<?xml version="1.0"?>
<robot name="arm">
<link name="base_link">
- <visual>
- <geometry>
- <box size="0.23 0.17 0.20"/>
- </geometry>
- <origin xyz="0.0 0 0.12" rpy="0 0 0"/>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
</link>
- <link name="front_left_wheel">
+ <link name="plate">
<visual>
<geometry>
- <cylinder radius="0.03" length="0.005"/>
+ <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
</geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
- <link name="front_right_wheel">
- <visual>
- <geometry>
- <cylinder radius="0.03" length="0.005"/>
- </geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
+ <link name="arm_base">
</link>
- <link name="aft_left_wheel">
+ <link name="link1">
<visual>
<geometry>
- <cylinder radius="0.03" length="0.005"/>
+ <mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
</geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
+ <origin xyz="0 0 0.0615"/>
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
</link>
- <link name="aft_right_wheel">
+ <link name="link2">
<visual>
<geometry>
- <cylinder radius="0.03" length="0.005"/>
+ <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
</geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
+ <origin xyz="0 0 0.120" rpy="0 0 0"/>
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
</link>
- <link name="platform">
+ <link name="link3">
<visual>
<geometry>
- <box size="0.08 0.065 0.075"/>
+ <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
</geometry>
- <material name="red">
- <color rgba="1 0 0 1"/>
+ <origin xyz="0 0 0.0675" rpy="0 0 0"/>
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
</link>
- <link name="scan">
+ <link name="link4">
<visual>
<geometry>
- <box size="0.01 0.045 0.015"/>
+ <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
</geometry>
- </visual>
- </link>
-
- <link name="front_left_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0" rpy="0 1.57 0"/>
+ <origin xyz="0 0 0.015" rpy="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
- <link name="front_right_eye">
+ <link name="link5">
<visual>
<geometry>
- <cylinder radius="0.0075" length="0.01"/>
+ <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
</geometry>
- <origin xyz="0 0 0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
+ <origin xyz="0.0 0 0" rpy="1.5708 0 0"/>
+ <material name="red">
+ <color rgba="1 0 0 1"/>
</material>
</visual>
</link>
- <link name="sonar_forward_lower">
- <visual>
- <geometry>
- <box size="0.01 0.045 0.03"/>
- </geometry>
- </visual>
+ <link name="gripper_pole">
</link>
- <link name="front_lower_left_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
+ <link name="gripper_center">
</link>
- <link name="front_lower_right_eye">
+ <link name="left_gripper">
<visual>
+ <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
<geometry>
- <cylinder radius="0.0075" length="0.01"/>
+ <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
</geometry>
- <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
+ <material name="red">
+ <color rgba="1 0 0 1"/>
</material>
</visual>
</link>
- <link name="antenna">
+ <link name="right_gripper">
<visual>
+ <origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
<geometry>
- <cylinder radius="0.005" length="0.20"/>
+ <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
</geometry>
- <origin xyz="0 0 0.1" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
+ <material name="red">
+ <color rgba="1 0 0 1"/>
</material>
</visual>
</link>
- <joint name="front_left_wheel_joint" type="fixed">
+ <joint name="base_link_to_plate" type="fixed">
<parent link="base_link"/>
- <child link="front_left_wheel"/>
- <origin xyz="0.065 0.05 0.03" rpy="0 0 0"/>
+ <child link="plate"/>
+ <origin xyz="0 0 0.00375"/>
</joint>
- <joint name="front_right_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="front_right_wheel"/>
- <origin xyz="0.065 -0.05 0.03" rpy="0 0 0"/>
- </joint>
-
- <joint name="aft_left_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="aft_left_wheel"/>
- <origin xyz="-0.08 0.05 0.03" rpy="0 0 0"/>
+ <joint name="plate_to_arm_base" type="fixed">
+ <parent link="plate"/>
+ <child link="arm_base"/>
+ <origin xyz="0 0.099 0"/>
</joint>
- <joint name="aft_right_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="aft_right_wheel"/>
- <origin xyz="-0.08 -0.05 0.03" rpy="0 0 0"/>
+ <joint name="arm_base_to_link1" 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"/>
</joint>
- <joint name="platform_joint" type="continuous">
- <parent link="base_link"/>
- <child link="platform"/>
- <origin xyz="-0.04 0 0.26" rpy="0 0 0"/>
- <axis xyz="0 0 1"/>
+ <joint name="link_1_2_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"/>
</joint>
- <joint name="scan_joint" type="fixed">
- <parent link="platform"/>
- <child link="scan"/>
- <origin xyz="0.035 0 0" rpy="0 0 0"/>
+ <joint name="link_2_3_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"/>
</joint>
- <joint name="front_left_eye_joint" type="fixed">
- <parent link="scan"/>
- <child link="front_left_eye"/>
- <origin xyz="0.01 -0.0125 0" rpy="0 0 0"/>
+ <joint name="link_3_4_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"/>
</joint>
- <joint name="front_right_eye_joint" type="fixed">
- <parent link="scan"/>
- <child link="front_right_eye"/>
- <origin xyz="0.01 0.0125 0" rpy="0 0 0"/>
+ <joint name="link_4_5_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"/>
</joint>
- <joint name="sonar_forward_lower_join" type="fixed">
- <parent link="base_link"/>
- <child link="sonar_forward_lower"/>
- <origin xyz="0.105 0.0 0.035" rpy="0 -0.1309 0"/>
+ <joint name="gripper_pole_joint" type="fixed">
+ <parent link="link5"/>
+ <child link="gripper_pole"/>
</joint>
- <joint name="front_lower_left_eye_joint" type="fixed">
- <parent link="sonar_forward_lower"/>
- <child link="front_lower_left_eye"/>
- <origin xyz="0.01 -0.01 0.0" rpy="0 0 0"/>
+ <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" />
</joint>
- <joint name="front_lower_right_eye_joint" type="fixed">
- <parent link="sonar_forward_lower"/>
- <child link="front_lower_right_eye"/>
- <origin xyz="0.01 0.01 0.0" rpy="0 0 0"/>
+ <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"/>
</joint>
- <joint name="antenna_joint" type="fixed">
- <parent link="base_link"/>
- <child link="antenna"/>
- <origin xyz="-0.12 0.08 0.14" rpy="0 0 0"/>
+ <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"/>
</joint>
</robot>
projects / arm_ros_conn.git / blobdiff