reach_study.xacro

<?xml version="1.0" ?>
<robot name="reach_study" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find reach_ros)/demo/model/motoman_sia20d/motoman_sia20d_macro.xacro" />

  <link name="world"/>
  
  <!-- TODO: Define the link(s) and joint(s) needed to connect the mobile base to the world frame in such a way that it can translate in the x-y plane and rotate about the z-axis -->

  <xacro:property name="height" value="0.3"/>
  <xacro:property name="radius" value="0.4" />
  <link name="mobile_base">
    <visual>
      <origin xyz="0.0 0.0 ${height / 2.0}"/>
      <geometry>
        <cylinder radius="${radius}" length="${height}"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 ${height / 2.0}"/>
      <geometry>
        <cylinder radius="${radius}" length="${height}"/>
      </geometry>
    </collision>
  </link>

  <xacro:motoman_sia20d prefix=""/>
  <joint name="mobile_base_to_robot" type="fixed">
    <parent link="mobile_base"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 ${height}"/>
  </joint>

  <link name="tcp"/>
  <joint name="tool0_to_tcp" type="fixed">
    <parent link="tool0"/>
    <child link="tcp"/>
    <origin xyz="0 0 0.1"/>
  </joint>

  <link name="blade"/>
  <joint name="world_to_blade" type="fixed">
    <parent link="world"/>
    <child link="blade"/>
    <origin xyz="1.0 1.0 0.5" rpy="0 0 ${radians(-90)}"/>
  </joint>
</robot>