drake-tutorials/Lesson-5/TP.urdf at main · logdog/drake-tutorials · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
<?xml version="1.0"?>
<robot name="TriplePendulum">

  <material name="black">
    <color rgba="0 0 0 1" />
  </material>
  <material name="MITred">
    <color rgba=".6 .2 .2 1" />
  </material>

  <link name="upper_arm">
    <inertial>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -1"/>
      <geometry>
        <sphere radius=".1"/>
      </geometry>
      <material name="MITred" />
    </visual>
    <visual>
      <origin xyz="0 0 -.5" rpy="0 0 0" />
      <geometry>
          <cylinder length="1" radius=".01" />
      </geometry>
      <material name="black" />
    </visual>
  </link>

  <link name="lower_arm">
    <inertial>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -1"/>
      <geometry>
        <sphere radius=".1"/>
      </geometry>
      <material name="MITred" />
    </visual>
     <visual>
      <origin xyz="0 0 -.5" rpy="0 0 0" />
      <geometry>
          <cylinder length="1" radius=".01" />
      </geometry>
      <material name="black" />
    </visual>
  </link>

  <link name="third_arm">
    <inertial>
      <origin xyz="0 0 -2" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -2"/>
      <geometry>
        <sphere radius=".1"/>
      </geometry>
      <material name="MITred" />
    </visual>
     <visual>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <geometry>
          <cylinder length="2" radius=".01" />
      </geometry>
      <material name="black" />
    </visual>
  </link>

  <joint name="shoulder" type="revolute">
    <parent link="world"/>
    <child link="upper_arm" />
    <axis xyz="0 1 0" />
    <origin xyz="0 0 0" />
  </joint>

  <joint name="elbow" type="revolute">
    <parent link="upper_arm"/>
    <child link="lower_arm" />
    <axis xyz="0 1 0" />
    <origin xyz="0 0 -1" />
  </joint>

  <joint name="wrist" type="revolute">
    <parent link="lower_arm"/>
    <child link="third_arm" />
    <axis xyz="0 1 0" />
    <origin xyz="0 0 -1" />
  </joint>

</robot>