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rfzeg/cham_bot.urdf

Created January 24, 2019 10:38
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cham-bot
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cham_bot.urdf
<?xml version="1.0"?>
<robot name="cham_bot">
<link name="z_axis">
<visual>
<geometry>
<box size="0.2 0.2 6.5"/>
</geometry>
<origin rpy="0 0 0" xyz="0.25 0 7"/>
<material name="green">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.2 0.2 6.5"/>
</geometry>
<origin rpy="0 0 0" xyz="0.25 0 7"/>
</collision>
</link>
<link name="cross_slide">
<visual>
<geometry>
<box size="0.05 1.7 1.5"/>
</geometry>
<origin rpy="0 0 0" xyz="0.125 0 8"/>
<material name="green">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.05 1.7 1.5"/>
</geometry>
<origin rpy="0 0 0" xyz="0.125 0 8"/>
</collision>
</link>
<joint name="z_axis_to_cross_slide" type="prismatic">
<parent link="z_axis"/>
<child link="cross_slide"/>
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/> <!--specify exact values -->
<origin xyz="-0.127 8 3.9"/>
<axis xyz="0 0 1"/>
</joint>
<link name="beam">
<visual>
<geometry>
<box size="0.2 8.5 0.6"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 8"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.2 8.5 0.6"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 8"/>
</collision>
</link>
<joint name="cross_slide_to_beam" type="prismatic">
<parent link="cross_slide"/>
<child link="beam"/>
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/> <!--specify exact values -->
<origin xyz="-0.125 8 3.9"/>
<axis xyz="0 0 1"/>
</joint>
<link name="beam_bracket_1">
<visual>
<geometry>
<box size="0.25 0.5 0.7"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 8"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.25 0.5 0.7"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 8"/>
</collision>
</link>
<link name="beam_bracket_2">
<visual>
<geometry>
<box size="0.25 0.5 0.7"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 8"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.25 0.5 0.7"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 8"/>
</collision>
</link>
<joint name="beam_to_beam_bracket_1" type="fixed">
<parent link="beam"/>
<child link="beam_bracket_1"/>
<origin xyz="0.10 8 -3.9"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="beam_to_beam_bracket_2" type="fixed">
<parent link="beam"/>
<child link="beam_bracket_2"/>
<origin xyz="0.10 8 3.9"/>
<axis xyz="0 0 0"/>
</joint>
<link name="beam_bracket_plate_1">
<visual>
<geometry>
<box size="3.75 0.7 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 7.625"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="3.75 0.7 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 7.625"/>
</collision>
</link>
<link name="beam_bracket_plate_2">
<visual>
<geometry>
<box size="3.75 0.7 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 7.625"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="3.75 0.7 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 7.625"/>
</collision>
</link>
<joint name="beam_bracket_1_to_plate_1" type="fixed">
<parent link="beam_bracket_1"/>
<child link="beam_bracket_plate_1"/>
<origin xyz="0 7.625 -3.9"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="beam_bracket_2_to_plate_2" type="fixed">
<parent link="beam_bracket_2"/>
<child link="beam_bracket_plate_2"/>
<origin xyz="0 7.625 3.9"/>
<axis xyz="0 0 0"/>
</joint>
<link name="column_1">
<visual>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 4.175"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 4.175"/>
</collision>
</link>
<link name="column_2">
<visual>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.50 3.9 4.175"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.50 3.9 4.175"/>
</collision>
</link>
<link name="column_3">
<visual>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="1.50 3.9 4.175"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="1.50 3.9 4.175"/>
</collision>
</link>
<link name="column_4">
<visual>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 4.175"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 4.175"/>
</collision>
</link>
<link name="column_5">
<visual>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.5 -3.9 4.175"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.5 -3.9 4.175"/>
</collision>
</link>
<link name="column_6">
<visual>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="1.5 -3.9 4.175"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="6.85" radius="0.10"/>
</geometry>
<origin rpy="0 0 0" xyz="1.5 -3.9 4.175"/>
</collision>
</link>
<joint name="plate_1_to_column_1" type="fixed">
<parent link="beam_bracket_plate_1"/>
<child link="column_1"/>
<origin xyz="0 8.95 0"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="plate_1_to_column_2" type="fixed">
<parent link="beam_bracket_plate_1"/>
<child link="column_2"/>
<origin xyz="1.5 8.95 0"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="plate_1_to_column_3" type="fixed">
<parent link="beam_bracket_plate_1"/>
<child link="column_3"/>
<origin xyz="-1.5 8.95 0"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="plate_2_to_column_4" type="fixed">
<parent link="beam_bracket_plate_2"/>
<child link="column_4"/>
<origin xyz="0 8.95 7.623"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="plate_2_to_column_5" type="fixed">
<parent link="beam_bracket_plate_2"/>
<child link="column_5"/>
<origin xyz="1.5 8.95 7.623"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="plate_2_to_column_6" type="fixed">
<parent link="beam_bracket_plate_2"/>
<child link="column_6"/>
<origin xyz="-1.5 8.95 7.623"/>
<axis xyz="0 0 0"/>
</joint>
<link name="base_1">
<visual>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="0 3.9 0.50"/>
</collision>
</link>
<link name="base_2">
<visual>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.5 3.9 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.5 3.9 0.50"/>
</collision>
</link>
<link name="base_3">
<visual>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="1.5 3.9 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="1.5 3.9 0.50"/>
</collision>
</link>
<link name="base_4">
<visual>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -3.9 0.50"/>
</collision>
</link>
<link name="base_5">
<visual>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.5 -3.9 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="-1.5 -3.9 0.50"/>
</collision>
</link>
<link name="base_6">
<visual>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="1.5 -3.9 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="1.25 0.50 0.50"/>
</geometry>
<origin rpy="0 0 0" xyz="1.5 -3.9 0.50"/>
</collision>
</link>
<joint name="column_1_to_base_1" type="fixed">
<parent link="column_1"/>
<child link="base_1"/>
<origin xyz="0 1.5 0"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="column_2_to_base_2" type="fixed">
<parent link="column_2"/>
<child link="base_2"/>
<origin xyz="1.5 1.5 0"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="column_3_to_base_3" type="fixed">
<parent link="column_3"/>
<child link="base_3"/>
<origin xyz="-1.5 1.5 0"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="column_4_to_base_4" type="fixed">
<parent link="column_4"/>
<child link="base_4"/>
<origin xyz="0 1.5 7.623"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="column_5_to_base_5" type="fixed">
<parent link="column_5"/>
<child link="base_5"/>
<origin xyz="1.5 1.5 7.623"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="column_6_to_base_6" type="fixed">
<parent link="column_6"/>
<child link="base_6"/>
<origin xyz="-1.5 1.5 7.623"/>
<axis xyz="0 0 0"/>
</joint>
<link name="left_wheel_1">
<visual>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="0 4.2755 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="0 4.2755 0.50"/>
</collision>
</link>
<link name="left_wheel_2">
<visual>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="-1.5 4.2755 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="1.5 4.2755 0.50"/>
</collision>
</link>
<link name="left_wheel_3">
<visual>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="1.5 4.2755 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="1.5 4.2755 0.50"/>
</collision>
</link>
<joint name="left_wheel_1_to_base_1" type="continuous">
<parent link="base_1"/>
<child link="left_wheel_1"/>
<origin xyz="0 0.5 -4.2755"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="left_wheel_2_to_base_2" type="continuous">
<parent link="base_2"/>
<child link="left_wheel_2"/>
<origin xyz="-1.5 0.50 -4.2755"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="left_wheel_3_to_base_3" type="continuous">
<parent link="base_3"/>
<child link="left_wheel_3"/>
<origin xyz="1.5 0.5 -4.2755"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="right_wheel_1_to_base_4" type="continuous">
<parent link="base_4"/>
<child link="right_wheel_1"/>
<origin xyz="0 0.50 4.2755"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="right_wheel_2_to_base_5" type="continuous">
<parent link="base_5"/>
<child link="right_wheel_2"/>
<origin xyz="-1.5 0.50 4.2755"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="right_wheel_3_to_base_6" type="continuous">
<parent link="base_6"/>
<child link="right_wheel_3"/>
<origin xyz="1.5 0.50 4.2755"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_1">
<visual>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="0 -4.2755 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="0 -4.2755 0.50"/>
</collision>
</link>
<link name="right_wheel_2">
<visual>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="-1.5 -4.2755 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="-1.5 -4.2755 0.50"/>
</collision>
</link>
<link name="right_wheel_3">
<visual>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="1.5 -4.2755 0.50"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.25" radius="0.50"/>
</geometry>
<origin rpy="0 1.5707 1.5707" xyz="1.5 -4.2755 0.50"/>
</collision>
</link>
</robot>
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