urdf/arm.urdf

   1 <?xml version="1.0"?>
   2
   3 <!--
   4 For IKFast:
   5 - All rotation about Z-Axis
   6 - Gripper base at offset from last link
   7 - Gripper base points to Z-Direction
   8 -->
   9
  10 <robot name="arm">
  11         <link name="base_link">
  12         </link>
  13
  14         <link name="plate">
  15                 <visual>
  16                         <geometry>
  17                                 <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
  18                         </geometry>
  19                         <material name="black">
  20                                 <color rgba="0 0 0 1"/>
  21                         </material>
  22                 </visual>
  23         </link>
  24
  25         <link name="arm_base">
  26         </link>
  27
  28         <link name="link1">
  29                 <visual>
  30                         <geometry>
  31                                 <mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
  32                         </geometry>
  33                         <origin xyz="0 0 0.0615"/>
  34                         <material name="grey">
  35                                 <color rgba="0.5 0.5 0.5 1"/>
  36                         </material>
  37                 </visual>
  38         </link>
  39
  40         <link name="link2">
  41                 <visual>
  42                         <geometry>
  43                                 <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
  44                         </geometry>
  45                         <origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/>
  46                         <material name="grey">
  47                                 <color rgba="0.5 0.5 0.5 1"/>
  48                         </material>
  49                 </visual>
  50         </link>
  51
  52         <link name="link3">
  53                 <visual>
  54                         <geometry>
  55                                 <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
  56                         </geometry>
  57                         <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
  58                         <material name="grey">
  59                                 <color rgba="0.5 0.5 0.5 1"/>
  60                         </material>
  61                 </visual>
  62         </link>
  63
  64         <link name="link4">
  65                 <visual>
  66                         <geometry>
  67                                 <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
  68                         </geometry>
  69                         <origin xyz="0 0 0.015" rpy="0 0 0"/>
  70                         <material name="black">
  71                                 <color rgba="0 0 0 1"/>
  72                         </material>
  73                 </visual>
  74         </link>
  75
  76         <link name="link5">
  77                 <visual>
  78                         <geometry>
  79                                 <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
  80                         </geometry>
  81                         <origin xyz="0.0 0 0" rpy="0 0 0"/>
  82                         <material name="red">
  83                                 <color rgba="1 0 0 1"/>
  84                         </material>
  85                 </visual>
  86         </link>
  87
  88         <link name="gripper_pole">
  89         </link>
  90
  91         <link name="gripper_center">
  92         </link>
  93
  94         <link name="left_gripper">
  95                 <visual>
  96                         <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
  97                         <geometry>
  98                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  99                         </geometry>
 100                         <material name="red">
 101                                 <color rgba="1 0 0 1"/>
 102                         </material>
 103                 </visual>
 104         </link>
 105
 106         <link name="right_gripper">
 107                 <visual>
 108                         <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
 109                         <geometry>
 110                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 111                         </geometry>
 112                         <material name="red">
 113                                 <color rgba="1 0 0 1"/>
 114                         </material>
 115                 </visual>
 116         </link>
 117
 118         <link name="link2_motor_extension">
 119                 <visual>
 120                         <geometry>
 121                                 <box size="0.015 0.015 0.10"/>
 122                         </geometry>
 123                         <origin xyz="0 0 0.05" rpy="0 0 0"/>
 124                         <material name="grey">
 125                                 <color rgba="0.5 0.5 0.5 1"/>
 126                         </material>
 127                 </visual>
 128         </link>
 129
 130         <link name="plate_box">
 131                 <visual>
 132                         <geometry>
 133                                 <box size="0.08 0.185 0.035"/>
 134                         </geometry>
 135                         <origin xyz="0 0 0.0175" rpy="0 0 0"/>
 136                         <material name="black">
 137                                 <color rgba="0 0 0 1"/>
 138                         </material>
 139                 </visual>
 140         </link>
 141
 142         <joint name="plate_joint" type="fixed">
 143                 <parent link="base_link"/>
 144                 <child link="plate"/>
 145                 <origin xyz="0 0 0.00375"/>
 146         </joint>
 147
 148         <joint name="arm_base_joint" type="fixed">
 149                 <parent link="plate"/>
 150                 <child link="arm_base"/>
 151                 <origin xyz="0 0.099 0"/>
 152         </joint>
 153
 154         <joint name="link1_joint" type="revolute">
 155                 <parent link="arm_base"/>
 156                 <child link="link1"/>
 157                 <axis xyz="0 0 -1"/>
 158                 <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
 159         </joint>
 160
 161         <joint name="link2_joint" type="revolute">
 162                 <parent link="link1"/>
 163                 <child link="link2"/>
 164                 <axis xyz="0 0 1"/>
 165                 <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
 166                 <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
 167         </joint>
 168
 169         <joint name="link3_joint" type="revolute">
 170                 <parent link="link2"/>
 171                 <child link="link3"/>
 172                 <axis xyz="0 0 -1"/>
 173                 <origin xyz="0.240 0 0" rpy="0 0 0"/>
 174                 <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
 175         </joint>
 176
 177         <joint name="link4_joint" type="revolute">
 178                 <parent link="link3"/>
 179                 <child link="link4"/>
 180                 <axis xyz="0 0 -1"/>
 181                 <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
 182                 <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
 183         </joint>
 184
 185         <joint name="link5_joint" type="revolute">
 186                 <parent link="link4"/>
 187                 <child link="link5"/>
 188                 <axis xyz="0 0 1"/>
 189                 <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
 190                 <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 191         </joint>
 192
 193         <joint name="gripper_pole_joint" type="fixed">
 194                 <parent link="link5"/>
 195                 <child link="gripper_pole"/>
 196                 <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
 197         </joint>
 198
 199         <joint name="gripper_center_joint" type="fixed">
 200                 <parent link="gripper_pole"/>
 201                 <child link="gripper_center"/>
 202                 <origin xyz="0.08 0 0" rpy="0 0 0"/>
 203         </joint>
 204
 205         <joint name="left_gripper_joint" type="revolute">
 206                 <parent link="gripper_pole"/>
 207                 <child link="left_gripper"/>
 208                 <axis xyz="0 0 1"/>
 209                 <origin xyz="0 0.015 0" rpy="0 0 0"/>
 210                 <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
 211         </joint>
 212
 213         <joint name="right_gripper_joint" type="revolute">
 214                 <parent link="gripper_pole"/>
 215                 <child link="right_gripper"/>
 216                 <axis xyz="0 0 1"/>
 217                 <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
 218                 <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
 219         </joint>
 220
 221         <joint name="link2_motor_extension_joint" type="fixed">
 222                 <parent link="link2"/>
 223                 <child link="link2_motor_extension"/>
 224                 <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
 225         </joint>
 226
 227         <joint name="plate_box_joint" type="fixed">
 228                 <parent link="plate"/>
 229                 <child link="plate_box"/>
 230                 <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>
 231         </joint>
 232 </robot>