<?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>
<geometry>
<mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
</geometry>
- <origin xyz="0 0 0.120" rpy="0 0 0"/>
+ <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>
<geometry>
<mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
</geometry>
- <origin xyz="0 0 0.0675" rpy="0 0 0"/>
+ <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
<material name="grey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
<geometry>
<mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
</geometry>
- <origin xyz="0.0 0 0" rpy="1.5708 0 0"/>
+ <origin xyz="0.0 0 0" rpy="0 0 0"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<link name="left_gripper">
<visual>
- <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
+ <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>
<link name="right_gripper">
<visual>
- <origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
+ <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>
</visual>
</link>
- <joint name="base_link_to_plate" type="fixed">
+ <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="plate_to_arm_base" type="fixed">
+ <joint name="arm_base_joint" type="fixed">
<parent link="plate"/>
<child link="arm_base"/>
<origin xyz="0 0.099 0"/>
</joint>
- <joint name="arm_base_to_link1" type="revolute">
+ <joint name="link1_joint" type="revolute">
<parent link="arm_base"/>
<child link="link1"/>
- <axis xyz="0 0 1"/>
- <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
+ <axis xyz="0 0 -1"/>
+ <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
</joint>
- <joint name="link_1_2_joint" type="revolute">
+ <joint name="link2_joint" type="revolute">
<parent link="link1"/>
<child link="link2"/>
- <axis xyz="0 1 0"/>
- <origin xyz="0.0 0.0 0.123" rpy="0 0 0"/>
- <limit effort="1000.0" lower="-2.0402" upper="1.4203" velocity="1.0"/>
+ <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="link_2_3_joint" type="revolute">
+ <joint name="link3_joint" type="revolute">
<parent link="link2"/>
<child link="link3"/>
- <axis xyz="0 1 0"/>
- <origin xyz="0 0 0.240" rpy="0 0 0"/>
- <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.0"/>
+ <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="link_3_4_joint" type="revolute">
+ <joint name="link4_joint" type="revolute">
<parent link="link3"/>
<child link="link4"/>
- <axis xyz="0 0 1"/>
- <origin xyz="0 0 0.135" rpy="0 0 0"/>
- <limit effort="1000.0" lower="-5.4978" upper="0.15708" velocity="1.0"/>
+ <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="link_4_5_joint" type="revolute">
+ <joint name="link5_joint" type="revolute">
<parent link="link4"/>
<child link="link5"/>
- <axis xyz="0 1 0"/>
- <origin xyz="0 0 0.06" rpy="0 0 0"/>
- <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+ <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="0.0 0.0 0.1" rpy="0 0 0" />
+ <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 0.01 0.02" rpy="0 -1.5708 0" />
- <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
+ <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 -0.01 0.02" rpy="0 -1.5708 0"/>
- <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
+ <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