mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
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Add urdf folder and arm11.urdf
This commit is contained in:
Tristan McGinnis
239
src/arm_pkg/urdf/arm11.urdf
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239
src/arm_pkg/urdf/arm11.urdf
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from omni_description/robots/omnipointer_arm_only.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="omnipointer" xmlns:xacro="http://ros.org/wiki/xacro">
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<!--MX64trntbl + MX106: ? + 0.153 -->
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<!-- singleaxismount + 2.5girder + singleaxismount + base + MX106: 0.007370876 + 0.0226796 + 0.007370876 + ? + 0.153 -->
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<!-- frame106 + singleaxismount + adjustgirder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.110563 + 0.00737088 + ? + 0.077 -->
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<!-- frame28 + singleaxismount + 5girder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.0368544 + 0.00737088 + ? + 0.077 -->
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<!-- frame28 + singleaxismount + 2.5girder + singleaxismount + tip: 0.0907185 + 0.00737088 + 0.0226796 + 0.00737088 + ? -->
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<material name="omni/Blue">
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<color rgba="0 0 0.8 1"/>
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</material>
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<material name="omni/Red">
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<color rgba="1 0 0 1"/>
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</material>
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<material name="omni/Green">
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<color rgba="0 1 0 1"/>
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</material>
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<material name="omni/Yellow">
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<color rgba="1 1 0 1"/>
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</material>
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<material name="omni/LightGrey">
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<color rgba="0.6 0.6 0.6 1"/>
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</material>
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<material name="omni/DarkGrey">
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<color rgba="0.4 0.4 0.4 1"/>
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</material>
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<!-- Now we can start using the macros xacro:included above to define the actual omnipointer -->
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<!-- The first use of a macro. This one was defined in youbot_base/base.urdf.xacro above.
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A macro like this will expand to a set of link and joint definitions, and to additional
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Gazebo-related extensions (sensor plugins, etc). The macro takes an argument, name,
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that equals "base", and uses it to generate names for its component links and joints
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(e.g., base_link). The xacro:included origin block is also an argument to the macro. By convention,
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the origin block defines where the component is w.r.t its parent (in this case the parent
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is the world frame). For more, see http://www.ros.org/wiki/xacro -->
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<!-- foot for arm-->
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="10.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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</link>
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<!-- joint between base_link and arm_0_link -->
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<joint name="arm_joint_0" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base_link"/>
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<child link="arm_link_0"/>
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</joint>
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<link name="arm_link_0">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.02725"/>
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<geometry>
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<box size="0.1143 0.1143 0.0545"/>
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</geometry>
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<material name="omni/LightGrey"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.02725"/>
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<geometry>
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<box size="0.1143 0.1143 0.0545"/>
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</geometry>
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</collision>
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<inertial>
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<!-- CENTER OF MASS -->
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<origin rpy="0 0 0" xyz="0 0 0.02725"/>
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<mass value="0.2"/>
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<!-- box inertia: 1/12*m(y^2+z^2), ... -->
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<inertia ixx="0.000267245666667" ixy="0" ixz="0" iyy="0.000267245666667" iyz="0" izz="0.000435483"/>
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</inertial>
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</link>
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<joint name="arm_joint_1" type="revolute">
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<parent link="arm_link_0"/>
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<child link="arm_link_1"/>
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<dynamics damping="3.0" friction="0.3"/>
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<limit effort="30.0" lower="-3.1415926535" upper="3.1415926535" velocity="5.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.0545"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="arm_link_1">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.075"/>
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<geometry>
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<box size="0.0402 0.05 0.15"/>
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</geometry>
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<material name="omni/Blue"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.075"/>
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<geometry>
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<box size="0.0402 0.05 0.15"/>
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</geometry>
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</collision>
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<inertial>
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<!-- CENTER OF MASS -->
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<origin rpy="0 0 0" xyz="0 0 0.075"/>
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<mass value="0.190421352"/>
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<!-- box inertia: 1/12*m(y^2+z^2), ... -->
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<inertia ixx="0.000279744834534" ixy="0" ixz="0" iyy="0.000265717763008" iyz="0" izz="6.53151584738e-05"/>
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</inertial>
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</link>
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<joint name="arm_joint_2" type="revolute">
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<parent link="arm_link_1"/>
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<child link="arm_link_2"/>
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<dynamics damping="3.0" friction="0.3"/>
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<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.15"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="arm_link_2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.2355"/>
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<geometry>
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<box size="0.0356 0.05 0.471"/>
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</geometry>
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<material name="omni/Red"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.2355"/>
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<geometry>
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<box size="0.0356 0.05 0.471"/>
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</geometry>
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</collision>
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<inertial>
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<!-- CENTER OF MASS -->
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<origin rpy="0 0 0" xyz="0 0 0.2355"/>
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<mass value="0.29302326"/>
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<!-- box inertia: 1/12*m(y^2+z^2), ... -->
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<inertia ixx="0.00251484771035" ixy="0" ixz="0" iyy="0.00248474836108" iyz="0" izz="9.19936757328e-05"/>
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</inertial>
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</link>
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<joint name="arm_joint_3" type="revolute">
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<parent link="arm_link_2"/>
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<child link="arm_link_3"/>
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<dynamics damping="3.0" friction="0.3"/>
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<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.471"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="arm_link_3">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.1885"/>
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<geometry>
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<box size="0.0356 0.05 0.377"/>
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</geometry>
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<material name="omni/Yellow"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.1885"/>
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<geometry>
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<box size="0.0356 0.05 0.377"/>
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</geometry>
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</collision>
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<inertial>
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<!-- CENTER OF MASS -->
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<origin rpy="0 0 0" xyz="0 0 0.1885"/>
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<mass value="0.21931466"/>
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<!-- box inertia: 1/12*m(y^2+z^2), ... -->
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<inertia ixx="0.000791433503053" ixy="0" ixz="0" iyy="0.000768905501178" iyz="0" izz="6.88531064581e-05"/>
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</inertial>
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</link>
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<joint name="arm_joint_4" type="revolute">
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<parent link="arm_link_3"/>
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<child link="arm_link_4"/>
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<dynamics damping="3.0" friction="0.3"/>
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<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.377"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="arm_link_4">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.066"/>
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<geometry>
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<box size="0.0356 0.05 0.132"/>
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</geometry>
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<material name="omni/Green"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.066"/>
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<geometry>
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<box size="0.0356 0.05 0.132"/>
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</geometry>
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</collision>
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<inertial>
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<!-- CENTER OF MASS -->
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<origin rpy="0 0 0" xyz="0 0 0.066"/>
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<mass value="0.15813986"/>
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<!-- box inertia: 1/12*m(y^2+z^2), ... -->
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<inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
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</inertial>
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</link>
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<joint name="arm_joint_5" type="revolute">
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<parent link="arm_link_4"/>
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<child link="arm_link_5"/>
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<dynamics damping="3.0" friction="0.3"/>
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<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
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<origin rpy="0 0 0" xyz="0 0 0.132"/>
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<axis xyz="1 0 0"/>
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</joint>
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<link name="arm_link_5">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.124"/>
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<geometry>
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<box size="0.0356 0.05 0.248"/>
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</geometry>
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<material name="omni/Blue"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.124"/>
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<geometry>
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<box size="0.0356 0.05 0.248"/>
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</geometry>
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</collision>
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<inertial>
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<!-- CENTER OF MASS -->
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<origin rpy="0 0 0" xyz="0 0 0.124"/>
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<mass value="0.15813986"/>
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<!-- box inertia: 1/12*m(y^2+z^2), ... -->
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<inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
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</inertial>
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</link>
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<joint name="arm_joint_6" type="fixed">
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<parent link="arm_link_5"/>
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<child link="arm_link_6"/>
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<origin rpy="0 0 0" xyz="0 0 0.248"/>
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</joint>
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<link name="arm_link_6">
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<inertial>
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<!-- CENTER OF MASS -->
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="1e-12"/>
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<!-- box inertia: 1/12*m(y^2+z^2), ... -->
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<inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
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</inertial>
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</link>
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<!-- END OF ARM LINKS/JOINTS -->
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</robot>
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