urdf/arm.urdf

   1 <?xml version="1.0"?>
   2 <robot name="arm">
   3         <link name="base_link">
   4         </link>
   5
   6         <link name="arm_base">
   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="link1">
  18                 <visual>
  19                         <geometry>
  20                                 <box size="0.06 0.03 0.123"/>
  21                         </geometry>
  22                         <origin xyz="0 0 0.0615"/>
  23                         <material name="grey">
  24                                 <color rgba="0.5 0.5 0.5 1"/>
  25                         </material>
  26                 </visual>
  27         </link>
  28
  29         <link name="link2">
  30                 <visual>
  31                         <geometry>
  32                                 <box size="0.240 0.06 0.03"/>
  33                         </geometry>
  34                         <origin xyz="0.120 0 0.0" rpy="0 0 0"/>
  35                         <material name="grey">
  36                                 <color rgba="0.5 0.5 0.5 1"/>
  37                         </material>
  38                 </visual>
  39         </link>
  40
  41         <link name="link3">
  42                 <visual>
  43                         <geometry>
  44                                 <box size="0.06 0.135 0.03"/>
  45                         </geometry>
  46                         <origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
  47                         <material name="grey">
  48                                 <color rgba="0.5 0.5 0.5 1"/>
  49                         </material>
  50                 </visual>
  51         </link>
  52
  53         <link name="link4">
  54                 <visual>
  55                         <geometry>
  56                                 <cylinder radius="0.045" length="0.03"/>
  57                         </geometry>
  58                         <origin xyz="0.015 0 0" rpy="0 1.57075 0"/>
  59                         <material name="black">
  60                                 <color rgba="0 0 0 1"/>
  61                         </material>
  62                 </visual>
  63         </link>
  64
  65         <link name="link5">
  66                 <visual>
  67                         <geometry>
  68                                 <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
  69                         </geometry>
  70                         <origin xyz="0.0 0 0" rpy="1.57075 0 0"/>
  71                         <material name="red">
  72                                 <color rgba="1 0 0 1"/>
  73                         </material>
  74                 </visual>
  75         </link>
  76
  77         <link name="gripper_pole">
  78         </link>
  79
  80         <link name="left_gripper">
  81                 <visual>
  82                         <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
  83                         <geometry>
  84                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  85                         </geometry>
  86                         <material name="red">
  87                                 <color rgba="1 0 0 1"/>
  88                         </material>
  89                 </visual>
  90         </link>
  91
  92         <link name="right_gripper">
  93                 <visual>
  94                         <origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
  95                         <geometry>
  96                                 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
  97                         </geometry>
  98                         <material name="red">
  99                                 <color rgba="1 0 0 1"/>
 100                         </material>
 101                 </visual>
 102         </link>
 103
 104         <joint name="base_link_to_arm_base" type="fixed">
 105                 <parent link="base_link"/>
 106                 <child link="arm_base"/>
 107                 <origin xyz="0 0 0.00375"/>
 108         </joint>
 109
 110         <joint name="arm_base_to_link1" type="revolute">
 111                 <parent link="arm_base"/>
 112                 <child link="link1"/>
 113                 <axis xyz="0 0 1"/>
 114                 <origin xyz="0 0.099 0"/>
 115                 <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
 116         </joint>
 117
 118         <joint name="link_1_2_joint" type="revolute">
 119                 <parent link="link1"/>
 120                 <child link="link2"/>
 121                 <axis xyz="0 0 1"/>
 122                 <origin xyz="0.0 0.0 0.123" rpy="1.57075 0 0"/>
 123                 <limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
 124         </joint>
 125
 126         <joint name="link_2_3_joint" type="revolute">
 127                 <parent link="link2"/>
 128                 <child link="link3"/>
 129                 <axis xyz="0 0 1"/>
 130                 <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
 131                 <limit effort="1000.0" lower="-3.141592653589793" upper="0.0" velocity="1.0"/>
 132         </joint>
 133
 134         <joint name="link_3_4_joint" type="revolute">
 135                 <parent link="link3"/>
 136                 <child link="link4"/>
 137                 <axis xyz="1 0 0"/>
 138                 <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
 139                 <limit effort="1000.0" lower="-5.4978" upper="0.15708" velocity="1.0"/>
 140         </joint>
 141
 142         <joint name="link_4_5_joint" type="revolute">
 143                 <parent link="link4"/>
 144                 <child link="link5"/>
 145                 <axis xyz="0 1 0"/>
 146                 <origin xyz="0.06 0.0 0.0" rpy="0 0 0"/>
 147                 <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 148         </joint>
 149
 150         <joint name="gripper_pole_joint" type="fixed">
 151                 <parent link="link5"/>
 152                 <child link="gripper_pole"/>
 153         </joint>
 154
 155         <joint name="left_gripper_joint" type="revolute">
 156                 <parent link="gripper_pole"/>
 157                 <child link="left_gripper"/>
 158                 <axis xyz="0 0 1"/>
 159                 <origin xyz="0.02 0.01 0" rpy="0 0 0" />
 160                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 161         </joint>
 162
 163         <joint name="right_gripper_joint" type="revolute">
 164                 <parent link="gripper_pole"/>
 165                 <child link="right_gripper"/>
 166                 <axis xyz="0 0 -1"/>
 167                 <origin xyz="0.02 -0.01 0" rpy="0 0 0"/>
 168                 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
 169         </joint>
 170 </robot>