44 lines
1.9 KiB
XML
44 lines
1.9 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="main_link" params="prefix parent name 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="${prefix}${name}_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 0.09400" />
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<parent link="${prefix}${parent}" />
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<child link="${prefix}${name}" />
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<axis xyz="0 1 0" />
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</joint>
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<link name="${prefix}${name}">
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<collision name="${prefix}${name}_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://$(find rbs_arm)/meshes/collision/main_link.stl"
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scale="1.00000 1.00000 1.00000" />
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</geometry>
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</collision>
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<inertial>
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<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05" ixz="-7.01601261191721E-05"
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iyy="0.00343729241263707" iyz="-0.000101485203138902" izz="0.00125534890134052" />
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<origin rpy="0.00000 0.00000 0.00000"
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xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805" />
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<mass value="1.58688811563124" />
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</inertial>
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<visual name="${prefix}${name}_visual">
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<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000" />
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<geometry>
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<mesh filename="file://$(find rbs_arm)/meshes/visual/main_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="${prefix}${name}_joint" hardware="${hardware}" p="100" d="0.5"/>
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<xacro:rbs_materials link_name="${prefix}${name}" link_type="main_link" />
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</xacro:macro>
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</robot>
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