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robot_backup.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand_tutorial">
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</xacro:macro>
<link name="world"/>
<link name="base_link">
<visual name="link_visual">
<geometry>
<mesh filename="package://robot_description/meshes/ggwp.stl" />
</geometry>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
</visual>
<collision name="link_collision">
<geometry>
<mesh filename ="package://robot_description/meshes/ggwp.stl" />
</geometry>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<link name="m2m">
<visual name="m2m_visual">
<geometry>
<mesh filename="package://robot_description/meshes/m2mn.stl"/>
</geometry>
<origin rpy ="0 0 3.14" xyz="0 0 0"/>
</visual>
<collision name="m2m_collision">
<geometry>
<mesh filename="package://robot_description/meshes/m2mn.stl"/>
</geometry>
<origin rpy ="0 0 0" xyz="0 0 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<link name="m2m01">
<visual name="m2m_visual01">
<geometry>
<mesh filename="package://robot_description/meshes/m2mn.stl"/>
</geometry>
<origin rpy ="0 0 3.14" xyz="0 0 0"/>
</visual>
<collision name="m2m_collision01">
<geometry>
<mesh filename="package://robot_description/meshes/m2mn.stl"/>
</geometry>
<origin rpy ="0 0 0" xyz="0 0 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<link name="motor">
<visual>
<geometry>
<box size="0.454 0.43 0.29"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.454 0.33 0.29"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<link name="motor01">
<visual>
<geometry>
<box size="0.454 0.43 0.29"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.454 0.43 0.4"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="basetoworld" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<joint name="basetomotor" type="fixed">
<parent link="base_link"/>
<child link="motor"/>
<origin xyz ="0.2 0 0.285"/>
<axis xyz = "0 0 1"/>
<!--axis xyz=" 0 0 0"/>
<limit effort="0.0" lower = "0.0" upper="0.0" velocity="0.0"/>
<origin xyz = "0 0 0"/-->
</joint>
<joint name="motortom2m" type="revolute">
<parent link="motor"/>
<child link="m2m"/>
<origin xyz ="0.1 0 -0.24"/>
<axis xyz = "0 0 1"/>
<limit effort="1000.0" lower="-1.0467" upper="1.0467" velocity="0.5"/>
</joint>
<joint name="joint1" type="fixed">
<parent link ="m2m"/>
<child link ="motor01"/>
<origin xyz = "1.17 0 0.258"/>
<limit effort="0" lower = "0.0" upper="0.0" velocity="0.0"/>
</joint>
<joint name="joint2" type="revolute">
<parent link="motor01"/>
<child link="m2m01"/>
<origin xyz ="0.1 0 -0.24"/>
<axis xyz = "0 0 1"/>
<limit effort="1000.0" lower="-1.0467" upper="1.0467" velocity="0.5"/>
</joint>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motortom2m">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/robot</robotNamespace>
</plugin>
</gazebo>
</robot>