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SpaceCraft URDF

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Oct 24th, 2020
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  1. <robot name="FlairSC">
  2.  
  3.   <!-- Colors -->
  4.   <material name="Grey">
  5.     <color rgba="0.2 0.2 0.2 1.0"/>
  6.   </material>
  7.   <material name="Orange">
  8.     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  9.   </material>
  10.   <material name="Blue">
  11.   <color rgba="0.5 0.7 1.0 1.0"/>      
  12.   </material>
  13.   <material name="Red">
  14.     <color rgba="1 0 0 1.0"/>      
  15.   </material>
  16.  
  17.  
  18.  
  19.   <!--Spacecraft-->
  20.  
  21. <!--   <link name="base_link">
  22.  </link>
  23.  
  24.  <joint name="dummy_joint" type="fixed">
  25.     <parent link="base_link"/>
  26.     <child link="Base_SC"/>
  27.     <origin rpy="3.14159 0 0" xyz="0 0 0"/>
  28.  </joint> -->
  29.  
  30.   <link name="Base_SC">
  31.     <inertial>
  32.       <origin rpy="0 0 0" xyz="0 0 0"/>
  33.       <mass value="1500"/>
  34.       <inertia ixx="1978.425" ixy="0" ixz="0" iyy="1978.425" iyz="0" izz="1476.225"/>
  35.     </inertial>
  36.     <visual>
  37.       <origin rpy="0 0 0" xyz="0 0 0"/>
  38.       <geometry>
  39.         <box size="2.43 2.43 3.15" />
  40.       </geometry>
  41.       <material name="Grey"/>
  42.     </visual>
  43.    
  44.     <!-- <collision>
  45.      <origin rpy="0 0 0" xyz="0 0 0"/>
  46.      <geometry>
  47.        <box size="2.43 2.43 3.15" />
  48.      </geometry>
  49.      <contact_coefficients mu="0.5" />
  50.    </collision> -->
  51.  
  52.   </link>
  53.  
  54.   <link name="solar_panels">
  55.     <visual>
  56.       <origin rpy="0 0 0" xyz="0 1.77 0"/>
  57.       <geometry>
  58.         <box size="2.43 3.54 0.01" />
  59.       </geometry>
  60.       <material name="Blue"/>
  61.     </visual>
  62.     <visual>
  63.       <origin rpy="0 0 0" xyz="0 -4.2 0"/>
  64.       <geometry>
  65.         <box size="2.43 3.54 0.01" />
  66.       </geometry>
  67.       <material name="Blue"/>
  68.     </visual>
  69.   </link>
  70.  
  71.   <joint name="solar_panel_joint" type="fixed">
  72.      <parent link="Base_SC"/>
  73.      <child link="solar_panels"/>
  74.      <origin rpy="0 0 0" xyz="0 1.215 -1.575"/>
  75.   </joint>
  76.  
  77.  
  78.  
  79.   <!--Manipulator-->
  80.   <!-- Joint 1 -->
  81.   <joint name="Joint_1" type="continuous">
  82.     <parent link="Base_SC"/>
  83.     <child link="Link_1"/>
  84.     <origin rpy="0 0 3.1416" xyz="0 0 1.575"/>
  85.     <axis xyz="0 0 1"/>
  86.   </joint>
  87.  
  88.   <transmission name="Joint_1_Trans">
  89.     <type>transmission_interface/SimpleTransmission</type>
  90.     <actuator name="$Joint_1_Motor">
  91.       <mechanicalReduction>1</mechanicalReduction>
  92.     </actuator>
  93.     <joint name="Joint_1">
  94.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  95.     </joint>
  96.   </transmission>
  97.  
  98.   <!-- Link 1 -->
  99.   <link name="Link_1">
  100.  
  101.     <inertial>
  102.       <origin rpy="0 0 0" xyz="0 0 0"/>
  103.       <mass value="35"/>
  104.       <inertia ixx="0.55" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="1"/>
  105.     </inertial>
  106.  
  107.     <visual>
  108.       <origin rpy="0 0 0" xyz="0 0 0.175"/>
  109.       <geometry>
  110.         <cylinder radius="0.06" length="0.35"/>
  111.       </geometry>
  112.       <material name="Blue"/>
  113.     </visual>
  114.  
  115.     <visual>
  116.       <origin rpy="1.5708 0 0" xyz="0 -0.14 0.35"/>
  117.       <geometry>
  118.         <cylinder radius="0.06" length="0.28"/>
  119.       </geometry>
  120.       <material name="Blue"/>
  121.     </visual>
  122.  
  123.     <visual>
  124.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  125.       <geometry>
  126.         <cylinder radius="0.1" length="0.04"/>
  127.       </geometry>
  128.       <material name="Red"/>
  129.     </visual>
  130.  
  131.   </link>
  132.  
  133.     <!-- Joint 2 -->
  134.   <joint name="Joint_2" type="continuous">
  135.     <parent link="Link_1"/>
  136.     <child link="Link_2"/>
  137.     <origin rpy="-1.570796 0 0" xyz="0 -0.275 0.35"/>
  138.     <axis xyz="0 0 1"/>
  139.   </joint>
  140.  
  141.   <transmission name="Joint_2_Trans">
  142.     <type>transmission_interface/SimpleTransmission</type>
  143.     <actuator name="$Joint_2_Motor">
  144.       <mechanicalReduction>1</mechanicalReduction>
  145.     </actuator>
  146.     <joint name="Joint_2">
  147.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  148.     </joint>
  149.   </transmission>
  150.  
  151.   <!-- Link 2 -->
  152.   <link name="Link_2">
  153.     <inertial>
  154.       <origin rpy="0 0 0" xyz="0 0 0"/>
  155.       <mass value="22.5"/>
  156.       <inertia ixx="0.7" ixy="0" ixz="0" iyy="1.35" iyz="0" izz="2"/>
  157.     </inertial>
  158.  
  159.     <visual>
  160.       <origin rpy="1.5708 0 0" xyz="0 -0.435 0"/>
  161.       <geometry>
  162.         <cylinder radius="0.06" length="0.87"/>
  163.       </geometry>
  164.       <material name="Blue"/>
  165.     </visual>
  166.  
  167.     <visual>
  168.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  169.       <geometry>
  170.         <cylinder radius="0.1" length="0.04"/>
  171.       </geometry>
  172.       <material name="Red"/>
  173.     </visual>
  174.  
  175.   </link>
  176.  
  177.   <!-- Joint 3 -->
  178.   <joint name="Joint_3" type="continuous">
  179.     <parent link="Link_2"/>
  180.     <child link="Link_3"/>
  181.     <origin rpy="0 0 0" xyz="0 -0.87 0.0"/>
  182.     <axis xyz="0 0 1"/>
  183.   </joint>
  184.  
  185.   <transmission name="Joint_3_Trans">
  186.     <type>transmission_interface/SimpleTransmission</type>
  187.     <actuator name="$Joint_3_Motor">
  188.       <mechanicalReduction>1</mechanicalReduction>
  189.     </actuator>
  190.     <joint name="Joint_3">
  191.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  192.     </joint>
  193.   </transmission>
  194.  
  195.   <!-- Link 3 -->
  196.   <link name="Link_3">
  197.     <inertial>
  198.       <origin rpy="0 0 0" xyz="0 0 0"/>
  199.       <mass value="21.9"/>
  200.       <inertia ixx="0.7" ixy="0" ixz="0" iyy="1" iyz="0" izz="1.53"/>
  201.     </inertial>
  202.  
  203.     <visual>
  204.       <origin rpy="1.5708 0 0" xyz="0 -0.315 0"/>
  205.       <geometry>
  206.         <cylinder radius="0.06" length="0.63"/>
  207.       </geometry>
  208.       <material name="Blue"/>
  209.     </visual>
  210.  
  211.     <visual>
  212.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  213.       <geometry>
  214.         <cylinder radius="0.1" length="0.04"/>
  215.       </geometry>
  216.       <material name="Red"/>
  217.     </visual>
  218.  
  219.   </link>
  220.  
  221.  
  222.   <!-- Joint 4 -->
  223.   <joint name="Joint_4" type="continuous">
  224.     <parent link="Link_3"/>
  225.     <child link="Link_4"/>
  226.     <origin rpy="0 0 1.5708" xyz="0 -0.63 0"/>
  227.     <axis xyz="0 0 1"/>
  228.   </joint>
  229.  
  230.   <transmission name="Joint_4_Trans">
  231.     <type>transmission_interface/SimpleTransmission</type>
  232.     <actuator name="$Joint_4_Motor">
  233.       <mechanicalReduction>1</mechanicalReduction>
  234.     </actuator>
  235.     <joint name="Joint_4">
  236.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  237.     </joint>
  238.   </transmission>
  239.  
  240.     <!-- Link 4 -->
  241.   <link name="Link_4">
  242.     <inertial>
  243.       <origin rpy="0 0 0" xyz="0 0 0"/>
  244.        <mass value="16.5"/>
  245.        <inertia ixx="0.15" ixy="0" ixz="0.0" iyy="0.15" iyz="0" izz="0.073"/>
  246.     </inertial>
  247.  
  248.     <visual>
  249.       <origin rpy="0 0 0" xyz="0 0 0.13"/>
  250.       <geometry>
  251.         <cylinder radius="0.06" length="0.26"/>
  252.       </geometry>
  253.       <material name="Blue"/>
  254.     </visual>
  255.  
  256.     <visual>
  257.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  258.       <geometry>
  259.         <cylinder radius="0.1" length="0.04"/>
  260.       </geometry>
  261.       <material name="Red"/>
  262.     </visual>
  263.    
  264.   </link>
  265.  
  266.   <!-- Joint 5 -->
  267.   <joint name="Joint_5" type="continuous">
  268.     <parent link="Link_4"/>
  269.     <child link="Link_5"/>
  270.     <origin rpy="1.5708 0 0" xyz="0 0 0.26"/>
  271.     <axis xyz="0 0 1"/>
  272.   </joint>
  273.  
  274.   <transmission name="Joint_5_Trans">
  275.     <type>transmission_interface/SimpleTransmission</type>
  276.     <actuator name="$Joint_5_Motor">
  277.       <mechanicalReduction>1</mechanicalReduction>
  278.     </actuator>
  279.     <joint name="Joint_5">
  280.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  281.     </joint>
  282.   </transmission>
  283.  
  284.     <!-- Link 5 -->
  285.   <link name="Link_5">
  286.     <inertial>
  287.       <origin rpy="0 0 0" xyz="0 0 0"/>
  288.        <mass value="26"/>
  289.        <inertia ixx="0.15" ixy="0" ixz="0.0" iyy="0.15" iyz="0" izz="0.13"/>
  290.     </inertial>
  291.  
  292.     <visual>
  293.       <origin rpy="0 0 0" xyz="0 0 0.14"/>
  294.       <geometry>
  295.         <cylinder radius="0.06" length="0.28"/>
  296.       </geometry>
  297.       <material name="Blue"/>
  298.     </visual>
  299.  
  300.     <visual>
  301.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  302.       <geometry>
  303.         <cylinder radius="0.1" length="0.04"/>
  304.       </geometry>
  305.       <material name="Red"/>
  306.     </visual>
  307.  
  308.   </link>
  309.  
  310.   <!-- Joint 6 -->
  311.   <joint name="Joint_6" type="continuous">
  312.     <parent link="Link_5"/>
  313.     <child link="Link_6"/>
  314.     <origin rpy="0 -1.5708 0" xyz="0 0 0.28"/>
  315.     <axis xyz="0 0 1"/>
  316.   </joint>
  317.  
  318.   <transmission name="Joint_6_Trans">
  319.     <type>transmission_interface/SimpleTransmission</type>
  320.     <actuator name="$Joint_6_Motor">
  321.       <mechanicalReduction>1</mechanicalReduction>
  322.     </actuator>
  323.     <joint name="Joint_6">
  324.       <hardwareInterface>PositionJointInterface</hardwareInterface>
  325.     </joint>
  326.   </transmission>
  327.  
  328.     <!-- Link 6 -->
  329.   <link name="Link_6">
  330.     <inertial>
  331.       <origin rpy="0 0 0" xyz="0 0 0"/>
  332.        <mass value="18.5"/>
  333.        <inertia ixx="0.97" ixy="0" ixz="0" iyy="0.97" iyz="0" izz="0.26"/>
  334.     </inertial>
  335.  
  336.     <visual>
  337.       <origin rpy="0 0 0" xyz="0 0 0.265"/>
  338.       <geometry>
  339.         <cylinder radius="0.06" length="0.53"/>
  340.       </geometry>
  341.       <material name="Blue"/>
  342.     </visual>
  343.  
  344.     <visual>
  345.       <origin rpy="0 0 0" xyz="0 0 0.02"/>
  346.       <geometry>
  347.         <cylinder radius="0.1" length="0.04"/>
  348.       </geometry>
  349.       <material name="Red"/>
  350.     </visual>
  351.  
  352.   </link>
  353.  
  354.   <!-- End-Effector -->
  355.   <link name="link_ee">
  356.  
  357.     <inertial>
  358.       <origin rpy="0 0 0" xyz="0 0 0"/>
  359.       <mass value="0"/>
  360.       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
  361.     </inertial>
  362.  
  363.     <visual>
  364.       <origin rpy="0 0 0" xyz="0 0 0.015"/>
  365.       <geometry>
  366.         <box size="0.3 0.3 0.03" />
  367.       </geometry>
  368.       <material name="Red"/>
  369.     </visual>
  370.  
  371. <!--     <collision>
  372.      <geometry>
  373.        <sphere radius="0.000001"/>
  374.      </geometry>
  375.      <origin rpy="0 0 0" xyz="0.15 0.15 0.03"/>
  376.      <contact_coefficients mu="0.5" />
  377.    </collision>
  378.  
  379.    <collision>
  380.      <geometry>
  381.        <sphere radius="0.000001"/>
  382.      </geometry>
  383.      <origin rpy="0 0 0" xyz="-0.15 0.15 0.03"/>
  384.      <contact_coefficients mu="0.5" />
  385.    </collision>
  386.  
  387.    <collision>
  388.      <geometry>
  389.        <sphere radius="0.000001"/>
  390.      </geometry>
  391.      <origin rpy="0 0 0" xyz="0.15 -0.15 0.03"/>
  392.      <contact_coefficients mu="0.5" />
  393.    </collision>
  394.  
  395.    <collision>
  396.      <geometry>
  397.        <sphere radius="0.000001"/>
  398.      </geometry>
  399.      <origin rpy="0 0 0" xyz="-0.15 -0.15 0.03"/>
  400.      <contact_coefficients mu="0.5" />
  401.    </collision> -->
  402.   </link>
  403.  
  404.   <joint name="joint_ee_fixed" type="fixed">
  405.     <parent link="Link_6"/>
  406.     <child link="link_ee"/>
  407.     <origin rpy="0 0 0" xyz="0 0 0.53"/>
  408.   </joint>
  409.  
  410.  
  411.  
  412.  
  413. </robot>
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