Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
<?xml version="1.0"?>
<robot name="universal_robot">
<property name="pi" value="3.14" />
<property name="shoulder_height" value="0.1" />
<property name="shoulder_offset" value="0.1" />
<property name="upper_arm_length" value="0.5" />
<property name="forearm_length" value="0.5" />
<property name="wrist_1_length" value="0.1" />
<property name="wrist_2_length" value="0.1" />
<property name="wrist_3_length" value="0.1" />
<link name="base_link" />
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link" />
<child link = "shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<cylinder length="${shoulder_height}" radius="0.1"/>
</geometry>
<origin xyz="0.0 0.0 ${-shoulder_height/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link" />
<child link = "upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<cylinder length="${upper_arm_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 ${upper_arm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 -1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<cylinder length="${forearm_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link" />
<child link = "wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<cylinder length="${wrist_1_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" />
</visual>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link" />
<child link = "wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<cylinder length="${wrist_2_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link" />
<child link = "wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<cylinder length="${wrist_3_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</visual>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link" />
<child link = "ee_link" />
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
<link name="ee_link">
<visual>
<geometry>
<cylinder length="0.01" radius="0.06"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
</visual>
</link>
</robot>