robotics_tutorial/planar_2R_robot.urdf at master · adityasagi/robotics_tutorial · GitHub

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<?xml version="1.0"?>
<robot name="planar_2R_robot">

<!-- simple two-axis scara robot -->


<material name="blue">
  <color rgba="0 0 0.4 1"/>
</material>

<material name="light_blue">
  <color rgba="0.0 0.0 0.9 1"/>
</material>

<material name="red">
  <color rgba="0.8 0 0 1"/>
</material>


<!-- world link -->
<link name="world"/>

<!-- base_link and its fixed joint -->
<joint name="joint_fix" type="fixed">
  <parent link="world"/>
  <child link="base_link"/>
</joint>

<link name="base_link">
  <collision>
    <origin xyz="0 0 0.2" rpy="0 0 0"/>
    <geometry>
      <cylinder length="0.4" radius="0.1"/>
    </geometry>
  </collision>

  <visual>
    <origin xyz="0 0 0.2" rpy="0 0 0"/>
    <geometry>
      <cylinder length="0.4" radius="0.1"/>
    </geometry>
    <material name="red" />
  </visual>

  <inertial>
    <origin xyz="0 0 0.2" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia
      ixx="1.0" ixy="0.0" ixz="0.0"
      iyy="1.0" iyz="0.0"
      izz="1.0"/>
  </inertial>
</link>


<!-- the first arm of the scara, with revolute joint rotating along z axis -->
<!-- arm length between two rotation axis is 1 -->
<joint name="rotation1" type="revolute">
  <parent link="base_link"/>
  <child link="arm1"/>
  <origin xyz="0 0 0.4" rpy="0 0 0"/>
  <axis xyz="0 0 1"/>
  <limit effort="100" velocity="10" lower="-3.14" upper="3.14"/>
</joint>

<link name="arm1">
  <collision>
    <origin xyz="0 -0.5 0.05" rpy="0 0 0"/>
    <geometry>
      <box size="0.1 1.1 0.1"/>
    </geometry>
  </collision>

  <visual>
    <origin xyz="0 -0.5 0.05" rpy="0 0 0"/>
    <geometry>
      <box size="0.1 1.1 0.1"/>
    </geometry>
    <material name="blue" />
  </visual>

  <inertial>
    <origin xyz="0 0 0.05" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia
      ixx="0.001" ixy="0.0" ixz="0.0"
      iyy="0.001" iyz="0.0"
      izz="0.001"/>
  </inertial>
</link>


<!-- the second arm and its rotation joint -->
<!-- arm length between two rotation axis is 0.8 -->
<joint name="rotation2" type="revolute">
  <parent link="arm1"/>
  <child link="arm2"/>
  <origin xyz="0 -1 0.1" rpy="0 0 0"/>
  <axis xyz="0 0 1"/>
  <limit effort="1000" velocity="1000" lower="-3.00" upper="3.00"/>
</joint>

<link name="arm2">
  <collision>
    <origin xyz="0 -0.4 0.05" rpy="0 0 0"/>
    <geometry>
      <box size="0.1 0.9 0.1"/>
    </geometry>
  </collision>

  <visual>
    <origin xyz="0 -0.4 0.05" rpy="0 0 0"/>
    <geometry>
      <box size="0.1 0.9 0.1"/>
    </geometry>
    <material name="light_blue" />
  </visual>

  <inertial>
    <origin xyz="0 0 0.05" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia
      ixx="0.001" ixy="0.0" ixz="0.0"
      iyy="0.001" iyz="0.0"
      izz="0.001"/>
  </inertial>
</link>

</robot>