29.2" izz="7090"/>
  86.     </inertial>
  87.     <visual>
  88.       <origin rpy="0 0 0" xyz="0 0 0"/>
  89.       <geometry>
  90.         <box size="2.2 2.1 2" />
  91.       </geometry>
  92.       <material name="Grey"/>
  93.     </visual>
  94.   </link>
  95.  
  96.   <!-- Joint 1 -->
  97.   <joint name="Joint_1" type="continuous">
  98.     <parent link="Spacecraft"/>
  99.     <child link="Link_1"/>
  100.     <origin rpy="0 0 3.1416" xyz="-0.79 -0.29 1"/>
  101.     <axis xyz="0 0 1"/>
  102.   </joint>
  103.  
  104.   <transmission name="Joint_1_Trans">
  105.     <type>transmission_interface/SimpleTransmission</type>
  106.     <actuator name="$Joint_1_Motor">
  107.       <mechanicalReduction>1</mechanicalReduction>
  108.     </actuator>
  109.     <joint name="Joint_1">
  110.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  111.     </joint>
  112.   </transmission>
  113.  
  114.  
  115.   <!--Manipulator-->
  116.   <!-- Link 1 -->
  117.   <link name="Link_1">
  118.  
  119.     <inertial>
  120.       <origin rpy="0 0 0" xyz="0 0 0"/>
  121.       <mass value="35"/>
  122.       <inertia ixx="0.55" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="1"/>
  123.     </inertial>
  124.  
  125.     <visual>
  126.       <origin rpy="0 0 0" xyz="0 0 0.175"/>
  127.       <geometry>
  128.         <cylinder radius="0.06" length="0.35"/>
  129.       </geometry>
  130.       <material name="Blue"/>
  131.     </visual>
  132.  
  133.     <visual>
  134.       <origin rpy="1.5708 0 0" xyz="0 -0.14 0.35"/>
  135.       <geometry>
  136.         <cylinder radius="0.06" length="0.28"/>
  137.       </geometry>
  138.       <material name="Blue"/>
  139.     </visual>
  140.  
  141.     <visual>
  142.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  143.       <geometry>
  144.         <cylinder radius="0.1" length="0.04"/>
  145.       </geometry>
  146.       <material name="Red"/>
  147.     </visual>
  148.  
  149.   </link>
  150.  
  151.     <!-- Joint 2 -->
  152.   <joint name="Joint_2" type="continuous">
  153.     <parent link="Link_1"/>
  154.     <child link="Link_2"/>
  155.     <origin rpy="-1.570796 0 0" xyz="0 -0.275 0.35"/>
  156.     <axis xyz="0 0 1"/>
  157.   </joint>
  158.  
  159.   <transmission name="Joint_2_Trans">
  160.     <type>transmission_interface/SimpleTransmission</type>
  161.     <actuator name="$Joint_2_Motor">
  162.       <mechanicalReduction>1</mechanicalReduction>
  163.     </actuator>
  164.     <joint name="Joint_2">
  165.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  166.     </joint>
  167.   </transmission>
  168.  
  169.   <!-- Link 2 -->
  170.   <link name="Link_2">
  171.     <inertial>
  172.       <origin rpy="0 0 0" xyz="0 0 0"/>
  173.       <mass value="22.5"/>
  174.       <inertia ixx="0.7" ixy="0" ixz="0" iyy="1.35" iyz="0" izz="2"/>
  175.     </inertial>
  176.  
  177.     <visual>
  178.       <origin rpy="1.5708 0 0" xyz="0 -0.435 0"/>
  179.       <geometry>
  180.         <cylinder radius="0.06" length="0.87"/>
  181.       </geometry>
  182.       <material name="Blue"/>
  183.     </visual>
  184.  
  185.     <visual>
  186.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  187.       <geometry>
  188.         <cylinder radius="0.1" length="0.04"/>
  189.       </geometry>
  190.       <material name="Red"/>
  191.     </visual>
  192.  
  193.   </link>
  194.  
  195.   <!-- Joint 3 -->
  196.   <joint name="Joint_3" type="continuous">
  197.     <parent link="Link_2"/>
  198.     <child link="Link_3"/>
  199.     <origin rpy="0 0 0" xyz="0 -0.87 0.0"/>
  200.     <axis xyz="0 0 1"/>
  201.   </joint>
  202.  
  203.   <transmission name="Joint_3_Trans">
  204.     <type>transmission_interface/SimpleTransmission</type>
  205.     <actuator name="$Joint_3_Motor">
  206.       <mechanicalReduction>1</mechanicalReduction>
  207.     </actuator>
  208.     <joint name="Joint_3">
  209.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  210.     </joint>
  211.   </transmission>
  212.  
  213.   <!-- Link 3 -->
  214.   <link name="Link_3">
  215.     <inertial>
  216.       <origin rpy="0 0 0" xyz="0 0 0"/>
  217.       <mass value="21.9"/>
  218.       <inertia ixx="0.7" ixy="0" ixz="0" iyy="1" iyz="0" izz="1.53"/>
  219.     </inertial>
  220.  
  221.     <visual>
  222.       <origin rpy="0 1.5708 0" xyz="-0.315 0 0"/>
  223.       <geometry>
  224.         <cylinder radius="0.06" length="0.63"/>
  225.       </geometry>
  226.       <material name="Blue"/>
  227.     </visual>
  228.  
  229.     <visual>
  230.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  231.       <geometry>
  232.         <cylinder radius="0.1" length="0.04"/>
  233.       </geometry>
  234.       <material name="Red"/>
  235.     </visual>
  236.  
  237.   </link>
  238.  
  239.   <!-- Joint 4 -->
  240.   <joint name="Joint_4" type="continuous">
  241.     <parent link="Link_3"/>
  242.     <child link="Link_4"/>
  243.     <origin rpy="0 0 0" xyz="-0.63 0 0"/>
  244.     <axis xyz="0 0 1"/>
  245.   </joint>
  246.  
  247.   <transmission name="Joint_4_Trans">
  248.     <type>transmission_interface/SimpleTransmission</type>
  249.     <actuator name="$Joint_4_Motor">
  250.       <mechanicalReduction>1</mechanicalReduction>
  251.     </actuator>
  252.     <joint name="Joint_4">
  253.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  254.     </joint>
  255.   </transmission>
  256.  
  257.     <!-- Link 4 -->
  258.   <link name="Link_4">
  259.     <inertial>
  260.       <origin rpy="0 0 0" xyz="0 0 0"/>
  261.        <mass value="16.5"/>
  262.        <inertia ixx="0.15" ixy="0" ixz="0.0" iyy="0.15" iyz="0" izz="0.073"/>
  263.     </inertial>
  264.  
  265.     <visual>
  266.       <origin rpy="0 0 0" xyz="0 0 0.13"/>
  267.       <geometry>
  268.         <cylinder radius="0.06" length="0.26"/>
  269.       </geometry>
  270.       <material name="Blue"/>
  271.     </visual>
  272.  
  273.     <visual>
  274.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  275.       <geometry>
  276.         <cylinder radius="0.1" length="0.04"/>
  277.       </geometry>
  278.       <material name="Red"/>
  279.     </visual>
  280.    
  281.   </link>
  282.  
  283.   <!-- Joint 5 -->
  284.   <joint name="Joint_5" type="continuous">
  285.     <parent link="Link_4"/>
  286.     <child link="Link_5"/>
  287.     <origin rpy="1.5708 0 0" xyz="0 0 0.26"/>
  288.     <axis xyz="0 0 1"/>
  289.   </joint>
  290.  
  291.   <transmission name="Joint_5_Trans">
  292.     <type>transmission_interface/SimpleTransmission</type>
  293.     <actuator name="$Joint_5_Motor">
  294.       <mechanicalReduction>1</mechanicalReduction>
  295.     </actuator>
  296.     <joint name="Joint_5">
  297.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  298.     </joint>
  299.   </transmission>
  300.  
  301.     <!-- Link 5 -->
  302.   <link name="Link_5">
  303.     <inertial>
  304.       <origin rpy="0 0 0" xyz="0 0 0"/>
  305.        <mass value="26"/>
  306.        <inertia ixx="0.15" ixy="0" ixz="0.0" iyy="0.15" iyz="0" izz="0.13"/>
  307.     </inertial>
  308.  
  309.     <visual>
  310.       <origin rpy="0 0 0" xyz="0 0 0.14"/>
  311.       <geometry>
  312.         <cylinder radius="0.06" length="0.28"/>
  313.       </geometry>
  314.       <material name="Blue"/>
  315.     </visual>
  316.  
  317.     <visual>
  318.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  319.       <geometry>
  320.         <cylinder radius="0.1" length="0.04"/>
  321.       </geometry>
  322.       <material name="Red"/>
  323.     </visual>
  324.  
  325.   </link>
  326.  
  327.   <!-- Joint 6 -->
  328.   <joint name="Joint_6" type="continuous">
  329.     <parent link="Link_5"/>
  330.     <child link="Link_6"/>
  331.     <origin rpy="0 -1.5708 0" xyz="0 0 0.28"/>
  332.     <axis xyz="0 0 1"/>
  333.   </joint>
  334.  
  335.   <transmission name="Joint_6_Trans">
  336.     <type>transmission_interface/SimpleTransmission</type>
  337.     <actuator name="$Joint_6_Motor">
  338.       <mechanicalReduction>1</mechanicalReduction>
  339.     </actuator>
  340.     <joint name="Joint_6">
  341.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  342.     </joint>
  343.   </transmission>
  344.  
  345.     <!-- Link 6 -->
  346.   <link name="Link_6">
  347.     <inertial>
  348.       <origin rpy="0 0 0" xyz="0 0 0"/>
  349.        <mass value="18.5"/>
  350.        <inertia ixx="0.97" ixy="0" ixz="0" iyy="0.97" iyz="0" izz="0.26"/>
  351.     </inertial>
  352.  
  353.     <visual>
  354.       <origin rpy="0 0 0" xyz="0 0 0.265"/>
  355.       <geometry>
  356.         <cylinder radius="0.06" length="0.53"/>
  357.       </geometry>
  358.       <material name="Blue"/>
  359.     </visual>
  360.  
  361.     <visual>
  362.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  363.       <geometry>
  364.         <cylinder radius="0.1" length="0.04"/>
  365.       </geometry>
  366.       <material name="Red"/>
  367.     </visual>
  368.  
  369.   </link>
  370.  
  371.   <!-- End-Effector -->
  372.   <link name="link_ee">
  373.  
  374.     <inertial>
  375.       <origin rpy="0 0 0" xyz="0 0 0"/>
  376.       <mass value="0"/>
  377.       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
  378.     </inertial>
  379.  
  380.     <visual>
  381.       <origin rpy="0 0 0" xyz="0 0 0"/>
  382.       <geometry>
  383.         <sphere radius="0.06"/>
  384.       </geometry>
  385.       <material name="Red"/>
  386.     </visual>
  387.   </link>
  388.  
  389.   <joint name="joint_ee_fixed" type="fixed">
  390.     <parent link="Link_6"/>
  391.     <child link="link_ee"/>
  392.     <origin rpy="0 0 0" xyz="0 0 0.53"/>
  393.   </joint>
  394.  
  395.  
  396.  
  397. </robot>
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