52 lines
2.1 KiB
XML
52 lines
2.1 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ee_link" params="prefix parent hardware">
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<xacro:include filename="$(find rbs_arm)/urdf/inc/joint_hardware.xacro" />
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<xacro:include filename="$(find rbs_arm)/urdf/inc/materials.xacro" />
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<joint name="${prefix}ee_link_joint" type="revolute">
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<limit lower="-1.5708" upper="3.14159" effort="78" velocity="0.52" />
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09473" />
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<parent link="${prefix}${parent}" />
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<child link="${prefix}ee_link" />
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<axis xyz="0 1 0" />
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</joint>
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<joint name="${prefix}tool0_joint" type="fixed">
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.11000" />
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<parent link="${prefix}ee_link" />
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<child link="${prefix}tool0" />
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</joint>
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<link name="${prefix}tool0" />
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<link name="${prefix}ee_link">
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<collision name="${prefix}ee_link_collision">
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<origin rpy="-0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
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<geometry>
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<mesh filename="file://$(find rbs_arm)/meshes/collision/tail_link.stl"
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scale="1.00000 1.00000 1.00000" />
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</geometry>
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</collision>
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<inertial>
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<inertia ixx="0.00147695259043549" ixy="-2.66894744420299E-05" ixz="-4.40871314563273E-05"
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iyy="0.00135500487881796" iyz="-3.19001462979333E-05" izz="0.00087582892706912" />
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<origin rpy="0.00000 0.00000 0.00000"
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xyz="-9.7531539777207E-06 -0.000888494418875867 0.0342332199538358" />
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<mass value="1.88031044620482" />
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</inertial>
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<visual name="${prefix}ee_link_visual">
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
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<geometry>
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<mesh filename="file://$(find rbs_arm)/meshes/visual/tail_link.dae"
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scale="1.00000 1.00000 1.00000" />
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</geometry>
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</visual>
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</link>
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<xacro:joint_hardware joint_name="${prefix}ee_link_joint" hardware="${hardware}" p="10" d="0.5" />
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<xacro:rbs_materials link_name="${prefix}ee_link" link_type="ee_link" />
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</xacro:macro>
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</robot>
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