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fkik.urdf
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<robot name="fkik">
<link name="base">
<visual>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
<geometry>
<cylinder radius="1" length="0.2"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder radius="1" length="0.2"/>
</geometry>
</collision>
</link>
<link name="cylinder">
<visual>
<origin xyz="0.0 0.0 0.1"/>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
<geometry>
<cylinder radius="1" length="0.2"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.1"/>
<geometry>
<cylinder radius="1" length="0.2"/>
</geometry>
</collision>
</link>
<link name="rod">
<visual>
<origin xyz="0 0 0.05"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<geometry>
<cylinder radius="0.01" length="0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.05"/>
<geometry>
<cylinder radius="0.01" length="0.1"/>
</geometry>
</collision>
</link>
<joint name="base_cylinder" type="revolute">
<parent link="base"/>
<child link="cylinder"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="10.0" velocity="10.0"/>
<origin xyz="0 0 0.1"/>
</joint>
<joint name="cylinder_rod" type="fixed">
<parent link="cylinder"/>
<child link="rod"/>
<axis xyz="0 0 0"/>
<origin xyz="0.8 0 0.2"/>
</joint>
<link name="link1">
<visual>
<material name="blue"/>
<geometry>
<cylinder radius="0.01" length="2"/>
</geometry>
<origin xyz="1 0 0" rpy="0 1.57 0"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.01" length="2"/>
</geometry>
<origin xyz="1 0 0" rpy="0 1.57 0"/>
</collision>
</link>
<joint name="rod_link1" type="revolute">
<parent link="rod"/>
<child link="link1"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10"/>
<origin xyz="0 0 0.1"/>
</joint>
<link name="link2">
<visual>
<material name="green"/>
<geometry>
<cylinder radius="0.01" length="2"/>
</geometry>
<origin xyz="1 0 0" rpy="0 1.57 0"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.01" length="2"/>
</geometry>
<origin xyz="1 0 0" rpy="0 1.57 0"/>
</collision>
</link>
<joint name="link1_link2" type="revolute">
<parent link="link1"/>
<child link="link2"/>
<axis xyz="0 0 1"/>
<limit effort="10" velocity="10"/>
<origin xyz="2 0 0"/>
</joint>
</robot>