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="0.045" length="0.03"/>
  46                         </geometry>
  47                         <origin xyz="0.015 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="0.03" length="0.015"/>
  58                         </geometry>
  59                         <origin xyz="0.0 0 0" rpy="1.57075 0 0"/>
  60                         <material name="red">
  61                                 <color rgba="1 0 0 1"/>
  62                         </material>
  63                 </visual>
  64         </link>
  65
  66         <link name="left_gripper">
  67                 <visual>
  68                         <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
  69                         <geometry>
  70                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  71                         </geometry>
  72                 </visual>
  73         </link>
  74
  75         <link name="right_gripper">
  76                 <visual>
  77                         <origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
  78                         <geometry>
  79                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  80                         </geometry>
  81                 </visual>
  82         </link>
  83
  84         <joint name="base_to_link1" type="continuous">
  85                 <parent link="base_link"/>
  86                 <child link="link1"/>
  87                 <axis xyz="0 0 1"/>
  88                 <limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
  89         </joint>
  90
  91         <joint name="link_1_2_joint" type="continuous">
  92                 <parent link="link1"/>
  93                 <child link="link2"/>
  94                 <axis xyz="0 0 1"/>
  95                 <origin xyz="0.0 0.0 0.135" rpy="1.57075 0 0"/>
  96                 <limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
  97         </joint>
  98
  99         <joint name="link_2_3_joint" type="continuous">
 100                 <parent link="link2"/>
 101                 <child link="link3"/>
 102                 <axis xyz="0 0 1"/>
 103                 <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
 104                 <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
 105         </joint>
 106
 107         <joint name="gripper_joint_1" type="continuous">
 108                 <parent link="link3"/>
 109                 <child link="gripper_pole1"/>
 110                 <axis xyz="1 0 0"/>
 111                 <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
 112                 <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
 113         </joint>
 114
 115         <joint name="gripper_joint_2" type="continuous">
 116                 <parent link="gripper_pole1"/>
 117                 <child link="gripper_pole2"/>
 118                 <axis xyz="0 1 0"/>
 119                 <origin xyz="0.06 0.0 0.0" rpy="0 0 0"/>
 120                 <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 121         </joint>
 122
 123         <joint name="left_gripper_joint" type="revolute">
 124                 <parent link="gripper_pole2"/>
 125                 <child link="left_gripper"/>
 126                 <axis xyz="0 0 1"/>
 127                 <origin xyz="0.02 0.01 0" rpy="0 0 0" />
 128                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 129         </joint>
 130
 131         <joint name="right_gripper_joint" type="revolute">
 132                 <parent link="gripper_pole2"/>
 133                 <child link="right_gripper"/>
 134                 <axis xyz="0 0 -1"/>
 135                 <origin xyz="0.02 -0.01 0" rpy="0 0 0"/>
 136                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 137         </joint>
 138 </robot>