62 lines
2 KiB
XML
62 lines
2 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rbs_arm">
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<xacro:arg name="gripper_name" default="" />
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<xacro:arg name="hardware" default="gazebo" />
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<xacro:arg name="simulation_controllers" default="" />
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<xacro:arg name="tf_prefix" default="" />
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<xacro:arg name="namespace" default="arm0"/>
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<xacro:arg name="x" default="-0.10" />
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<xacro:arg name="y" default="0.0" />
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<xacro:arg name="z" default="0.03" />
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<xacro:arg name="roll" default="0.0" />
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<xacro:arg name="pitch" default="0.0" />
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<xacro:arg name="yaw" default="0.0" />
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<xacro:include filename="$(find rbs_mill_assist)/urdf/rbs_arm_modular_macro.xacro" />
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<link name="world" />
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<xacro:property name="machine_length" value="0.4"/>
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<xacro:property name="machine_width" value="0.5"/>
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<xacro:property name="machine_height" value="0.115"/>
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<link name="machine_link">
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<visual>
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<geometry>
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<box size="${machine_length} ${machine_width} ${machine_height}"/>
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</geometry>
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<material name="gray">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="${machine_length} ${machine_width} ${machine_height}"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="40.0"/>
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<inertia
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ixx="${(1/12)*30*(machine_width**2 + machine_height**2)}"
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iyy="${(1/12)*30*(machine_length**2 + machine_height**2)}"
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izz="${(1/12)*30*(machine_length**2 + machine_width**2)}"
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ixy="0"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name="machine_joint" type="fixed">
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<parent link="world"/>
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<child link="machine_link"/>
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<origin xyz="0.25 0 ${0.115/2}" rpy="0 0 0"/>
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</joint>
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<!-- Arm-->
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<xacro:rbs_arm namespace="$(arg namespace)" parent="world" tf_prefix="$(arg tf_prefix)" hardware="$(arg hardware)"
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gripper_name="$(arg gripper_name)" controllers="$(arg simulation_controllers)">
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<origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)" />
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</xacro:rbs_arm>
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</robot>
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