机械手URDF文件的编写

我们用urdf文件来描述我们的机械手的外观以及物理性能。这里为了简便，就只用了基本的圆柱、立方体了。追求美观的朋友，还可以用dae文件来描述机械手的外形。

import re
def remove_comments(text):
    pattern = r'<!--(.*?)-->'
    return re.sub(pattern, '', text, flags=re.DOTALL)
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文件six_arm.urdf

<?xml version="1.0"?>
<robot name="six_arm">

    <!-- Base link -->
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.1 0.1 0.1"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05"/>
            <material name="blue">
                <color rgba="0 0 1.0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <box size="0.1 0.1 0.1"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05"/>
        </collision>
        <inertial>
            <mass value="10"/>
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
    </link>

    <!-- Link 1 -->
    <link name="link1">
        <visual>
            <geometry>
                <cylinder length="0.1" radius="0.03"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05"/>
            <material name="green">
                <color rgba="0 0.8 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder length="0.1" radius="0.03"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05"/>
        </collision>
        <inertial>
            <mass value="0.2"/>
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
    </link>

    <!-- Joint 1: rotation around X-axis -->
    <joint name="joint1" type="continuous">
        <parent link="base_link"/>
        <child link="link1"/>
        <axis xyz="0 0 1"/>
        <origin xyz="0 0 0.1" rpy="0 0 0"/>
    </joint>

    <!-- Link 2 -->
    <link name="link2">
        <visual>
            <geometry>
                <cylinder length="0.1" radius="0.03"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05"/>
            <material name="red">
                <color rgba="0.8 0 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder length="0.1" radius="0.03"/>
            </geometry>
            <origin rpy="0 0 0