urdf/arm.urdf

   1 <?xml version="1.0"?>
   2 <robot name="arm">
   3         <link name="base_link">
   4         </link>
   5
   6         <link name="plate">
   7                 <visual>
   8                         <geometry>
   9                                 <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
  10                         </geometry>
  11                         <material name="black">
  12                                 <color rgba="0 0 0 1"/>
  13                         </material>
  14                 </visual>
  15         </link>
  16
  17         <link name="arm_base">
  18         </link>
  19
  20         <link name="link1">
  21                 <visual>
  22                         <geometry>
  23                                 <mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
  24                         </geometry>
  25                         <origin xyz="0 0 0.0615"/>
  26                         <material name="grey">
  27                                 <color rgba="0.5 0.5 0.5 1"/>
  28                         </material>
  29                 </visual>
  30         </link>
  31
  32         <link name="link2">
  33                 <visual>
  34                         <geometry>
  35                                 <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
  36                         </geometry>
  37                         <origin xyz="0 0 0.120" rpy="0 0 0"/>
  38                         <material name="grey">
  39                                 <color rgba="0.5 0.5 0.5 1"/>
  40                         </material>
  41                 </visual>
  42         </link>
  43
  44         <link name="link3">
  45                 <visual>
  46                         <geometry>
  47                                 <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
  48                         </geometry>
  49                         <origin xyz="0 0 0.0675" rpy="0 0 0"/>
  50                         <material name="grey">
  51                                 <color rgba="0.5 0.5 0.5 1"/>
  52                         </material>
  53                 </visual>
  54         </link>
  55
  56         <link name="link4">
  57                 <visual>
  58                         <geometry>
  59                                 <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
  60                         </geometry>
  61                         <origin xyz="0 0 0.015" rpy="0 0 0"/>
  62                         <material name="black">
  63                                 <color rgba="0 0 0 1"/>
  64                         </material>
  65                 </visual>
  66         </link>
  67
  68         <link name="link5">
  69                 <visual>
  70                         <geometry>
  71                                 <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
  72                         </geometry>
  73                         <origin xyz="0.0 0 0" rpy="1.5708 0 0"/>
  74                         <material name="red">
  75                                 <color rgba="1 0 0 1"/>
  76                         </material>
  77                 </visual>
  78         </link>
  79
  80         <link name="gripper_pole">
  81         </link>
  82
  83         <link name="gripper_center">
  84         </link>
  85
  86         <link name="left_gripper">
  87                 <visual>
  88                         <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
  89                         <geometry>
  90                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  91                         </geometry>
  92                         <material name="red">
  93                                 <color rgba="1 0 0 1"/>
  94                         </material>
  95                 </visual>
  96         </link>
  97
  98         <link name="right_gripper">
  99                 <visual>
 100                         <origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
 101                         <geometry>
 102                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 103                         </geometry>
 104                         <material name="red">
 105                                 <color rgba="1 0 0 1"/>
 106                         </material>
 107                 </visual>
 108         </link>
 109
 110         <joint name="base_link_to_plate" type="fixed">
 111                 <parent link="base_link"/>
 112                 <child link="plate"/>
 113                 <origin xyz="0 0 0.00375"/>
 114         </joint>
 115
 116         <joint name="plate_to_arm_base" type="fixed">
 117                 <parent link="plate"/>
 118                 <child link="arm_base"/>
 119                 <origin xyz="0 0.099 0"/>
 120         </joint>
 121
 122         <joint name="arm_base_to_link1" type="revolute">
 123                 <parent link="arm_base"/>
 124                 <child link="link1"/>
 125                 <axis xyz="0 0 1"/>
 126                 <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
 127         </joint>
 128
 129         <joint name="link_1_2_joint" type="revolute">
 130                 <parent link="link1"/>
 131                 <child link="link2"/>
 132                 <axis xyz="0 1 0"/>
 133                 <origin xyz="0.0 0.0 0.123" rpy="0 0 0"/>
 134                 <limit effort="1000.0" lower="-2.0402" upper="1.4203" velocity="1.0"/>
 135         </joint>
 136
 137         <joint name="link_2_3_joint" type="revolute">
 138                 <parent link="link2"/>
 139                 <child link="link3"/>
 140                 <axis xyz="0 1 0"/>
 141                 <origin xyz="0 0 0.240" rpy="0 0 0"/>
 142                 <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.0"/>
 143         </joint>
 144
 145         <joint name="link_3_4_joint" type="revolute">
 146                 <parent link="link3"/>
 147                 <child link="link4"/>
 148                 <axis xyz="0 0 1"/>
 149                 <origin xyz="0 0 0.135" rpy="0 0 0"/>
 150                 <limit effort="1000.0" lower="-5.4978" upper="0.15708" velocity="1.0"/>
 151         </joint>
 152
 153         <joint name="link_4_5_joint" type="revolute">
 154                 <parent link="link4"/>
 155                 <child link="link5"/>
 156                 <axis xyz="0 1 0"/>
 157                 <origin xyz="0 0 0.06" rpy="0 0 0"/>
 158                 <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 159         </joint>
 160
 161         <joint name="gripper_pole_joint" type="fixed">
 162                 <parent link="link5"/>
 163                 <child link="gripper_pole"/>
 164         </joint>
 165
 166         <joint name="gripper_center_joint" type="fixed">
 167                 <parent link="gripper_pole"/>
 168                 <child link="gripper_center"/>
 169                 <origin xyz="0.0 0.0 0.1" rpy="0 0 0" />
 170         </joint>
 171
 172         <joint name="left_gripper_joint" type="revolute">
 173                 <parent link="gripper_pole"/>
 174                 <child link="left_gripper"/>
 175                 <axis xyz="0 0 1"/>
 176                 <origin xyz="0.0 0.01 0.02" rpy="0 -1.5708 0" />
 177                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 178         </joint>
 179
 180         <joint name="right_gripper_joint" type="revolute">
 181                 <parent link="gripper_pole"/>
 182                 <child link="right_gripper"/>
 183                 <axis xyz="0 0 -1"/>
 184                 <origin xyz="0.0 -0.01 0.02" rpy="0 -1.5708 0"/>
 185                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 186         </joint>
 187 </robot>