urdf/arm.urdf

   1 <?xml version="1.0"?>
   2 <robot name="wild_thumper">
   3         <link name="base_link">
   4         </link>
   5
   6         <link name="link1">
   7                 <visual>
   8                         <geometry>
   9                                 <box size="0.06 0.03 0.135"/>
  10                         </geometry>
  11                         <origin xyz="0 0 0.0675"/>
  12                         <material name="grey">
  13                                 <color rgba="0.5 0.5 0.5 1"/>
  14                         </material>
  15                 </visual>
  16         </link>
  17
  18         <link name="link2">
  19                 <visual>
  20                         <geometry>
  21                                 <box size="0.240 0.06 0.03"/>
  22                         </geometry>
  23                         <origin xyz="0.120 0 0.0" rpy="0 0 0"/>
  24                         <material name="grey">
  25                                 <color rgba="0.5 0.5 0.5 1"/>
  26                         </material>
  27                 </visual>
  28         </link>
  29
  30         <link name="link3">
  31                 <visual>
  32                         <geometry>
  33                                 <box size="0.06 0.135 0.03"/>
  34                         </geometry>
  35                         <origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
  36                         <material name="grey">
  37                                 <color rgba="0.5 0.5 0.5 1"/>
  38                         </material>
  39                 </visual>
  40         </link>
  41
  42         <link name="gripper_pole1">
  43                 <visual>
  44                         <geometry>
  45                                 <cylinder radius="0.04" length="0.055"/>
  46                         </geometry>
  47                         <origin xyz="0.0275 0 0" rpy="0 1.57075 0"/>
  48                         <material name="black">
  49                                 <color rgba="0 0 0 1"/>
  50                         </material>
  51                 </visual>
  52         </link>
  53
  54         <link name="gripper_pole2">
  55                 <visual>
  56                         <geometry>
  57                                 <cylinder radius="0.0" length="0.0"/>
  58                         </geometry>
  59                         <origin xyz="0.0 0 0" rpy="0 0 0"/>
  60                 </visual>
  61         </link>
  62
  63         <link name="left_gripper">
  64                 <visual>
  65                         <origin rpy="0.0 0 0" xyz="0 0 0"/>
  66                         <geometry>
  67                                 <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
  68                         </geometry>
  69                 </visual>
  70         </link>
  71
  72         <link name="right_gripper">
  73                 <visual>
  74                         <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
  75                         <geometry>
  76                                 <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
  77                         </geometry>
  78                 </visual>
  79         </link>
  80
  81         <joint name="base_to_link1" type="continuous">
  82                 <parent link="base_link"/>
  83                 <child link="link1"/>
  84                 <axis xyz="0 0 1"/>
  85                 <limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
  86         </joint>
  87
  88         <joint name="link_1_2_joint" type="continuous">
  89                 <parent link="link1"/>
  90                 <child link="link2"/>
  91                 <axis xyz="0 0 1"/>
  92                 <origin xyz="0.0 0.0 0.135" rpy="1.57075 0 0"/>
  93                 <limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
  94         </joint>
  95
  96         <joint name="link_2_3_joint" type="continuous">
  97                 <parent link="link2"/>
  98                 <child link="link3"/>
  99                 <axis xyz="0 0 1"/>
 100                 <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
 101                 <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
 102         </joint>
 103
 104         <joint name="gripper_joint_1" type="continuous">
 105                 <parent link="link3"/>
 106                 <child link="gripper_pole1"/>
 107                 <axis xyz="1 0 0"/>
 108                 <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
 109                 <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
 110         </joint>
 111
 112         <joint name="gripper_joint_2" type="continuous">
 113                 <parent link="gripper_pole1"/>
 114                 <child link="gripper_pole2"/>
 115                 <axis xyz="0 1 0"/>
 116                 <origin xyz="0.055 0.0 0.0" rpy="0 0 0"/>
 117                 <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 118         </joint>
 119
 120         <joint name="right_gripper_joint" type="revolute">
 121                 <parent link="gripper_pole2"/>
 122                 <child link="right_gripper"/>
 123                 <axis xyz="0 0 -1"/>
 124                 <origin xyz="0 -0.01 0" rpy="0 0 0"/>
 125                 <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
 126         </joint>
 127
 128         <joint name="left_gripper_joint" type="revolute">
 129                 <parent link="gripper_pole2"/>
 130                 <child link="left_gripper"/>
 131                 <axis xyz="0 0 1"/>
 132                 <origin xyz="0 0.01 0" rpy="0 0 0" />
 133                 <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
 134         </joint>
 135 </robot>