kartezjusz.xml

<?xml version="1.0" ?>

<robot name="kartezjusz" xmlns:xacro="http://www.ros.org/wiki/xacro">
    
    <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  
      <material name="red">
    <color rgba="255 0 0 1"/>
  </material>
  
      <material name="yellow"> 
    <color rgba="255 255 0 1"/>
  </material>
  
      <material name="green">
    <color rgba="0 255 0 1"/>
  </material>
  
      <material name="fuchsia">
    <color rgba="255 0 255 1"/>
  </material>
  
  
  <link name="base_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0.5"/>
          <material name="blue"/>
            <geometry>
                <box size="0.25 0.25 1"/>
            </geometry>
        </visual>
    </link>
    
    <joint name="base_link__link1" type="prismatic">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.8" upper="0.8" velocity="0.5" />
        <origin rpy="3.14 -1.57 0" xyz="0 0 0.9"/>
        <parent link="base_link"/>
        <child link="link1"/>
    </joint>
    
    <link name="link1">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
          <material name="red"/>
            <geometry>
                <cylinder radius="0.1" length="2"/>
            </geometry>
        </visual>
    </link>

    <link name="link2">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
          <material name="yellow"/>
            <geometry>
                <cylinder radius="0.1" length="2"/>
            </geometry>
        </visual>
    </link>



    <joint name="link1__link2" type="prismatic">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.8" upper="0.8" velocity="0.5" />
        <origin rpy="1.57 0 1.57" xyz="0 0 1"/>
        <parent link="link1"/>
        <child link="link2"/>
    </joint>

    <link name="link3">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
          <material name="green"/>
            <geometry>
                <cylinder radius="0.1" length="2"/>
            </geometry>
        </visual>
    </link>

    <joint name="link2__link3" type="prismatic">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.8" upper="0.8" velocity="0.5" />
        <origin rpy="1.57 0 1.57" xyz="0 0 1"/>
        <parent link="link2"/>
        <child link="link3"/>
    </joint>

    <link name="tool">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
          <material name="fuchsia"/>
            <geometry>
                <box size="0.1 0.1 0.1"/>
            </geometry>
        </visual>
    </link>

    <joint name="link3__tool" type="fixed">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.8" upper="0.8" velocity="0.5" />
        <origin rpy="0 0 0" xyz="0 0 1.05"/>
        <parent link="link3"/>
        <child link="tool"/>
    </joint>
</robot>