openarm_ros2/overcross/robot_meta.xml

<?xml version="1.0" ?>
<robotMeta>
 <robotName>openarm</robotName>
 <urdfFileName>openarm.urdf</urdfFileName>
 <packageName>openarm_description_2</packageName>
 <meshesDir>meshes </meshesDir>
 <robotType>nonspecific</robotType>
 <generateCodeForRosVersion>jazzy</generateCodeForRosVersion>
 <rootLinkName>l_J1_v002</rootLinkName>
 <xacroWrapperFileName>openarm_wrapper.urdf.xacro</xacroWrapperFileName>
 <controllersConfigFileName>openarm_controllers.yaml</controllersConfigFileName>
 <joints>
  <joint>
   <name>rev1</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>0.09289716518533317</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>0.0012062241015717492</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>-0.061900576071863</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>rev2</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>0.09289716518533321</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>-0.02854377589842827</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>-0.017150576071863013</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>rev3</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>0.031649514284448864</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>0.0012062241015718708</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>-0.01661414422754956</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>rev4</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>-0.20983062047238518</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>0.033077014697707</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>-0.016614144227858844</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>rev5</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>-0.08488103444256599</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>0.0022268460560923354</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>0.030965376793060356</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>rev6</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>0.02795991840243387</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>-0.03426282248752859</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>0.07396277148947943</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>rev7</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>0.033758514926782335</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>0.001187752615916666</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>0.05952028198168136</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>gripper_right_jaw</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
  </joint>
  <joint>
   <name>gripper_left_jaw</name>
   <jointSpecific>unset</jointSpecific>
   <jointRotationDirection>unset</jointRotationDirection>
   <jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
   <jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
   <jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
  </joint>
 </joints>
</robotMeta>