new urdf for arm

[arm_ros_conn.git] / urdf / arm.urdf

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
new file mode 100644 (file)
index 0000000..24587c0
--- /dev/null
+++ b/urdf/arm.urdf
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot name="wild_thumper">
+       <link name="base_link">
+       </link>
+
+       <link name="link1">
+               <visual>
+                       <geometry>
+                               <box size="0.06 0.03 0.135"/>
+                       </geometry>
+                       <origin xyz="0 0 0.0675"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link2">
+               <visual>
+                       <geometry>
+                               <box size="0.240 0.06 0.03"/>
+                       </geometry>
+                       <origin xyz="0.120 0 0.0" rpy="0 0 0"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link3">
+               <visual>
+                       <geometry>
+                               <box size="0.06 0.135 0.03"/>
+                       </geometry>
+                       <origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="gripper_pole1">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.04" length="0.055"/>
+                       </geometry>
+                       <origin xyz="0.0275 0 0" rpy="0 1.57075 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="gripper_pole2">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.0" length="0.0"/>
+                       </geometry>
+                       <origin xyz="0.0 0 0" rpy="0 0 0"/>
+               </visual>
+       </link>
+
+       <link name="left_gripper">
+               <visual>
+                       <origin rpy="0.0 0 0" xyz="0 0 0"/>
+                       <geometry>
+                               <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+                       </geometry>
+               </visual>
+       </link>
+
+       <link name="right_gripper">
+               <visual>
+                       <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+                       <geometry>
+                               <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+                       </geometry>
+               </visual>
+       </link>
+
+       <joint name="base_to_link1" type="continuous">
+               <parent link="base_link"/>
+               <child link="link1"/>
+               <axis xyz="0 0 1"/>
+               <limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+       </joint>
+
+       <joint name="link_1_2_joint" type="continuous">
+               <parent link="link1"/>
+               <child link="link2"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0.0 0.0 0.135" rpy="1.57075 0 0"/>
+               <limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
+       </joint>
+
+       <joint name="link_2_3_joint" type="continuous">
+               <parent link="link2"/>
+               <child link="link3"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
+       </joint>
+
+       <joint name="gripper_joint_1" type="continuous">
+               <parent link="link3"/>
+               <child link="gripper_pole1"/>
+               <axis xyz="1 0 0"/>
+               <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
+               <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
+       </joint>
+
+       <joint name="gripper_joint_2" type="continuous">
+               <parent link="gripper_pole1"/>
+               <child link="gripper_pole2"/>
+               <axis xyz="0 1 0"/>
+               <origin xyz="0.055 0.0 0.0" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+       </joint>
+
+       <joint name="right_gripper_joint" type="revolute">
+               <parent link="gripper_pole2"/>
+               <child link="right_gripper"/>
+               <axis xyz="0 0 -1"/>
+               <origin xyz="0 -0.01 0" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
+       </joint>
+
+       <joint name="left_gripper_joint" type="revolute">
+               <parent link="gripper_pole2"/>
+               <child link="left_gripper"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0 0.01 0" rpy="0 0 0" />
+               <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
+       </joint>
+</robot>