2025-03-08 11:45:28 +00:00
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2025-03-08 11:50:16 +00:00
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2025-03-08 11:45:28 +00:00
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2025-03-08 11:50:16 +00:00
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2025-03-08 11:45:28 +00:00
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2025-03-08 11:50:16 +00:00
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2025-03-08 11:45:28 +00:00
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<axis xyz="0 0 1"/>
|
|
|
|
|
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
|
|
|
|
</joint>
|
2025-03-08 11:50:16 +00:00
|
|
|
<joint name="rev4" type="revolute">
|
2025-03-08 11:45:28 +00:00
|
|
|
<parent link="l_J4_v002"/>
|
|
|
|
|
<child link="l_J5_v003"/>
|
|
|
|
|
<origin rpy="0.7854173400827703 -1.5584104649378014 0.7854173400871975" xyz="-0.0021149 -0.0318708 -0.241471"/>
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
|
|
|
|
|
</joint>
|
2025-03-08 11:50:16 +00:00
|
|
|
<joint name="rev5" type="revolute">
|
2025-03-08 11:45:28 +00:00
|
|
|
<parent link="l_J5_v003"/>
|
|
|
|
|
<child link="l_J6_v002"/>
|
|
|
|
|
<origin rpy="1.5707963267949707 -0.5569332500522621 1.5567303253381135" xyz="-0.133937 0.00188408 -0.0297547"/>
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
|
|
|
|
</joint>
|
2025-03-08 11:50:16 +00:00
|
|
|
<joint name="rev6" type="revolute">
|
2025-03-08 11:45:28 +00:00
|
|
|
<parent link="l_J6_v002"/>
|
|
|
|
|
<child link="l_J7_v002"/>
|
|
|
|
|
<origin rpy="-1.5707963268025373 -1.5567303253381704 -0.5569332500438752" xyz="-0.0187648 -0.0301352 -0.12105"/>
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
|
|
|
|
|
</joint>
|
2025-03-08 11:50:16 +00:00
|
|
|
<joint name="rev7" type="revolute">
|
2025-03-08 11:45:28 +00:00
|
|
|
<parent link="l_J7_v002"/>
|
|
|
|
|
<child link="l_J8_v002"/>
|
|
|
|
|
<origin rpy="-1.570796326795002 -0.008759049335348993 -0.014066001454933549" xyz="-0.000217313 -0.0154485 0.0355"/>
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
|
|
|
|
|
</joint>
|
2025-03-08 11:50:16 +00:00
|
|
|
<joint name="gripper_right_jaw" type="prismatic">
|
2025-03-08 11:45:28 +00:00
|
|
|
<parent link="l_J8_v002"/>
|
|
|
|
|
<child link="l_right_jaw_v002"/>
|
|
|
|
|
<origin rpy="1.570796326794885 -0.014066001454926544 0.008759049336297665" xyz="-0.10571 -0.0781373 0.0132053"/>
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
|
2025-03-08 11:50:16 +00:00
|
|
|
<mimic joint="gripper_left_jaw" multiplier="-1.0" offset="0.0"/>
|
2025-03-08 11:45:28 +00:00
|
|
|
</joint>
|
2025-03-08 11:50:16 +00:00
|
|
|
<joint name="gripper_left_jaw" type="prismatic">
|
2025-03-08 11:45:28 +00:00
|
|
|
<parent link="l_J8_v002"/>
|
|
|
|
|
<child link="l_left_jaw_v002"/>
|
|
|
|
|
<origin rpy="1.5707963267948268 -0.014066001454925883 0.00875904933451695" xyz="-0.1071 0.07686 0.0132053"/>
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
</robot>
|
