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<?xml version="1.0"?>
<robot name="Samurai">
<!-- *************************************************** -->
<!-- ******************** Kinematics ******************* -->
<!-- *************************************************** -->
<link name="world"/>
<joint name="theta1" type="continuous">
<parent link="world"/>
<child link="link1"/>
<origin xyz="0 0 0.6" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.5"/>
</joint>
<link name="link1"/>
<joint name="theta2" type="continuous">
<parent link="link1"/>
<child link="link2"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.5"/>
</joint>
<link name="link2"/>
<joint name="theta3" type="continuous">
<parent link="link2"/>
<child link="link3"/>
<origin xyz="0 0.4 0" rpy="0 0 0"/>
<axis xyz="1 0 0 "/>
<dynamics damping="0.1"/>
</joint>
<link name="link3"/>
<joint name="theta4" type="continuous">
<parent link="link3"/>
<child link="link4"/>
<origin xyz="0 0.4 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.02"/>
</joint>
<link name="link4"/>
<joint name="theta5" type="continuous">
<parent link="link4"/>
<child link="link5"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.02"/>
</joint>
<link name="link5"/>
<joint name="theta6" type="continuous">
<parent link="link5"/>
<child link="link6"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.02"/>
</joint>
<link name="link6"/>
<joint name="holder" type="fixed">
<parent link="link6"/>
<child link="katana"/>
<origin xyz="0 0.1 0" rpy="-1.57079632679489661923 1.57079632679489661923 0"/>
</joint>
<link name="katana">
<visual>
<geometry>
<mesh filename="package://cs133-final-robot/mesh/katana.dae"
scale="0.25 0.25 0.25"/>
</geometry>
</visual>
</link>
<joint name="final" type="fixed">
<parent link="katana"/>
<child link="tip"/>
<origin xyz="-0.01 0 0.275" rpy="0 0 3.141"/>
</joint>
<link name="tip">
</link>
<!-- *************************************************** -->
<!-- ******************* RVIZ Colors ******************* -->
<!-- *************************************************** -->
<material name="white"> <color rgba="1.00 1.00 1.00 1"/> </material>
<material name="gray"> <color rgba="0.60 0.60 0.60 1"/> </material>
<material name="table"> <color rgba="0.85 0.77 0.77 1"/> </material>
<material name="black"> <color rgba="0.00 0.00 0.00 1"/> </material>
<material name="red"> <color rgba="1.00 0.00 0.00 1"/> </material>
<material name="green"> <color rgba="0.00 1.00 0.00 1"/> </material>
<material name="blue"> <color rgba="0.00 0.00 1.00 1"/> </material>
<material name="cyan"> <color rgba="0.00 1.00 1.00 1"/> </material>
<material name="magenta"> <color rgba="1.00 0.00 1.00 1"/> </material>
<material name="yellow"> <color rgba="1.00 1.00 0.00 1"/> </material>
<material name="orange"> <color rgba="1.00 0.65 0.00 1"/> </material>
<!-- *************************************************** -->
<!-- ****** Building Blocks (Visual AND Inertial) ****** -->
<!-- *************************************************** -->
<!-- *** World-Fixed: Mount 1, Motor 1 *** -->
<joint name="attach-mount1" type="fixed">
<parent link="world"/>
<child link="mount1"/>
</joint>
<link name="mount1">
<visual>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.02"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<mass value="0.2"/>
<inertia
ixx="0.000687" ixy="0.0" ixz="0.0"
iyy="0.000687" iyz="0.0"
izz="0.000040"/>
</inertial>
</link>
<joint name="attach-motor1" type="fixed">
<parent link="world"/>
<child link="motor1"/>
</joint>
<link name="motor1">
<visual>
<origin xyz="0 0 0.3" rpy="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<origin xyz="0 0 0.3" rpy="0 0 0"/>
<mass value="2.0"/>
<inertia
ixx="0.007917" ixy="0.0" ixz="0.0"
iyy="0.007917" iyz="0.0"
izz="0.002500"/>
</inertial>
</link>
<!-- *** Motor 1 Output: Mount 2, Motor 2 *** -->
<joint name="attach-mount2" type="fixed">
<parent link="link1"/>
<child link="mount2"/>
</joint>
<link name="mount2">
<visual>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.02"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.2"/>
<inertia
ixx="0.000687" ixy="0.0" ixz="0.0"
iyy="0.000687" iyz="0.0"
izz="0.000040"/>
</inertial>
</link>
<joint name="attach-motor2" type="fixed">
<parent link="link1"/>
<child link="motor2"/>
</joint>
<link name="motor2">
<visual>
<origin xyz="0 0 0" rpy="0 1.5708 0"/>
<geometry>
<cylinder length="0.2" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 1.5708 0"/>
<mass value="2.0"/>
<inertia
ixx="0.007917" ixy="0.0" ixz="0.0"
iyy="0.007917" iyz="0.0"
izz="0.002500"/>
</inertial>
</link>
<!-- *** Motor 2 Output: Mount 3, Motor 3 *** -->
<joint name="attach-mount3" type="fixed">
<parent link="link2"/>
<child link="mount3"/>
</joint>
<link name="mount3">
<visual>
<origin xyz="0 0.2 0" rpy="1.5708 0 0"/>
<geometry>
<cylinder length="0.4" radius="0.02"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin xyz="0 0.2 0" rpy="1.5708 0 0"/>
<mass value="0.4"/>
<inertia
ixx="0.005373" ixy="0.0" ixz="0.0"
iyy="0.005373" iyz="0.0"
izz="0.000080"/>
</inertial>
</link>
<joint name="attach-motor3" type="fixed">
<parent link="link2"/>
<child link="motor3"/>
</joint>
<link name="motor3">
<visual>
<origin xyz="0 0.4 0" rpy="0 1.5708 0"/>
<geometry>
<cylinder length="0.2" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<origin xyz="0 0.4 0" rpy="0 1.5708 0"/>
<mass value="2.0"/>
<inertia
ixx="0.007917" ixy="0.0" ixz="0.0"
iyy="0.007917" iyz="0.0"
izz="0.002500"/>
</inertial>
</link>
<!-- *** Motor 3 Output: Mount 4, Motor 4 *** -->
<joint name="attach-mount4" type="fixed">
<parent link="link3"/>
<child link="mount4"/>
</joint>
<link name="mount4">
<visual>
<origin xyz="0 0.1 0" rpy="1.5708 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.02"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin xyz="0 0.1 0" rpy="1.5708 0 0"/>
<mass value="0.2"/>
<inertia
ixx="0.000687" ixy="0.0" ixz="0.0"
iyy="0.000687" iyz="0.0"
izz="0.000040"/>
</inertial>
</link>
<joint name="attach-motor4" type="fixed">
<parent link="link3"/>
<child link="motor4"/>
</joint>
<link name="motor4">
<visual>
<origin xyz="0 0.2 0" rpy="1.5708 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.025"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<origin xyz="0 0.2 0" rpy="1.5708 0 0"/>
<mass value="1.0"/>
<inertia
ixx="0.000990" ixy="0.0" ixz="0.0"
iyy="0.000990" iyz="0.0"
izz="0.000313"/>
</inertial>
</link>
<!-- *** Motor 4 Output: Mount 5, Motor 5 *** -->
<joint name="attach-mount5" type="fixed">
<parent link="link4"/>
<child link="mount5"/>
</joint>
<link name="mount5">
<visual>
<origin xyz="0 -0.1 0" rpy="1.5708 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin xyz="0 -0.1 0" rpy="1.5708 0 0"/>
<mass value="0.1"/>
<inertia
ixx="0.000336" ixy="0.0" ixz="0.0"
iyy="0.000336" iyz="0.0"
izz="0.000005"/>
</inertial>
</link>
<joint name="attach-motor5" type="fixed">
<parent link="link4"/>
<child link="motor5"/>
</joint>
<link name="motor5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.025"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia
ixx="0.000990" ixy="0.0" ixz="0.0"
iyy="0.000990" iyz="0.0"
izz="0.000313"/>
</inertial>
</link>
<!-- *** Motor 5 Output: Motor 6 *** -->
<joint name="attach-motor6" type="fixed">
<parent link="link5"/>
<child link="motor6"/>
</joint>
<link name="motor6">
<visual>
<origin xyz="0 0 0" rpy="0 1.5708 0"/>
<geometry>
<cylinder length="0.1" radius="0.025"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 1.5708 0"/>
<mass value="1.0"/>
<inertia
ixx="0.000990" ixy="0.0" ixz="0.0"
iyy="0.000990" iyz="0.0"
izz="0.000313"/>
</inertial>
</link>
<!-- *** Motor 6 Output: Base, Palm, Fingers *** -->
<joint name="attach-handbase" type="fixed">
<parent link="link6"/>
<child link="handbase"/>
</joint>
<link name="handbase">
<visual>
<origin xyz="0 0.05 0" rpy="1.5708 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.01"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin xyz="0 0.05 0" rpy="1.5708 0 0"/>
<mass value="0.05"/>
<inertia
ixx="0.000043" ixy="0.0" ixz="0.0"
iyy="0.000043" iyz="0.0"
izz="0.000003"/>
</inertial>
</link>
</robot>