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arm urdf

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  1. <?xml version="1.0" ?>
  2. <!-- =================================================================================== -->
  3. <!-- |    This document was autogenerated by xacro from luxo_descriptions/descriptions/two_axes.xacro | -->
  4. <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5. <!-- =================================================================================== -->
  6. <!-- arm -->
  7. <robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  8.   <!-- Arm has 5 joints and 5 links -->
  9.   <!--  Constants for robot dimensions -->
  10.   <!-- Link 1 -->
  11.   <!-- Link 2 -->
  12.   <!-- Square dimensions (widthxwidth) of beams -->
  13.   <!-- Distance gap between each axis -->
  14.   <!-- arbitrary value for mass -->
  15.   <!-- Space btw top of beam and the each joint -->
  16.   <!-- Import Rviz colors -->
  17.   <material name="black">
  18.     <color rgba="0.0 0.0 0.0 1.0"/>
  19.   </material>
  20.   <material name="blue">
  21.     <color rgba="0.0 0.0 0.8 1.0"/>
  22.   </material>
  23.   <material name="green">
  24.     <color rgba="0.0 0.8 0.0 1.0"/>
  25.   </material>
  26.   <material name="grey">
  27.     <color rgba="0.2 0.2 0.2 1.0"/>
  28.   </material>
  29.   <material name="orange">
  30.     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  31.   </material>
  32.   <material name="brown">
  33.     <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
  34.   </material>
  35.   <material name="red">
  36.     <color rgba="0.8 0.0 0.0 1.0"/>
  37.   </material>
  38.   <material name="white">
  39.     <color rgba="1.0 1.0 1.0 1.0"/>
  40.   </material>
  41.   <!-- ***************** WORLD ********************* -->
  42.   <!-- Used for fixing the robot to Gazebo 'base_link' -->
  43.   <link name="world"/>
  44.   <joint name="fixed" type="fixed">
  45.     <parent link="world"/>
  46.     <child link="link1"/>
  47.   </joint>
  48.   <!-- Base Link -->
  49.   <link name="link1">
  50.     <collision>
  51.       <origin rpy="0 0 0" xyz="0 0 0.1"/>
  52.       <geometry>
  53.         <box size="0.02 0.02 0.2"/>
  54.       </geometry>
  55.     </collision>
  56.     <visual>
  57.       <origin rpy="0 0 0" xyz="0 0 0.1"/>
  58.       <geometry>
  59.         <box size="0.02 0.02 0.2"/>
  60.       </geometry>
  61.       <material name="orange"/>
  62.     </visual>
  63.     <inertial>
  64.       <origin rpy="0 0 0" xyz="0 0 0.1"/>
  65.       <mass value="1"/>
  66.       <inertia ixx="0.00336666666667" ixy="0.0" ixz="0.0" iyy="0.00336666666667" iyz="0.0" izz="6.66666666667e-05"/>
  67.     </inertial>
  68.   </link>
  69.   <!-- ***************** JOINT1 ********************* -->
  70.   <!-- Used for fixing link1 to link2  -->
  71.   <joint name="joint1" type="continuous">
  72.     <parent link="link1"/>
  73.     <child link="link2"/>
  74.     <origin rpy="0 0 0" xyz="0 0.0 0.2"/>
  75.     <axis xyz="0 1 0"/>
  76.     <dynamics damping="0.7"/>
  77.   </joint>
  78.   <link name="link2">
  79.     <collision>
  80.       <origin rpy="0 0 0" xyz="0 0 0.05"/>
  81.       <geometry>
  82.         <box size="0.02 0.02 0.1"/>
  83.       </geometry>
  84.     </collision>
  85.     <visual>
  86.       <origin rpy="0 0 0" xyz="0 0 0.05"/>
  87.       <geometry>
  88.         <box size="0.02 0.02 0.1"/>
  89.       </geometry>
  90.       <material name="black"/>
  91.     </visual>
  92.     <inertial>
  93.       <origin rpy="0 0 0" xyz="0 0 0.05"/>
  94.       <mass value="1"/>
  95.       <inertia ixx="0.000866666666667" ixy="0.0" ixz="0.0" iyy="0.000866666666667" iyz="0.0" izz="6.66666666667e-05"/>
  96.     </inertial>
  97.   </link>
  98. </robot>
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