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[arm_ros_conn.git] / 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         <joint name="plate_joint" type="fixed">
119                 <parent link="base_link"/>
120                 <child link="plate"/>
121                 <origin xyz="0 0 0.00375"/>
122         </joint>
123
124         <joint name="arm_base_joint" type="fixed">
125                 <parent link="plate"/>
126                 <child link="arm_base"/>
127                 <origin xyz="0 0.099 0"/>
128         </joint>
129
130         <joint name="link1_joint" type="revolute">
131                 <parent link="arm_base"/>
132                 <child link="link1"/>
133                 <axis xyz="0 0 -1"/>
134                 <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
135         </joint>
136
137         <joint name="link2_joint" type="revolute">
138                 <parent link="link1"/>
139                 <child link="link2"/>
140                 <axis xyz="0 0 1"/>
141                 <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
142                 <limit effort="1.0" lower="0.1505" upper="3.611" velocity="1.0"/>
143         </joint>
144
145         <joint name="link3_joint" type="revolute">
146                 <parent link="link2"/>
147                 <child link="link3"/>
148                 <axis xyz="0 0 -1"/>
149                 <origin xyz="0.240 0 0" rpy="0 0 0"/>
150                 <limit effort="1.0" lower="0" upper="3.1416" velocity="1.0"/>
151         </joint>
152
153         <joint name="link4_joint" type="revolute">
154                 <parent link="link3"/>
155                 <child link="link4"/>
156                 <axis xyz="0 0 -1"/>
157                 <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
158                 <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="1.0"/>
159         </joint>
160
161         <joint name="link5_joint" type="revolute">
162                 <parent link="link4"/>
163                 <child link="link5"/>
164                 <axis xyz="0 0 1"/>
165                 <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
166                 <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
167         </joint>
168
169         <joint name="gripper_pole_joint" type="fixed">
170                 <parent link="link5"/>
171                 <child link="gripper_pole"/>
172                 <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
173         </joint>
174
175         <joint name="gripper_center_joint" type="fixed">
176                 <parent link="gripper_pole"/>
177                 <child link="gripper_center"/>
178                 <origin xyz="0.08 0 0" rpy="0 0 0"/>
179         </joint>
180
181         <joint name="left_gripper_joint" type="revolute">
182                 <parent link="gripper_pole"/>
183                 <child link="left_gripper"/>
184                 <axis xyz="0 0 1"/>
185                 <origin xyz="0 0.015 0" rpy="0 0 0"/>
186                 <limit effort="1.0" lower="0.0" upper="0.35" velocity="1.0"/>
187         </joint>
188
189         <joint name="right_gripper_joint" type="revolute">
190                 <parent link="gripper_pole"/>
191                 <child link="right_gripper"/>
192                 <axis xyz="0 0 1"/>
193                 <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
194                 <limit effort="1.0" lower="0.0" upper="0.35" velocity="1.0"/>
195         </joint>
196 </robot>