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ETS-VII

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