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Add pole urdf.

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This commit is contained in:
yunfeibai 2017-10-19 14:29:43 -07:00
parent dda1b05f4a
commit 39bdd00ce5
1 changed files with 140 additions and 0 deletions
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data/pole.urdf Executable file
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<?xml version="1.0"?>
<robot name="physics">
<link name="slideBar">
<visual>
<geometry>
<box size="30 0.05 0.05"/>
</geometry>
<origin xyz="0 0 0"/>
<material name="green">
<color rgba="0 0.8 .8 1"/>
</material>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="pole">
<visual>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="cart_to_pole" type="prismatic">
<axis xyz="1 0 0"/>
<origin xyz="0.0 0.0 0.5"/>
<parent link="slideBar"/>
<child link="pole"/>
<limit effort="1000.0" lower="-5" upper="5" velocity="0.5"/>
</joint>
<link name="pole2">
<visual>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0.5"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</collision>
</link>
<joint name="pole_to_pole2" type="continuous">
<axis xyz="1 0 0"/>
<origin xyz="0.0 0.0 0.5"/>
<parent link="pole"/>
<child link="pole2"/>
</joint>
<link name="pole3">
<visual>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0.5"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</collision>
</link>
<joint name="pole2_to_pole3" type="continuous">
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.0 1"/>
<parent link="pole2"/>
<child link="pole3"/>
</joint>
<link name="endeffector">
<visual>
<geometry>
<box size="0.06 0.06 .06"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.06 0.06 .06"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="pole2_to_endeffector" type="fixed">
<origin xyz="0.0 0.0 1"/>
<parent link="pole3"/>
<child link="endeffector"/>
</joint>
</robot>