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- <?xml version='1.0'?>
- <sdf version="1.4">
- <model name="mymanip">
- <link name="base">
- <!--<gravity>0</gravity>-->
- <pose>0 0 0.04 0 0 0</pose>
- <inertial>
- <mass>10.0</mass>
- <inertia>
- <ixx>0.2096665828</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.2096665828</iyy>
- <iyz>0.0</iyz>
- <izz>0.4166665</izz>
- </inertia>
- </inertial>
- <collision name="base_collision">
- <geometry>
- <box>
- <size>0.500 0.500 0.04</size>
- </box>
- </geometry>
- </collision>
- <visual name="base_visual">
- <geometry>
- <box>
- <size>0.500 0.500 0.04</size>
- </box>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Blue</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="first_link">
- <!--<gravity>0</gravity>-->
- <pose>0 0 0.2 0 0 0</pose>
- <inertial>
- <mass>2.0</mass>
- <inertia>
- <ixx>0.02006665864</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.02006665864</iyy>
- <iyz>0.0</iyz>
- <izz>0.0081</izz>
- </inertia>
- </inertial>
- <collision name="first_link_collision">
- <geometry>
- <cylinder>
- <radius>0.09</radius>
- <length>0.31</length>
- </cylinder>
- </geometry>
- </collision>
- <visual name="first_link_visual">
- <geometry>
- <cylinder>
- <radius>0.09</radius>
- <length>0.31</length>
- </cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Red</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="second_link">
- <!--<gravity>0</gravity>-->
- <pose>0 0 0.345 0 0 0</pose>
- <inertial>
- <pose>0 0 0.18 0 0 0</pose>
- <mass>0.6</mass>
- <inertia>
- <ixx>0.00719999712</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.006979997208</iyy>
- <iyz>0.0</iyz>
- <izz>0.001219999512</izz>
- </inertia>
- </inertial>
- <collision name="second_link_collision">
- <pose>0 0 0.05 1.57079633 0 0</pose>
- <geometry>
- <cylinder>
- <radius>0.04</radius>
- <length>0.12</length>
- </cylinder>
- </geometry>
- </collision>
- <visual name="second_link_visual">
- <pose>0 0 0.05 1.57079633 0 0</pose>
- <geometry>
- <cylinder>
- <radius>0.04</radius>
- <length>0.12</length>
- </cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Blue</name>
- </script>
- </material>
- </visual>
- <collision name="second_link_arm_collision">
- <pose>0 0 0.2 0 0 0</pose>
- <geometry>
- <box>
- <size>0.1 0.12 0.28</size>
- </box>
- </geometry>
- </collision>
- <visual name="second_link_arm_visual">
- <pose>0 0 0.2 0 0 0</pose>
- <geometry>
- <box>
- <size>0.1 0.12 0.28</size>
- </box>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Red</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="third_link">
- <!--<gravity>0</gravity>-->
- <pose>0 0 0.625 0 0 0</pose>
- <inertial>
- <pose>0 0 0.13 0 0 0</pose>
- <mass>0.3</mass>
- <inertia>
- <ixx>0.00094562462175</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.00094562462175</iyy>
- <iyz>0.0</iyz>
- <izz>0.000979999608</izz>
- </inertia>
- </inertial>
- <collision name="third_link_collision">
- <pose>0 0 0.07 1.57079633 0 0</pose>
- <geometry>
- <cylinder>
- <radius>0.035</radius>
- <length>0.12</length>
- </cylinder>
- </geometry>
- </collision>
- <visual name="third_link_visual">
- <pose>0 0 0.07 1.57079633 0 0</pose>
- <geometry>
- <cylinder>
- <radius>0.035</radius>
- <length>0.12</length>
- </cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Blue</name>
- </script>
- </material>
- </visual>
- <collision name="third_link_arm_collision">
- <pose>0 0 0.15 0 0 0</pose>
- <geometry>
- <box>
- <size>0.14 0.14 0.1</size>
- </box>
- </geometry>
- </collision>
- <visual name="third_link_arm_visual">
- <pose>0 0 0.15 0 0 0</pose>
- <geometry>
- <box>
- <size>0.14 0.14 0.1</size>
- </box>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Red</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="fourth_link">
- <!--<gravity>0</gravity>-->
- <pose>0 0 0.875 0 0 0</pose>
- <inertial>
- <mass>0.2</mass>
- <inertia>
- <ixx>0.0004166665</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.000448333154</iyy>
- <iyz>0.0</iyz>
- <izz>0.000301666546</izz>
- </inertia>
- </inertial>
- <collision name="fourth_link_collision">
- <geometry>
- <box>
- <size>0.1 0.09 0.13</size>
- </box>
- </geometry>
- </collision>
- <visual name="fourth_link_visual">
- <geometry>
- <box>
- <size>0.1 0.09 0.13</size>
- </box>
- </geometry>
- </visual>
- </link>
- <link name="fifth_link">
- <!--<gravity>0</gravity>-->
- <pose>0 0 0.965 0 0 0</pose>
- <inertial>
- <pose>0 0 0.035 0 0 0</pose>
- <mass>0.2</mass>
- <inertia>
- <ixx>0.00040833317</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.00040833317</iyy>
- <iyz>0.0</iyz>
- <izz>0.00040833317</izz>
- </inertia>
- </inertial>
- <collision name="fifth_link_collision">
- <pose>0 0 0 1.57079633 0 0</pose>
- <geometry>
- <cylinder>
- <radius>0.035</radius>
- <length>0.14</length>
- </cylinder>
- </geometry>
- </collision>
- <visual name="fifth_link_visual">
- <pose>0 0 0 1.57079633 0 0</pose>
- <geometry>
- <cylinder>
- <radius>0.035</radius>
- <length>0.14</length>
- </cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Red</name>
- </script>
- </material>
- </visual>
- <collision name="fifth_link_arm_collision">
- <pose>0 0 0.05 0 0 0</pose>
- <geometry>
- <box>
- <size>0.08 0.07 0.07</size>
- </box>
- </geometry>
- </collision>
- <visual name="fifth_link_arm_visual">
- <pose>0 0 0.05 0 0 0</pose>
- <geometry>
- <box>
- <size>0.08 0.07 0.07</size>
- </box>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Green</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="sixth_link">
- <!--<gravity>0</gravity>-->
- <pose>0 0 1.05 0 0 0</pose>
- <inertial>
- <mass>0.2</mass>
- <inertia>
- <ixx>0.0000729166375</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.0000729166375</iyy>
- <iyz>0.0</iyz>
- <izz>0.0000625</izz>
- </inertia>
- </inertial>
- <collision name="sixth_link_collision">
- <geometry>
- <cylinder>
- <radius>0.025</radius>
- <length>0.05</length>
- </cylinder>
- </geometry>
- </collision>
- <visual name="sixth_link_visual">
- <geometry>
- <cylinder>
- <radius>0.025</radius>
- <length>0.05</length>
- </cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Yellow</name>
- </script>
- </material>
- </visual>
- </link>
- <joint name="base_revolute" type="revolute">
- <parent>base</parent>
- <child>first_link</child>
- <axis>
- <dynamics>
- <damping>1.000000</damping>
- <friction>0.000000</friction>
- </dynamics>
- <limit>
- <lower>-2.96705973</lower>
- <upper>2.96705973</upper>
- </limit>
- <xyz>0 0 1</xyz>
- <use_parent_model_frame>true</use_parent_model_frame>
- </axis>
- </joint>
- <joint name="first_rotation" type="revolute">
- <parent>first_link</parent>
- <child>second_link</child>
- <pose>0 0 0.05 0 0 0</pose>
- <axis>
- <dynamics>
- <damping>1.000000</damping>
- <friction>0.000000</friction>
- </dynamics>
- <limit>
- <lower>-2.96705973</lower>
- <upper>0.872664626</upper>
- </limit>
- <xyz>0 1 0</xyz>
- <use_parent_model_frame>true</use_parent_model_frame>
- </axis>
- </joint>
- <joint name="second_rotation" type="revolute">
- <parent>second_link</parent>
- <child>third_link</child>
- <pose>0 0 0.07 0 0 0</pose>
- <axis>
- <dynamics>
- <damping>1.000000</damping>
- <friction>0.000000</friction>
- </dynamics>
- <limit>
- <lower>-3.14159265</lower>
- <upper>2.70526034</upper>
- </limit>
- <xyz>0 1 0</xyz>
- <use_parent_model_frame>true</use_parent_model_frame>
- </axis>
- </joint>
- <joint name="third_rotation" type="revolute">
- <parent>third_link</parent>
- <child>fourth_link</child>
- <axis>
- <dynamics>
- <damping>1.000000</damping>
- <friction>0.000000</friction>
- </dynamics>
- <xyz>0 0 1</xyz>
- <use_parent_model_frame>true</use_parent_model_frame>
- </axis>
- </joint>
- <joint name="fourth_rotation" type="revolute">
- <parent>fourth_link</parent>
- <child>fifth_link</child>
- <axis>
- <dynamics>
- <damping>1.000000</damping>
- <friction>0.000000</friction>
- </dynamics>
- <limit>
- <lower>-1.04719755</lower>
- <upper>1.04719755</upper>
- </limit>
- <xyz>0 1 0</xyz>
- <use_parent_model_frame>true</use_parent_model_frame>
- </axis>
- </joint>
- <joint name="fifth_rotation" type="revolute">
- <parent>fifth_link</parent>
- <child>sixth_link</child>
- <axis>
- <dynamics>
- <damping>1.000000</damping>
- <friction>0.000000</friction>
- </dynamics>
- <xyz>0 0 1</xyz>
- <use_parent_model_frame>true</use_parent_model_frame>
- </axis>
- </joint>
- </model>
- </sdf>
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