409 lines
No EOL
8.9 KiB
XML
Executable file
409 lines
No EOL
8.9 KiB
XML
Executable file
<?xml version="1.0" encoding="utf-8"?>
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<robot name="rasms" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find rasms_description)/urdf/rasms.gazebo.xacro"/>
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<xacro:include filename="$(find rasms_description)/urdf/rasms.control.xacro"/>
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<link name="world"/>
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<joint name="to_world" type="fixed">
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<parent link="world"/>
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<child link="base"/>
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<origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0"/>
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</joint>
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<link
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name="base">
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<inertial>
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<origin
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xyz="-0.00033212 0.00010743 -0.036421"
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rpy="0 0 0" />
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<mass
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value="1.3101" />
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<inertia
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ixx="0.0025958"
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ixy="9.7863E-07"
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ixz="-1.4731E-05"
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iyy="0.0023883"
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iyz="5.8191E-07"
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izz="0.0043068" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/base.stl" />
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</geometry>
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<material
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name="rasms_color">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/base.stl" />
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</geometry>
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</collision>
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</link>
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<link
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name="link1">
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<inertial>
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<origin
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xyz="0.080526 -0.028752 -0.00018483"
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rpy="0 0 0" />
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<mass
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value="0.52648" />
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<inertia
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ixx="0.00038929"
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ixy="3.5255E-05"
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ixz="2.2864E-07"
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iyy="0.00076496"
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iyz="6.2982E-08"
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izz="0.00075521" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link1.stl" />
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</geometry>
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<material
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name="rasms_color">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link1.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint1"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="0 -1.5708 0" />
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<parent
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link="base" />
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<child
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link="link1" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-3.1416"
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upper="3.1416"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="link2">
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<inertial>
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<origin
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xyz="0.025632 0.0098422 6.3301E-05"
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rpy="0 0 0" />
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<mass
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value="0.46645" />
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<inertia
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ixx="0.00030236"
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ixy="6.3961E-06"
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ixz="4.0548E-08"
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iyy="0.00025015"
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iyz="-9.5727E-08"
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izz="0.00026486" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link2.stl" />
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</geometry>
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<material
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name="rasms_color">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link2.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint2"
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type="revolute">
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<origin
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xyz="0.14172 0 0"
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rpy="0 0 0" />
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<parent
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link="link1" />
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<child
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link="link2" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-2.0944"
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upper="2.0944"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="link3">
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<inertial>
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<origin
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xyz="0.069442 -0.021508 -0.00029297"
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rpy="0 0 0" />
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<mass
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value="0.70817" />
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<inertia
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ixx="0.00048214"
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ixy="3.6229E-05"
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ixz="4.9555E-07"
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iyy="0.00086485"
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iyz="6.0984E-08"
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izz="0.0008604" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link3.stl" />
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</geometry>
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<material
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name="rasms_color">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link3.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint3"
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type="revolute">
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<origin
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xyz="0.081346 0 0"
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rpy="0 0 0" />
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<parent
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link="link2" />
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<child
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link="link3" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-2.0944"
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upper="2.0944"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="link4">
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<inertial>
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<origin
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xyz="0.025632 0.0098415 0.0001341"
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rpy="0 0 0" />
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<mass
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value="0.46645" />
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<inertia
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ixx="0.00030236"
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ixy="6.3957E-06"
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ixz="8.6559E-08"
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iyy="0.00025015"
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iyz="-2.0152E-07"
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izz="0.00026486" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link4.stl" />
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</geometry>
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<material
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name="rasms_color">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link4.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint4"
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type="revolute">
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<origin
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xyz="0.14438 0 0"
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rpy="0 0 0" />
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<parent
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link="link3" />
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<child
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link="link4" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-2.0944"
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upper="2.0944"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="link5">
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<inertial>
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<origin
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xyz="0.069442 -0.021508 -0.00029297"
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rpy="0 0 0" />
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<mass
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value="0.70817" />
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<inertia
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ixx="0.00048214"
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ixy="3.6229E-05"
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ixz="4.9555E-07"
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iyy="0.00086485"
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iyz="6.0984E-08"
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izz="0.0008604" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link5.stl" />
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</geometry>
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<material
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name="rasms_color">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link5.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint5"
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type="revolute">
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<origin
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xyz="0.081346 0 0"
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rpy="0 0 0" />
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<parent
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link="link4" />
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<child
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link="link5" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-2.0944"
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upper="2.0944"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="link6">
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<inertial>
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<origin
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xyz="0.033705 0.010795 0.00015348"
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rpy="0 0 0" />
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<mass
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value="0.59936" />
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<inertia
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ixx="0.00035851"
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ixy="5.7985E-06"
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ixz="7.8497E-08"
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iyy="0.00028631"
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iyz="-1.8291E-07"
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izz="0.00029514" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link6.stl" />
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</geometry>
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<material
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name="rasms_color">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasms_description/meshes/link6.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint6"
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type="revolute">
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<origin
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xyz="0.14438 0 0"
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rpy="0 0 0" />
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<parent
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link="link5" />
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<child
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link="link6" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="-2.0944"
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upper="2.0944"
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effort="0"
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velocity="0" />
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</joint>
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<link name="tool0"/>
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<joint name="to_tool0" type="fixed">
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<parent link="link6"/>
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<child link="tool0"/>
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<origin xyz="0.101 0 0" rpy="0 1.5708 0"/>
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</joint>
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<xacro:rasms_hi/>
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<xacro:rasms_gazebo/>
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</robot> |