API tools faq
paste
Advertisement
Guest User

Untitled

a guest
Jun 14th, 2018
102
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 6.37 KB | None | 0 0
raw download clone embed print report
  1. <robot name="example_robot">
  2. <link name="base_link">
  3. <visual>
  4. <origin xyz="0 0.075 0.09" rpy="0 0 0"/>
  5. <geometry>
  6. <cylinder radius="0.132" length="0.18"/>
  7. </geometry>
  8. <material name="Blue1">
  9. <color rgba="0 0 4 0"/>
  10. </material>
  11. </visual>
  12. </link>
  13.  
  14. <link name="link0_passive">
  15. <visual>
  16. <origin xyz="0 -0.075 0.07" rpy="0 0 0"/>
  17. <material name="blue">
  18. <color rgba="0 0 .8 1"/>
  19. </material>
  20. <geometry>
  21. <box size="0.26 0.15 0.14"/>
  22. </geometry>
  23. </visual>
  24. </link>
  25.  
  26.  
  27. <!-- usuniety-->
  28. <link name="link0_x_axis">
  29. <visual>
  30. <origin xyz="0 0 0" rpy="0 0 0"/>
  31. <material name="red">
  32. <color rgba="1 0 0 1"/>
  33. </material>
  34. <geometry>
  35. <box size="0 0 0"/>
  36. </geometry>
  37. </visual>
  38. </link>
  39.  
  40.  
  41. <joint name="q0_x" type="fixed">
  42. <origin xyz="0 0 0" rpy="0 1.571 0"/>
  43. <parent link="link0_passive"/>
  44. <child link="link0_x_axis"/>
  45. </joint>
  46.  
  47. <link name="link1"/>
  48. <link name="link1_x_axis">
  49. <visual>
  50. <origin xyz="0 0 0" rpy="0 0 0"/>
  51. <material name="red"/>
  52. <geometry>
  53. <box size="0 0 0"/>
  54. </geometry>
  55. </visual>
  56. </link>
  57.  
  58.  
  59. <joint name="q1" type="revolute">
  60. <origin xyz="0 0 0.45" rpy="0 0 0"/>
  61. <parent link="link0_passive"/>
  62. <child link="link1"/>
  63. <axis xyz="0 0 1"/>
  64. </joint>
  65. <joint name="q1_passive" type="fixed">
  66. <origin xyz="0 0 -0.44" rpy="-1.5707963267948966 0 0"/>
  67. <parent link="link1"/>
  68. <child link="link1_passive"/>
  69. </joint>
  70. <link name="link1_passive">
  71. <visual>
  72. <origin xyz="0 -0.225 0" rpy="1.57 0 0"/>
  73. <material name="blue"/>
  74. <geometry>
  75. <box size="0.32 0.372 0.119"/>
  76. </geometry>
  77. </visual>
  78. </link>
  79. <joint name="q1_x" type="fixed">
  80. <origin xyz="0 0 0" rpy="0 1.571 0"/>
  81. <parent link="link1_passive"/>
  82. <child link="link1_x_axis"/>
  83. </joint>
  84.  
  85.  
  86. <link name="link2"/>
  87. <link name="link2_x_axis">
  88. <visual>
  89. <origin xyz="1 0 0.25" rpy="1.57 0 0"/>
  90. <material name="red"/>
  91. <geometry>
  92. <cylinder length="0.5" radius="0.05"/>
  93. </geometry>
  94. </visual>
  95. </link>
  96. <joint name="q2" type="revolute">
  97. <origin xyz="0 0 0" rpy="0 0 0"/>
  98. <parent link="link1_passive"/>
  99. <child link="link2"/>
  100. <axis xyz="0 0 1"/>
  101. </joint>
  102. <joint name="q2_passive" type="fixed">
  103. <origin xyz="0.614 0 0" rpy="3.141592653589793 0 0"/>
  104. <parent link="link2"/>
  105. <child link="link2_passive"/>
  106. </joint>
  107. <link name="link2_passive">
  108. <visual>
  109. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  110. <material name="blue"/>
  111. <geometry>
  112. <cylinder length="0.5" radius="0.05"/>
  113. </geometry>
  114. </visual>
  115. </link>
  116. <joint name="q2_x" type="fixed">
  117. <origin xyz="0 0 0" rpy="0 1.571 0"/>
  118. <parent link="link2_passive"/>
  119. <child link="link2_x_axis"/>
  120. </joint>
  121. <link name="link3"/>
  122. <link name="link3_x_axis">
  123. <visual>
  124. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  125. <material name="red"/>
  126. <geometry>
  127. <cylinder length="0.5" radius="0.05"/>
  128. </geometry>
  129. </visual>
  130. </link>
  131. <joint name="q3" type="revolute">
  132. <origin xyz="0 0 0" rpy="0 0 0"/>
  133. <parent link="link2_passive"/>
  134. <child link="link3"/>
  135. <axis xyz="0 0 1"/>
  136. </joint>
  137. <joint name="q3_passive" type="fixed">
  138. <origin xyz="0.2 0 0" rpy="-1.5707963267948966 0 0"/>
  139. <parent link="link3"/>
  140. <child link="link3_passive"/>
  141. </joint>
  142. <link name="link3_passive">
  143. <visual>
  144. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  145. <material name="blue"/>
  146. <geometry>
  147. <cylinder length="0.5" radius="0.05"/>
  148. </geometry>
  149. </visual>
  150. </link>
  151. <joint name="q3_x" type="fixed">
  152. <origin xyz="0 0 0" rpy="0 1.571 0"/>
  153. <parent link="link3_passive"/>
  154. <child link="link3_x_axis"/>
  155. </joint>
  156. <link name="link4"/>
  157. <link name="link4_x_axis">
  158. <visual>
  159. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  160. <material name="red"/>
  161. <geometry>
  162. <cylinder length="0.5" radius="0.05"/>
  163. </geometry>
  164. </visual>
  165. </link>
  166. <joint name="q4" type="revolute">
  167. <origin xyz="0 0 -0.64" rpy="0 0 0"/>
  168. <parent link="link3_passive"/>
  169. <child link="link4"/>
  170. <axis xyz="0 0 1"/>
  171. </joint>
  172. <joint name="q4_passive" type="fixed">
  173. <origin xyz="0 0 0" rpy="1.5707963267948966 0 0"/>
  174. <parent link="link4"/>
  175. <child link="link4_passive"/>
  176. </joint>
  177. <link name="link4_passive">
  178. <visual>
  179. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  180. <material name="blue"/>
  181. <geometry>
  182. <cylinder length="0.5" radius="0.05"/>
  183. </geometry>
  184. </visual>
  185. </link>
  186. <joint name="q4_x" type="fixed">
  187. <origin xyz="0 0 0" rpy="0 1.571 0"/>
  188. <parent link="link4_passive"/>
  189. <child link="link4_x_axis"/>
  190. </joint>
  191. <link name="link5"/>
  192. <link name="link5_x_axis">
  193. <visual>
  194. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  195. <material name="red"/>
  196. <geometry>
  197. <cylinder length="0.5" radius="0.05"/>
  198. </geometry>
  199. </visual>
  200. </link>
  201. <joint name="q5" type="revolute">
  202. <origin xyz="0 0 0" rpy="0 0 0"/>
  203. <parent link="link4_passive"/>
  204. <child link="link5"/>
  205. <axis xyz="0 0 1"/>
  206. </joint>
  207. <joint name="q5_passive" type="fixed">
  208. <origin xyz="0.03 0 0" rpy="1.5707963267948966 0 0"/>
  209. <parent link="link5"/>
  210. <child link="link5_passive"/>
  211. </joint>
  212. <link name="link5_passive">
  213. <visual>
  214. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  215. <material name="blue"/>
  216. <geometry>
  217. <cylinder length="0.5" radius="0.05"/>
  218. </geometry>
  219. </visual>
  220. </link>
  221. <joint name="q5_x" type="fixed">
  222. <origin xyz="0 0 0" rpy="0 1.571 0"/>
  223. <parent link="link5_passive"/>
  224. <child link="link5_x_axis"/>
  225. </joint>
  226. <link name="link6"/>
  227. <link name="link6_x_axis">
  228. <visual>
  229. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  230. <material name="red"/>
  231. <geometry>
  232. <cylinder length="0.5" radius="0.05"/>
  233. </geometry>
  234. </visual>
  235. </link>
  236. <joint name="q6" type="revolute">
  237. <origin xyz="0 0 0.2" rpy="0 0 0"/>
  238. <parent link="link5_passive"/>
  239. <child link="link6"/>
  240. <axis xyz="0 0 1"/>
  241. </joint>
  242. <joint name="q6_passive" type="fixed">
  243. <origin xyz="0 0 0" rpy="0 0 0"/>
  244. <parent link="link6"/>
  245. <child link="link6_passive"/>
  246. </joint>
  247. <link name="link6_passive">
  248. <visual>
  249. <origin xyz="0 0 0.25" rpy="0 0 0"/>
  250. <material name="blue"/>
  251. <geometry>
  252. <cylinder length="0.5" radius="0.05"/>
  253. </geometry>
  254. </visual>
  255. </link>
  256. <joint name="q6_x" type="fixed">
  257. <origin xyz="0 0 0" rpy="0 1.571 0"/>
  258. <parent link="link6_passive"/>
  259. <child link="link6_x_axis"/>
  260. </joint>
  261. </robot>
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!