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giogadi/passive.robot.xml

Last active December 20, 2015 03:48
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COLLADA description of a 6-DOF mechanism (P1-R5)
Raw
passive.robot.xml
<Robot name="CustomRobot">
<KinBody name="PassiveArm">
<Body name="base" type="dynamic">
<Translation>0 0 0</Translation>
</Body>
<Body name="shoulder" type="dynamic">
<offsetfrom>base</offsetfrom>
<Translation>0 0 0</Translation>
</Body>
<Joint name="d1" type="slider">
<Body>base</Body>
<Body>shoulder</Body>
<offsetfrom>base</offsetfrom>
<axis>0 0 1</axis>
</Joint>
<Body name="link1" type="dynamic">
<offsetfrom>shoulder</offsetfrom>
<Translation>0 0.3 0.15</Translation> <!-- (0, pl2, ph2) -->
</Body>
<Joint name="a2" type="hinge">
<Body>shoulder</Body>
<Body>link1</Body>
<offsetfrom>shoulder</offsetfrom>
<axis>0 0 1</axis>
</Joint>
<Body name="link2" type="dynamic">
<offsetfrom>link1</offsetfrom>
<Translation>0 0.3 -0.07</Translation> <!-- (0, pl3, -ph3) -->
</Body>
<Joint name="a3" type="hinge">
<Body>link1</Body>
<Body>link2</Body>
<offsetfrom>link1</offsetfrom>
<axis>0 0 1</axis>
</Joint>
<Body name="link3" type="dynamic">
<offsetfrom>link2</offsetfrom>
<Translation>0 0.07 -0.07</Translation> <!-- (0, pl4, -ph4) -->
<rotationaxis>1 0 0 -90</rotationaxis>
</Body>
<Joint name="a4" type="hinge">
<Body>link2</Body>
<Body>link3</Body>
<offsetfrom>link2</offsetfrom>
<axis>0 0 1</axis>
</Joint>
<Body name="link4" type="dynamic">
<offsetfrom>link3</offsetfrom>
<Translation>0 0 0.3</Translation> <!-- (0, 0, pl5) -->
<rotationaxis>1 0 0 90</rotationaxis>
</Body>
<Joint name="a5" type="hinge">
<Body>link3</Body>
<Body>link4</Body>
<offsetfrom>link3</offsetfrom>
<axis>0 0 1</axis>
</Joint>
<Body name="RCM" type="dynamic">
<offsetfrom>link4</offsetfrom>
<Translation>0 0.32 0.15</Translation> <!-- rcmOffset -->
<rotationmat>0 1 0 0 0 1 1 0 0</rotationmat> <!-- 120deg about (-1/root(3),-1/root(3),-1/root(3)) -->
</Body>
<Joint name="a6" type="hinge">
<Body>link4</Body>
<Body>RCM</Body>
<offsetfrom>link4</offsetfrom>
<axis>0 0 1</axis>
</Joint>
</KinBody>
<manipulator name="arm">
<base>base</base>
<effector>RCM</effector>
</manipulator>
</Robot>
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