From 79cd29c527745552dbbfb483f4f1d49b38f47dfd Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Thu, 29 Mar 2012 14:20:31 -0700
Subject: [PATCH] move xacro includable file in nameless robot element
---
.../{robot.urdf.xacro => model.urdf.xacro} | 0
ur5_description/urdf/robot.urdf.pretty.xacro | 289 ------------------
ur5_description/urdf/robot.urdf.pretty.xml | 248 ---------------
3 files changed, 537 deletions(-)
rename ur5_description/urdf/{robot.urdf.xacro => model.urdf.xacro} (100%)
delete mode 100644 ur5_description/urdf/robot.urdf.pretty.xacro
delete mode 100644 ur5_description/urdf/robot.urdf.pretty.xml
diff --git a/ur5_description/urdf/robot.urdf.xacro b/ur5_description/urdf/model.urdf.xacro
similarity index 100%
rename from ur5_description/urdf/robot.urdf.xacro
rename to ur5_description/urdf/model.urdf.xacro
diff --git a/ur5_description/urdf/robot.urdf.pretty.xacro b/ur5_description/urdf/robot.urdf.pretty.xacro
deleted file mode 100644
index 019ed7e..0000000
--- a/ur5_description/urdf/robot.urdf.pretty.xacro
+++ /dev/null
@@ -1,289 +0,0 @@
-<?xml version="1.0"?>
-<!--
-DH for UR5:
-a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
-d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
-alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
-q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
-joint_direction = [-1, -1, 1, 1, 1, 1]
-mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
-center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
--->
-<robot name="universal_robot">
-
- <property name="pi" value="3.14159265" />
-
-<!-- Inertia parameters -->
- <property name="base_mass" value="4.0" /> <!-- Invented number, only matters for simulator -->
- <property name="shoulder_mass" value="3.7000" />
- <property name="upper_arm_mass" value="8.3930" />
- <property name="forearm_mass" value="2.2750" />
- <property name="wrist_1_mass" value="1.2190" />
- <property name="wrist_2_mass" value="1.2190" />
- <property name="wrist_3_mass" value="0.1879" />
-
- <property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
- <property name="upper_arm_cog" value="0.0 -0.024201 0.2125" /> <!-- 0.11336 - 0.089159 = -->
- <property name="forearm_cog" value="0.0 0.0265 0.11993" /> <!-- 0.119 is not half of 0.39225, is this really correct? -->
- <property name="wrist_1_cog" value="0.0 0.110949 0.01634" /> <!-- 0.0018 + 0.10915 = 0.110949 -->
- <property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> <!-- 0.01634 + 0.09465 = 0.11099-->
- <property name="wrist_3_cog" value="0.0 0.001159 0.0" />
-
-<!-- Kinematic model -->
- <property name="shoulder_height" value="0.089159" />
- <property name="shoulder_offset" value="0.13585" /> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
- <property name="upper_arm_length" value="0.42500" />
- <property name="elbow_offset" value="0.1197" /> <!-- CAD measured -->
- <property name="forearm_length" value="0.39225" />
- <property name="wrist_1_length" value="0.093" /> <!-- CAD measured -->
- <property name="wrist_2_length" value="0.09465" /> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
- <property name="wrist_3_length" value="0.0823" />
-
- <property name="shoulder_radius" value="0.060" /> <!-- manually measured -->
- <property name="upper_arm_radius" value="0.054" /> <!-- manually measured -->
- <property name="elbow_radius" value="0.060" /> <!-- manually measured -->
- <property name="forearm_radius" value="0.040" /> <!-- manually measured -->
- <property name="wrist_radius" value="0.045" /> <!-- manually measured -->
-
-<!-- Collision model -->
- <property name="base_collision_length" value="0.160" /> <!-- manually measured -->
- <property name="shoulder_collision_length" value="0.200" /> <!-- manually measured -->
- <property name="shoulder_collision_offset" value="0.035" /> <!-- manually measured -->
- <property name="elbow_collision_length" value="0.200" /> <!-- manually measured -->
- <property name="elbow_collision_offset" value="0.035" /> <!-- manually measured -->
-
-
-
-
- <link name="base_link" >
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Base.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Base.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- </collision>
- <inertial>
- <mass value="${base_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="shoulder_pan_joint" type="revolute">
- <parent link="base_link" />
- <child link = "shoulder_link" />
- <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="shoulder_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Shoulder.dae" />
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Shoulder.dae" />
- </geometry>
- </collision>
- <inertial>
- <mass value="${shoulder_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </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 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="upper_arm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/UpperArm.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/UpperArm.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </collision>
- <inertial>
- <mass value="${upper_arm_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="elbow_joint" type="revolute">
- <parent link="upper_arm_link" />
- <child link = "forearm_link" />
- <origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="forearm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Forearm.dae" />
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Forearm.dae" />
- </geometry>
- </collision>
- <inertial>
- <mass value="${forearm_mass}" />
- <origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </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 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="wrist_1_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist1.dae" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist1.dae" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- </collision>
- <inertial>
- <mass value="${wrist_1_mass}" />
- <origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="wrist_2_joint" type="revolute">
- <parent link="wrist_1_link" />
- <child link = "wrist_2_link" />
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="wrist_2_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist2.dae" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist2.dae" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- </collision>
- <inertial>
- <mass value="${wrist_2_mass}" />
- <origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="wrist_3_joint" type="revolute">
- <parent link="wrist_2_link" />
- <child link = "wrist_3_link" />
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="wrist_3_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist3.dae" />
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist3.dae" />
- </geometry>
- </collision>
- <inertial>
- <mass value="${wrist_3_mass}" />
- <origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </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 ${pi/2.0}" />
- </joint>
-
- <link name="ee_link" />
-
-
-
- <!-- Extra links for collision model -->
- <joint name="shoulder_collision_joint" type="fixed">
- <parent link="upper_arm_link" />
- <child link = "shoulder_collision_link" />
- </joint>
- <link name="shoulder_collision_link">
- <collision>
- <geometry>
- <cylinder length="${shoulder_collision_length}" radius="${shoulder_radius}"/>
- </geometry>
- <origin xyz="0.0 ${-shoulder_collision_offset} 0.0" rpy="${-pi / 2.0} 0.0 0.0" />
- </collision>
- </link>
-
- <joint name="elbow_collision_joint" type="fixed">
- <parent link="upper_arm_link" />
- <child link = "elbow_collision_link" />
- </joint>
- <link name="elbow_collision_link">
- <collision>
- <geometry>
- <cylinder length="${elbow_collision_length}" radius="${elbow_radius}"/>
- </geometry>
- <origin xyz="0.0 ${-elbow_collision_offset} ${upper_arm_length}" rpy="${pi / 2.0} 0.0 0.0" />
- </collision>
- </link>
-
- <gazebo reference="universal_robot">
- <material>Gazebo/Blue</material>
- </gazebo>
-
-</robot>
-
-
-
diff --git a/ur5_description/urdf/robot.urdf.pretty.xml b/ur5_description/urdf/robot.urdf.pretty.xml
deleted file mode 100644
index 44f307c..0000000
--- a/ur5_description/urdf/robot.urdf.pretty.xml
+++ /dev/null
@@ -1,248 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from robot.urdf.pretty.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
-<!-- =================================================================================== -->
-<!--
-DH for UR5:
-a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
-d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
-alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
-q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
-joint_direction = [-1, -1, 1, 1, 1, 1]
-mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
-center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
--->
-<robot name="universal_robot">
- <!-- Inertia parameters -->
- <!-- Invented number, only matters for simulator -->
- <!-- 0.11336 - 0.089159 = -->
- <!-- 0.119 is not half of 0.39225, is this really correct? -->
- <!-- 0.0018 + 0.10915 = 0.110949 -->
- <!-- 0.01634 + 0.09465 = 0.11099-->
- <!-- Kinematic model -->
- <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
- <!-- CAD measured -->
- <!-- CAD measured -->
- <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
- <!-- manually measured -->
- <!-- manually measured -->
- <!-- manually measured -->
- <!-- manually measured -->
- <!-- manually measured -->
- <!-- Collision model -->
- <!-- manually measured -->
- <!-- manually measured -->
- <!-- manually measured -->
- <!-- manually measured -->
- <!-- manually measured -->
- <link name="base_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Base.dae"/>
- </geometry>
- <origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Base.dae"/>
- </geometry>
- <origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
- </collision>
- <inertial>
- <mass value="4.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
- <joint name="shoulder_pan_joint" type="revolute">
- <parent link="base_link"/>
- <child link="shoulder_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
- <axis xyz="0.0 0.0 1.0"/>
- <limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
- <link name="shoulder_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Shoulder.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Shoulder.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="3.7"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00193 -0.02561"/>
- </inertial>
- </link>
- <joint name="shoulder_lift_joint" type="revolute">
- <parent link="shoulder_link"/>
- <child link="upper_arm_link"/>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
- <axis xyz="0.0 1.0 0.0"/>
- <limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
- <link name="upper_arm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/UpperArm.dae"/>
- </geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/UpperArm.dae"/>
- </geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- </collision>
- <inertial>
- <mass value="8.393"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.024201 0.2125"/>
- </inertial>
- </link>
- <joint name="elbow_joint" type="revolute">
- <parent link="upper_arm_link"/>
- <child link="forearm_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
- <axis xyz="0.0 1.0 0.0"/>
- <limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
- <link name="forearm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Forearm.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Forearm.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="2.275"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0265 0.11993"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
- <joint name="wrist_1_joint" type="revolute">
- <parent link="forearm_link"/>
- <child link="wrist_1_link"/>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
- <axis xyz="0.0 1.0 0.0"/>
- <limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
- <link name="wrist_1_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist1.dae"/>
- </geometry>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist1.dae"/>
- </geometry>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
- </collision>
- <inertial>
- <mass value="1.219"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.110949 0.01634"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
- <joint name="wrist_2_joint" type="revolute">
- <parent link="wrist_1_link"/>
- <child link="wrist_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
- <axis xyz="0.0 0.0 1.0"/>
- <limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
- <link name="wrist_2_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist2.dae"/>
- </geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist2.dae"/>
- </geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
- </collision>
- <inertial>
- <mass value="1.219"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0018 0.11099"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
- <joint name="wrist_3_joint" type="revolute">
- <parent link="wrist_2_link"/>
- <child link="wrist_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
- <axis xyz="0.0 1.0 0.0"/>
- <limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
- <link name="wrist_3_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist3.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist3.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.1879"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.001159 0.0"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
- <joint name="ee_fixed_joint" type="fixed">
- <parent link="wrist_3_link"/>
- <child link="ee_link"/>
- <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
- </joint>
- <link name="ee_link"/>
- <!-- Extra links for collision model -->
- <joint name="shoulder_collision_joint" type="fixed">
- <parent link="upper_arm_link"/>
- <child link="shoulder_collision_link"/>
- </joint>
- <link name="shoulder_collision_link">
- <collision>
- <geometry>
- <cylinder length="0.2" radius="0.06"/>
- </geometry>
- <origin rpy="-1.570796325 0.0 0.0" xyz="0.0 -0.035 0.0"/>
- </collision>
- </link>
- <joint name="elbow_collision_joint" type="fixed">
- <parent link="upper_arm_link"/>
- <child link="elbow_collision_link"/>
- </joint>
- <link name="elbow_collision_link">
- <collision>
- <geometry>
- <cylinder length="0.2" radius="0.06"/>
- </geometry>
- <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.035 0.425"/>
- </collision>
- </link>
- <gazebo reference="universal_robot">
- <material>Gazebo/Blue</material>
- </gazebo>
-</robot>
-
--
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