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Add example joint_mimic_rack_pinion.urdf
Signed-off-by: Steve Peters <[email protected]>
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| <?xml version="1.0" ?> | ||
| <robot name="rack_and_pinion"> | ||
| <link name="base"> | ||
| <inertial> | ||
| <mass value="2500"/> | ||
| <inertia ixx="154.0" ixy="0.0" ixz="0.0" iyy="152.0" iyz="0.0" izz="28.8"/> | ||
| </inertial> | ||
| <!-- plate on ground --> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.02" radius="0.8"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0.01"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <cylinder length="0.02" radius="0.8"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0.01"/> | ||
| </collision> | ||
| <!-- pole --> | ||
| <visual> | ||
| <geometry> | ||
| <box size="0.2 0.2 2.2"/> | ||
| </geometry> | ||
| <origin xyz="-0.275 0 1.1"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <box size="0.2 0.2 2.2"/> | ||
| </geometry> | ||
| <origin xyz="-0.275 0 1.1"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <!-- pin joint for upper link --> | ||
| <joint name="upper_joint" type="continuous"> | ||
| <origin rpy="0 0 -1.75" xyz="-0.175 0 2.1"/> | ||
| <axis xyz="1.0 0 0"/> | ||
| <parent link="base"/> | ||
| <child link="upper_link"/> | ||
| </joint> | ||
|
|
||
| <link name="upper_link"> | ||
| <inertial> | ||
| <mass value="47"/> | ||
| <inertia ixx="6.7" ixy="0.0" ixz="0.0" iyy="6.7" iyz="0.0" izz="0.53"/> | ||
| <origin xyz="0 0 0.5"/> | ||
| </inertial> | ||
| <!-- upper joint shape --> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.3" radius="0.1"/> | ||
| </geometry> | ||
| <origin rpy="0 1.5708 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <cylinder length="0.3" radius="0.1"/> | ||
| </geometry> | ||
| <origin rpy="0 1.5708 0"/> | ||
| </collision> | ||
| <!-- long cylinder shape --> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.9" radius="0.1"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0.5"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <cylinder length="0.9" radius="0.1"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0.5"/> | ||
| </collision> | ||
| <!-- bob shape --> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.3" radius="0.1"/> | ||
| </geometry> | ||
| <origin rpy="0 1.5708 0" xyz="0 0 1.0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <cylinder length="0.3" radius="0.1"/> | ||
| </geometry> | ||
| <origin rpy="0 1.5708 0" xyz="0 0 1.0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <!-- prismatic rack joint --> | ||
| <joint name="rack_joint" type="prismatic"> | ||
| <origin xyz="-0.125 0 2.355"/> | ||
| <axis xyz="0 -1.0 0"/> | ||
| <parent link="base"/> | ||
| <child link="rack"/> | ||
| <limit lower="-1" upper="1" velocity="1000" effort="10000"/> | ||
| <mimic joint="upper_joint" multiplier="0.105"/> | ||
| </joint> | ||
|
|
||
| <!-- Rack coupled to upper pendulum joint --> | ||
| <link name="rack"> | ||
| <inertial> | ||
| <mass value="9"/> | ||
| <inertia ixx="3.0" ixy="0.0" ixz="0.0" iyy="0.08" iyz="0.0" izz="3.0"/> | ||
| </inertial> | ||
| <visual> | ||
| <geometry> | ||
| <box size="0.15 2.0 0.3"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <box size="0.15 2.0 0.3"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
|
|
||
| </robot> |