urdf/arm.urdf

   1 <?xml version="1.0"?>
   2 <robot name="arm">
   3         <link name="base_link">
   4                 <visual>
   5                         <geometry>
   6                                 <mesh filename="package://arm_ros_conn/meshes/32985.stl" scale="1 1 1"/>
   7                         </geometry>
   8                         <material name="black">
   9                                 <color rgba="0 0 0 1"/>
  10                         </material>
  11                 </visual>
  12         </link>
  13
  14         <link name="link1">
  15                 <visual>
  16                         <geometry>
  17                                 <box size="0.06 0.03 0.123"/>
  18                         </geometry>
  19                         <origin xyz="0 0 0.0675"/>
  20                         <material name="grey">
  21                                 <color rgba="0.5 0.5 0.5 1"/>
  22                         </material>
  23                 </visual>
  24         </link>
  25
  26         <link name="link2">
  27                 <visual>
  28                         <geometry>
  29                                 <box size="0.240 0.06 0.03"/>
  30                         </geometry>
  31                         <origin xyz="0.120 0 0.0" rpy="0 0 0"/>
  32                         <material name="grey">
  33                                 <color rgba="0.5 0.5 0.5 1"/>
  34                         </material>
  35                 </visual>
  36         </link>
  37
  38         <link name="link3">
  39                 <visual>
  40                         <geometry>
  41                                 <box size="0.06 0.135 0.03"/>
  42                         </geometry>
  43                         <origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
  44                         <material name="grey">
  45                                 <color rgba="0.5 0.5 0.5 1"/>
  46                         </material>
  47                 </visual>
  48         </link>
  49
  50         <link name="link4">
  51                 <visual>
  52                         <geometry>
  53                                 <cylinder radius="0.045" length="0.03"/>
  54                         </geometry>
  55                         <origin xyz="0.015 0 0" rpy="0 1.57075 0"/>
  56                         <material name="black">
  57                                 <color rgba="0 0 0 1"/>
  58                         </material>
  59                 </visual>
  60         </link>
  61
  62         <link name="link5">
  63                 <visual>
  64                         <geometry>
  65                                 <mesh filename="package://arm_ros_conn/meshes/31019.stl" scale="1 1 1"/>
  66                         </geometry>
  67                         <origin xyz="0.0 0 0" rpy="1.57075 0 0"/>
  68                         <material name="red">
  69                                 <color rgba="1 0 0 1"/>
  70                         </material>
  71                 </visual>
  72         </link>
  73
  74         <link name="gripper_pole">
  75         </link>
  76
  77         <link name="left_gripper">
  78                 <visual>
  79                         <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
  80                         <geometry>
  81                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  82                         </geometry>
  83                         <material name="red">
  84                                 <color rgba="1 0 0 1"/>
  85                         </material>
  86                 </visual>
  87         </link>
  88
  89         <link name="right_gripper">
  90                 <visual>
  91                         <origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
  92                         <geometry>
  93                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  94                         </geometry>
  95                         <material name="red">
  96                                 <color rgba="1 0 0 1"/>
  97                         </material>
  98                 </visual>
  99         </link>
 100
 101         <joint name="base_to_link1" type="continuous">
 102                 <parent link="base_link"/>
 103                 <child link="link1"/>
 104                 <axis xyz="0 0 1"/>
 105                 <origin xyz="0 0.099 0"/>
 106                 <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
 107         </joint>
 108
 109         <joint name="link_1_2_joint" type="continuous">
 110                 <parent link="link1"/>
 111                 <child link="link2"/>
 112                 <axis xyz="0 0 1"/>
 113                 <origin xyz="0.0 0.0 0.135" rpy="1.57075 0 0"/>
 114                 <limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
 115         </joint>
 116
 117         <joint name="link_2_3_joint" type="continuous">
 118                 <parent link="link2"/>
 119                 <child link="link3"/>
 120                 <axis xyz="0 0 1"/>
 121                 <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
 122                 <limit effort="1000.0" lower="-3.141592653589793" upper="0.0" velocity="1.0"/>
 123         </joint>
 124
 125         <joint name="link_3_4_joint" type="continuous">
 126                 <parent link="link3"/>
 127                 <child link="link4"/>
 128                 <axis xyz="1 0 0"/>
 129                 <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
 130                 <limit effort="1000.0" lower="-7.679448708775051" upper="0.6981317007977319" velocity="1.0"/>
 131         </joint>
 132
 133         <joint name="link_4_5_joint" type="continuous">
 134                 <parent link="link4"/>
 135                 <child link="link5"/>
 136                 <axis xyz="0 1 0"/>
 137                 <origin xyz="0.06 0.0 0.0" rpy="0 0 0"/>
 138                 <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 139         </joint>
 140
 141         <joint name="gripper_pole_joint" type="fixed">
 142                 <parent link="link5"/>
 143                 <child link="gripper_pole"/>
 144         </joint>
 145
 146         <joint name="left_gripper_joint" type="revolute">
 147                 <parent link="gripper_pole"/>
 148                 <child link="left_gripper"/>
 149                 <axis xyz="0 0 1"/>
 150                 <origin xyz="0.02 0.01 0" rpy="0 0 0" />
 151                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 152         </joint>
 153
 154         <joint name="right_gripper_joint" type="revolute">
 155                 <parent link="gripper_pole"/>
 156                 <child link="right_gripper"/>
 157                 <axis xyz="0 0 -1"/>
 158                 <origin xyz="0.02 -0.01 0" rpy="0 0 0"/>
 159                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 160         </joint>
 161 </robot>