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modbus_test
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model

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Kseninia Mikhaylova 2024-10-31 11:39:56 +03:00
parent fc319d757e
commit d75007d604
8 changed files with 67 additions and 44 deletions
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urdf/sample.urdf
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@ -1,152 +1,175 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot name="sample_robot"> <robot name="sample_robot">
<!-- links: main serial chain -->
<!-- Materials -->
<material name="grey">
<color rgba="0.0 0 0 1.0" />
</material>
<material name="red">
<color rgba="1.0 0.0 0.0 1.0" />
</material>
<material name="blue">
<color rgba="0 0.0 1.0 1.0" />
</material>
<material name="lightblue">
<color rgba="0.0 0.22 1.0 1.0" />
</material>
<material name="yellow">
<color rgba="0.96 0.76 0.13 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.5 0.0 1.0" />
</material>
<material name="black">
<color rgba="0.15 0.15 0.15 1.0" />
</material>
<!-- Links: main serial chain -->
<link name="base_link"> <link name="base_link">
<inertial> <inertial>
<mass value="1.0" /> <mass value="1.0" />
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" /> <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 -0.2" /> <origin rpy="0 0 0" xyz="0 0 0" />
<geometry> <geometry>
<box size="0.2 0.2 0.2" /> <mesh filename="../urdf_support/sample/1.stl"/>
</geometry> </geometry>
<material name="grey"> <material name="grey"/>
<color rgba="0.0 0 0 1.0" />
</material>
</visual> </visual>
</link> </link>
<link name="link_1"> <link name="link_1">
<inertial> <inertial>
<mass value="1.0" /> <mass value="1.0" />
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" /> <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.2473" /> <origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry> <geometry>
<box size="0.1 0.1 0.4946" /> <mesh filename="../urdf_support/sample/2.stl"/>
</geometry> </geometry>
<material name="red"> <material name="red"/>
<color rgba="1.0 0.0 0.0 1.0" />
</material>
</visual> </visual>
</link> </link>
<link name="link_2"> <link name="link_2">
<inertial> <inertial>
<mass value="1.0" /> <mass value="1.0" />
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" /> <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.3649605" /> <origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry> <geometry>
<box size="0.1 0.1 0.729921" /> <mesh filename="../urdf_support/sample/3.stl"/>
</geometry> </geometry>
<material name="blue"> <material name="blue"/>
<color rgba="0 0.0 1.0 1.0" />
</material>
</visual> </visual>
</link> </link>
<link name="link_3"> <link name="link_3">
<inertial> <inertial>
<mass value="1.0" /> <mass value="1.0" />
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" /> <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.049" /> <origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry> <geometry>
<box size="0.1 0.1 0.098277" /> <mesh filename="../urdf_support/sample/4.stl"/>
</geometry> </geometry>
<material name="lightblue"> <material name="lightblue"/>
<color rgba="0. 0.22 1.00 1.0" />
</material>
</visual> </visual>
</link> </link>
<link name="link_4"> <link name="link_4">
<inertial> <inertial>
<mass value="1.0" /> <mass value="1.0" />
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" /> <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.5545195" /> <origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry> <geometry>
<box size="0.1 0.1 1.109039" /> <mesh filename="../urdf_support/sample/5.stl"/>
</geometry> </geometry>
<material name="yellow"> <material name="yellow"/>
<color rgba="0.96 0.76 0.13 1.0" />
</material>
</visual> </visual>
</link> </link>
<link name="link_5"> <link name="link_5">
<inertial> <inertial>
<mass value="1.0" /> <mass value="1.0" />
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" /> <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.0585" /> <origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry> <geometry>
<box size="0.1 0.1 0.117" /> <mesh filename="../urdf_support/sample/6.stl"/>
</geometry> </geometry>
<material name="orange"> <material name="orange"/>
<color rgba="1.0 0.5 0.0 1.0" />
</material>
</visual> </visual>
</link> </link>
<link name="link_6"> <link name="link_6">
<inertial> <inertial>
<mass value="1.0" /> <mass value="1.0" />
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" /> <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.05" /> <origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry> <geometry>
<box size="0.1 0.1 0.1" /> <mesh filename="../urdf_support/sample/7.stl"/>
</geometry> </geometry>
<material name="black"> <material name="black"/>
<color rgba="0.15 0.15 0.15 1.0" />
</material>
</visual> </visual>
</link> </link>
<!-- joints: main serial chain -->
<!-- Joints: main serial chain -->
<joint name="joint_1" type="revolute"> <joint name="joint_1" type="revolute">
<limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" /> <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" />
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="-0.011789 0.0278 0.26158" />
<parent link="base_link" /> <parent link="base_link" />
<child link="link_1" /> <child link="link_1" />
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
</joint> </joint>
<joint name="joint_2" type="revolute"> <joint name="joint_2" type="revolute">
<limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" /> <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
<parent link="link_1" /> <parent link="link_1" />
<child link="link_2" /> <child link="link_2" />
<axis xyz="0 -1 0" /> <axis xyz="0 -1 0" />
<origin rpy="0 0 0" xyz="0.0170450 0 0.494600" /> <origin rpy="0 0 0" xyz="-0.168621 0.103 0.23445" />
</joint> </joint>
<joint name="joint_3" type="revolute"> <joint name="joint_3" type="revolute">
<origin rpy="0 1.5708 0" xyz="0 0 0.729921" /> <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
<parent link="link_2" /> <parent link="link_2" />
<child link="link_3" /> <child link="link_3" />
<axis xyz="0 -1 0" /> <axis xyz="0 -1 0" />
<limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" /> <origin rpy="0 0 0" xyz="0.35988 -0.00232 0.63457" />
</joint> </joint>
<joint name="joint_4" type="revolute"> <joint name="joint_4" type="revolute">
<limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" /> <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
<parent link="link_3" /> <parent link="link_3" />
<child link="link_4" /> <child link="link_4" />
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<origin rpy="0 0 0" xyz="0 0 0.098277" /> <origin rpy="0 0 0" xyz="-0.23985 -0.101766 0.0983" />
</joint> </joint>
<joint name="joint_5" type="revolute"> <joint name="joint_5" type="revolute">
<limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" /> <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
<parent link="link_4" /> <parent link="link_4" />
<child link="link_5" /> <child link="link_5" />
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0.0 0 1.109039" /> <origin rpy="0 0 0" xyz="-0.867755 -0.037912 0.0021" />
</joint> </joint>
<joint name="joint_6" type="revolute"> <joint name="joint_6" type="revolute">
<limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" /> <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" />
<parent link="link_5" /> <parent link="link_5" />
<child link="link_6" /> <child link="link_6" />
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<origin rpy="0 0 0" xyz="0.0 0 0.117" /> <origin rpy="0 0 0" xyz="-0.12086 0.039025 0.0002" />
</joint> </joint>
</robot> </robot>

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