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testRRR.urdf
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testRRR.urdf
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<?xml version="1.0" ?>
<robot name="testRRR">
<link name="base_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.0000001" iyy="0.0000001" izz="0.0000001" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.4 0.4 0.05" />
</geometry>
</visual>
</link>
<link name="link0">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.0000001" iyy="0.0000001" izz="0.0000001" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<origin xyz="0.0 0.0 0.025" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.3"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.025" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.3"/>
</geometry>
</collision>
</link>
<link name="link1">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.0000001" iyy="0.0000001" izz="0.0000001" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<origin xyz="0.0 0 0.0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.3"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0 0.0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.3"/>
</geometry>
</collision>
</link>
<link name="link2">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.0000001" iyy="0.0000001" izz="0.0000001" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<origin xyz="0.0 0 0.0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.3" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0 0.0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.3" />
</geometry>
</collision>
</link>
<joint name="j0" type="revolute">
<parent link="base_link" />
<child link="link0" />
<origin xyz="0.000000 0.000000 0.000000" rpy="-0.000000 0.000000 -0.000000" />
<axis xyz="1 0 0" />
<limit lower="-2.967" upper="2.967" effort="176" velocity="1.7104" />
</joint>
<joint name="j1" type="revolute">
<parent link="link0" />
<child link="link1" />
<origin xyz="0.000000 0.000 0.300" rpy="1.0472 0.000000 -0.000000" />
<axis xyz="1 0 0" />
<limit lower="-2.967" upper="2.967" effort="176" velocity="1.7104" />
</joint>
<joint name="j2" type="revolute">
<parent link="link1" />
<child link="link2" />
<origin xyz="0.000000 0 0.3" rpy="1.0472 0.000000 0" />
<axis xyz="1 0 0" />
<limit lower="-2.967" upper="2.967" effort="176" velocity="1.7104" />
</joint>
</robot>