84 lines
2.1 KiB
XML
84 lines
2.1 KiB
XML
<robot name = "Planar 2DOF Manipulator">
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<!-- links section -->>
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<link name = "Base">
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<inertial>
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<origin
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xyz = "0 0 0"
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rpy = "0 0 0"/>
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<mass value = "0" />
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<inertia ixx = "0" iyy = "0" izz = "0"
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ixy = "0" ixz = "0" iyz = "0" />
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</inertial>
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</link>
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<link name = "link 1">
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<inertial>
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<origin xyz = "0.125 0 0"
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rpy = "0 0 0"/>
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<mass value = "0.29" />
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<inertia ixx = "1" iyy = "1" izz = "0.5"
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ixy = "0.01" ixz = "0.01" iyz = "0.01" />
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</inertial>
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<visual>
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<origin xyz = "0.125 0 0"
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rpy = "0 1.5708 0"/>
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<geometry>
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<cylinder radius = "0.1" length = "0.25" />
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</geometry>
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<material name = "gray C">
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<color rgba = "0.3 0.6 0.1 1" />
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</material>
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</visual>
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</link>
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<link name = "link 2">
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<inertial>
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<origin xyz = "0.125 0 0"
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rpy = "0 0 0"/>
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<mass value = "0.26" />
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<inertia ixx = "1" iyy = "1" izz = "0.3"
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ixy = "0.01" ixz = "0.01" iyz = "0.01" />
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</inertial>
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<visual>
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<origin xyz = "0.125 0 0"
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rpy = "0 1.5708 0"/>
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<geometry>
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<cylinder radius = "0.1" length = "0.25" />
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</geometry>
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<material name = "gray C">
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<color rgba = "0.22 0.67 0.95 1" />
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</material>
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</visual>
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</link>
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<link name="ee_link"/>
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<!-- joints section -->>
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<joint name = "joint 1" type = "revolute">
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<parent link = "Base" />
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<child link = "link 1" />
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<origin xyz = "0 0 0"
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rpy = "1.5708 0 0"/>
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<axis xyz = "0 0 1" />
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<limit effort="100.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
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</joint>
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<joint name = "joint 2" type = "revolute">
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<parent link = "link 1" />
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<child link = "link 2" />
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<origin xyz = "0.25 0 0"
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rpy = "0 0 0"/>
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<axis xyz = "0 0 1" />
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<limit effort="100.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
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</joint>
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<joint name = "ee_fixed_joint" type = "fixed">
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<parent link = "link 2" />
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<child link = "ee_link" />
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<origin xyz = "0.25 0 0"
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rpy = "0 0 0"/>
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</joint>
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</robot> |