+++ /dev/null
-<?xml version="1.0"?>
-
-<!--
-For IKFast:
-- All rotation about Z-Axis
-- Gripper base at offset from last link
-- Gripper base points to Z-Direction
--->
-
-<robot name="arm">
- <link name="base_link">
- </link>
-
- <link name="plate">
- <visual>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
- </geometry>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="arm_base">
- </link>
-
- <link name="link1">
- <visual>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
- </geometry>
- <origin xyz="0 0 0.0615"/>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- </link>
-
- <link name="link2">
- <visual>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
- </geometry>
- <origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- </link>
-
- <link name="link3">
- <visual>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
- </geometry>
- <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- </link>
-
- <link name="link4">
- <visual>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
- </geometry>
- <origin xyz="0 0 0.015" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="link5">
- <visual>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
- </geometry>
- <origin xyz="0.0 0 0" rpy="0 0 0"/>
- <material name="red">
- <color rgba="1 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="gripper_pole">
- </link>
-
- <link name="gripper_center">
- </link>
-
- <link name="left_gripper">
- <visual>
- <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="red">
- <color rgba="1 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="right_gripper">
- <visual>
- <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
- <geometry>
- <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="red">
- <color rgba="1 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="link2_motor_extension">
- <visual>
- <geometry>
- <box size="0.015 0.015 0.10"/>
- </geometry>
- <origin xyz="0 0 0.05" rpy="0 0 0"/>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- </link>
-
- <link name="plate_box">
- <visual>
- <geometry>
- <box size="0.08 0.185 0.035"/>
- </geometry>
- <origin xyz="0 0 0.0175" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <joint name="plate_joint" type="fixed">
- <parent link="base_link"/>
- <child link="plate"/>
- <origin xyz="0 0 0.00375"/>
- </joint>
-
- <joint name="arm_base_joint" type="fixed">
- <parent link="plate"/>
- <child link="arm_base"/>
- <origin xyz="0 0.099 0"/>
- </joint>
-
- <joint name="link1_joint" type="revolute">
- <parent link="arm_base"/>
- <child link="link1"/>
- <axis xyz="0 0 -1"/>
- <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
- </joint>
-
- <joint name="link2_joint" type="revolute">
- <parent link="link1"/>
- <child link="link2"/>
- <axis xyz="0 0 1"/>
- <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
- <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
- </joint>
-
- <joint name="link3_joint" type="revolute">
- <parent link="link2"/>
- <child link="link3"/>
- <axis xyz="0 0 -1"/>
- <origin xyz="0.240 0 0" rpy="0 0 0"/>
- <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
- </joint>
-
- <joint name="link4_joint" type="revolute">
- <parent link="link3"/>
- <child link="link4"/>
- <axis xyz="0 0 -1"/>
- <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
- <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
- </joint>
-
- <joint name="link5_joint" type="revolute">
- <parent link="link4"/>
- <child link="link5"/>
- <axis xyz="0 0 1"/>
- <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
- <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
- </joint>
-
- <joint name="gripper_pole_joint" type="fixed">
- <parent link="link5"/>
- <child link="gripper_pole"/>
- <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
- </joint>
-
- <joint name="gripper_center_joint" type="fixed">
- <parent link="gripper_pole"/>
- <child link="gripper_center"/>
- <origin xyz="0.08 0 0" rpy="0 0 0"/>
- </joint>
-
- <joint name="left_gripper_joint" type="revolute">
- <parent link="gripper_pole"/>
- <child link="left_gripper"/>
- <axis xyz="0 0 1"/>
- <origin xyz="0 0.015 0" rpy="0 0 0"/>
- <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
- </joint>
-
- <joint name="right_gripper_joint" type="revolute">
- <parent link="gripper_pole"/>
- <child link="right_gripper"/>
- <axis xyz="0 0 1"/>
- <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
- <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
- </joint>
-
- <joint name="link2_motor_extension_joint" type="fixed">
- <parent link="link2"/>
- <child link="link2_motor_extension"/>
- <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
- </joint>
-
- <joint name="plate_box_joint" type="fixed">
- <parent link="plate"/>
- <child link="plate_box"/>
- <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>
- </joint>
-</robot>
projects / arm_ros_conn.git / blobdiff