SET-Robotic-Arm/3_DOF.urdf at main · noah-n-pham/SET-Robotic-Arm · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
<?xml version="1.0" ?>
<robot name="three_link_arm">


  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1e-6" iyy="1e-6" izz="1e-6"/>
    </inertial>
  </link>


  <joint name="base_yaw" type="revolute">
    <parent link="base_link"/>
    <child link="turntable"/>
    <origin xyz="0 0 0" rpy="0 1.5708 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14" upper="3.14" effort="100" velocity="2"/>
  </joint>


  <link name="turntable">
    <visual>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
      <material name="gray">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0001" iyy="0.0001" izz="0.0001"/>
    </inertial>
  </link>


  <joint name="joint1" type="revolute">
    <parent link="turntable"/>
    <child link="link1"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.14" upper="3.14" effort="100" velocity="2"/>
  </joint>


  <link name="link1">
    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="1.0"/>
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="1.0"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.5"/>
      <mass value="1.0"/>
      <inertia ixx="0.0834" iyy="0.0834" izz="0.00045"/>
    </inertial>
  </link>


  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 0 1.0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.14" upper="3.14" effort="100" velocity="2"/>
  </joint>


  <link name="link2">
    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="1.0"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="1.0"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.5"/>
      <mass value="1.0"/>
      <inertia ixx="0.0834" iyy="0.0834" izz="0.00045"/>
    </inertial>
  </link>


  <link name="end_effector"/>
  <joint name="ee_fixed" type="fixed">
    <parent link="link2"/>
    <child link="end_effector"/>
    <origin xyz="0 0 1.0" rpy="0 0 0"/>
  </joint>


</robot>