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Vatan Aksoy Tezer
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May 27, 2021
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| <?xml version="1.0"?> | ||
| <!-- Revolute-Revolute Manipulator --> | ||
| <robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <!-- Constants for robot dimensions --> | ||
| <xacro:property name="PI" value="3.1415926535897931"/> | ||
| <xacro:property name="mass" value="1" /> <!-- arbitrary value for mass --> | ||
| <xacro:property name="width" value="0.1" /> <!-- Square dimensions (widthxwidth) of beams --> | ||
| <xacro:property name="height1" value="2" /> <!-- Link 1 --> | ||
| <xacro:property name="height2" value="1" /> <!-- Link 2 --> | ||
| <xacro:property name="height3" value="1" /> <!-- Link 3 --> | ||
| <xacro:property name="axel_offset" value="0.05" /> <!-- Space btw top of beam and the each joint --> | ||
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| <!-- Define colors --> | ||
| <material name="black"> | ||
| <color rgba="0.0 0.0 0.0 1.0"/> | ||
| </material> | ||
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| <material name="orange"> | ||
| <color rgba="${255/255} ${108/255} ${10/255} 1.0"/> | ||
| </material> | ||
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| <!-- Used for fixing robot to Gazebo 'base_link' --> | ||
| <link name="base_link"/> | ||
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| <joint name="fixed" type="fixed"> | ||
| <parent link="base_link"/> | ||
| <child link="link1"/> | ||
| </joint> | ||
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| <!-- Base Link --> | ||
| <link name="link1"> | ||
| <collision> | ||
| <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height1}"/> | ||
| </geometry> | ||
| </collision> | ||
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||
| <visual> | ||
| <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height1}"/> | ||
| </geometry> | ||
| <material name="orange"/> | ||
| </visual> | ||
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||
| <inertial> | ||
| <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/> | ||
| <mass value="${mass}"/> | ||
| <inertia | ||
| ixx="${mass / 12.0 * (width*width + height1*height1)}" ixy="0.0" ixz="0.0" | ||
| iyy="${mass / 12.0 * (height1*height1 + width*width)}" iyz="0.0" | ||
| izz="${mass / 12.0 * (width*width + width*width)}"/> | ||
| </inertial> | ||
| </link> | ||
|
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||
| <joint name="joint1" type="continuous"> | ||
| <parent link="link1"/> | ||
| <child link="link2"/> | ||
| <origin xyz="0 ${width} ${height1 - axel_offset}" rpy="0 0 0"/> | ||
| <axis xyz="0 1 0"/> | ||
| <dynamics damping="0.7"/> | ||
| </joint> | ||
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| <!-- Middle Link --> | ||
| <link name="link2"> | ||
| <collision> | ||
| <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height2}"/> | ||
| </geometry> | ||
| </collision> | ||
|
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||
| <visual> | ||
| <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height2}"/> | ||
| </geometry> | ||
| <material name="black"/> | ||
| </visual> | ||
|
|
||
| <inertial> | ||
| <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/> | ||
| <mass value="${mass}"/> | ||
| <inertia | ||
| ixx="${mass / 12.0 * (width*width + height2*height2)}" ixy="0.0" ixz="0.0" | ||
| iyy="${mass / 12.0 * (height2*height2 + width*width)}" iyz="0.0" | ||
| izz="${mass / 12.0 * (width*width + width*width)}"/> | ||
| </inertial> | ||
| </link> | ||
|
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||
| <joint name="joint2" type="continuous"> | ||
| <parent link="link2"/> | ||
| <child link="link3"/> | ||
| <origin xyz="0 ${width} ${height2 - axel_offset*2}" rpy="0 0 0"/> | ||
| <axis xyz="0 1 0"/> | ||
| <dynamics damping="0.7"/> | ||
| </joint> | ||
|
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||
| <!-- Top Link --> | ||
| <link name="link3"> | ||
| <collision> | ||
| <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height3}"/> | ||
| </geometry> | ||
| </collision> | ||
|
|
||
| <visual> | ||
| <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height3}"/> | ||
| </geometry> | ||
| <material name="orange"/> | ||
| </visual> | ||
|
|
||
| <inertial> | ||
| <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/> | ||
| <mass value="${mass}"/> | ||
| <inertia | ||
| ixx="${mass / 12.0 * (width*width + height3*height3)}" ixy="0.0" ixz="0.0" | ||
| iyy="${mass / 12.0 * (height3*height3 + width*width)}" iyz="0.0" | ||
| izz="${mass / 12.0 * (width*width + width*width)}"/> | ||
| </inertial> | ||
| </link> | ||
|
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||
| </robot> |