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ROS Transform Gripper Example URDF
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<?xml version="1.0"?> | |
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot"> | |
<material name="grey"> | |
<color rgba="0.2 0.2 0.2 1"/> | |
</material> | |
<material name="white"> | |
<color rgba="1 1 1 1"/> | |
</material> | |
<material name="orange"> | |
<color rgba="1 0.3 0.1 1"/> | |
</material> | |
<material name="blue"> | |
<color rgba="0 0 1 1"/> | |
</material> | |
<link name="world"></link> | |
<joint name="world_to_base" type="fixed"> | |
<parent link="world" /> | |
<child link="base" /> | |
<origin rpy="1.57 0 0" xyz="0 0 0" /> | |
</joint> | |
<link name="base"> | |
<visual> | |
<origin xyz="2 0 0" rpy="0 0 0"/> | |
<geometry> | |
<box size="5 0.1 3" /> | |
</geometry> | |
<material name="grey" /> | |
</visual> | |
</link> | |
<joint name="base_to_l3" type="revolute"> | |
<parent link="base" /> | |
<child link="l3" /> | |
<origin rpy="0 0 0" xyz="0 0.25 0" /> | |
<axis rpy="0 0 0" xyz="0 0 1" /> | |
<limit effort="0.1" lower="-3.1" upper="3.1" velocity="0.2"/> | |
</joint> | |
<link name="l3"> | |
<visual> | |
<origin xyz="0.75 0 0" rpy="0 1.57 0"/> | |
<geometry> | |
<cylinder length="1.5" radius="0.04" /> | |
</geometry> | |
<material name="orange" /> | |
</visual> | |
</link> | |
<joint name="l3_to_l2" type="revolute"> | |
<parent link="l3" /> | |
<child link="l2" /> | |
<!-- <origin xyz="1 0 0" /> --> | |
<origin rpy="0 0 0" xyz="1.5 0 0" /> | |
<axis rpy="0 0 0" xyz="0 0 1" /> | |
<limit effort="0.1" lower="-3.1" upper="3.1" velocity="0.2"/> | |
</joint> | |
<link name="l2"> | |
<visual> | |
<origin xyz="0.75 0 0" rpy="0 1.57 0"/> | |
<geometry> | |
<cylinder length="1.5" radius="0.04" /> | |
</geometry> | |
<material name="orange" /> | |
</visual> | |
</link> | |
<joint name="l2_to_l1" type="revolute"> | |
<parent link="l2" /> | |
<child link="l1" /> | |
<origin rpy="0 0 0" xyz="1.5 0 0" /> | |
<axis rpy="0 0 0" xyz="0 0 1" /> | |
<limit effort="0.1" lower="-3.1" upper="3.1" velocity="0.2"/> | |
</joint> | |
<link name="l1"> | |
<visual> | |
<origin xyz="0.5 0 0" rpy="0 1.57 0"/> | |
<geometry> | |
<cylinder length="1" radius="0.04" /> | |
</geometry> | |
<material name="orange" /> | |
</visual> | |
</link> | |
<joint name="l1_to_grip" type="revolute"> | |
<parent link="l1" /> | |
<child link="grip" /> | |
<origin rpy="0 0 0" xyz="1 0 0" /> | |
<axis rpy="0 0 0" xyz="0 0 1" /> | |
<limit effort="0.1" lower="-3.1" upper="3.1" velocity="0.2"/> | |
</joint> | |
<link name="grip"> | |
<visual> | |
<origin xyz="0.25 0 0"/> | |
<geometry> | |
<box size="0.5 0.5 0.05" /> | |
</geometry> | |
<material name="white" /> | |
</visual> | |
</link> | |
<joint name="world_to_camera" type="fixed"> | |
<parent link="world" /> | |
<child link="camera" /> | |
<origin rpy="-2 0 2.5" xyz="4 1 2" /> | |
</joint> | |
<link name="camera"> | |
<visual> | |
<origin xyz="0 0 -0.2"/> | |
<geometry> | |
<box size="0.2 0.2 0.4" /> | |
</geometry> | |
<material name="blue" /> | |
</visual> | |
</link> | |
</robot> |
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