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- <robot name="pi_robot">
- <!-- * * * Link Definitions * * * -->
- <link name="podstawa_robota">
- <visual>
- <origin xyz="0.0 0 0.0425" rpy="0 0 0"/>
- <geometry>
- <box size="0.455 0.455 0.1"/>
- </geometry>
- <material name="Cyan1">
- <color rgba="0 0.9 0.9 1.0"/>
- </material>
- </visual>
- </link>
- <link name="obkrecacz_podstawy">
- <visual>
- <origin xyz="0.0 0 0.1225" rpy="0 0 0"/>
- <geometry>
- <cylinder radius="0.242" length="0.06"/>
- </geometry>
- <material name="Black1">
- <color rgba="0.2 0.2 0.2 1.0"/>
- </material>
- </visual>
- </link>
- <link name="podstawa_ramienia1">
- <visual>
- <origin xyz="0.0 0 0.3425" rpy="0 0 0"/>
- <geometry>
- <box size="0.455 0.455 0.38"/>
- </geometry>
- <material name="Cyan1">
- <color rgba="0 0.9 0.9 1.0"/>
- </material>
- </visual>
- </link>
- <link name="ramie1">
- <visual>
- <origin xyz="0.0 0 0.9675" rpy="0 0 0"/>
- <geometry>
- <box size="0.165 0.165 0.87"/>
- </geometry>
- <material name="Yellow">
- <color rgba="0.8 0.8 0 1.0"/>
- </material>
- </visual>
- </link>
- <link name="podstawa_ramienia2">
- <visual>
- <origin xyz="0.0 0 1.5475" rpy="0 0 0"/>
- <geometry>
- <box size="0.165 0.455 0.288"/>
- </geometry>
- <material name="Cyan1">
- <color rgba="0 0.9 0.9 1.0"/>
- </material>
- </visual>
- </link>
- <link name="ramie2">
- <visual>
- <origin xyz="0.0 0.512 1.5475" rpy="0 0 0"/>
- <geometry>
- <box size="0.165 1.025 0.165"/>
- </geometry>
- <material name="Yellow">
- <color rgba="0.8 0.8 0 1.0"/>
- </material>
- </visual>
- </link>
- <link name="podstawa_lapaka">
- <visual>
- <origin xyz="0.0 1.145 1.5475" rpy="0 0 0"/>
- <geometry>
- <box size="0.165 0.455 0.288"/>
- </geometry>
- <material name="Cyan1">
- <color rgba="0 0.9 0.9 1.0"/>
- </material>
- </visual>
- </link>
- <!-- OBKRECACZE -->
- <joint name="spajacz1" type="fixed">
- <parent link="obkrecacz_podstawy"/>
- <child link="podstawa_ramienia1"/>
- <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
- </joint>
- <joint name="spajacz2" type="fixed">
- <parent link="podstawa_ramienia1"/>
- <child link="ramie1"/>
- <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
- </joint>
- <joint name="spajacz3" type="fixed">
- <parent link="ramie1"/>
- <child link="podstawa_ramienia2"/>
- <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
- </joint>
- <joint name="spajacz4" type="fixed">
- <parent link="podstawa_ramienia2"/>
- <child link="ramie2"/>
- <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
- </joint>
- <joint name="spajacz4" type="fixed">
- <parent link="ramie2"/>
- <child link="podstawa_lapaka"/>
- <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
- </joint>
- <joint name="podstawa_joint" type="revolute">
- <parent link="podstawa_robota"/>
- <child link="obkrecacz_podstawy"/>
- <origin xyz="0.0 0 0" rpy="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit lower="-3.1416" upper="3.1416" effort="10" velocity="3"/>
- </joint>
- </robot>
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