278 lines
12 KiB
XML
278 lines
12 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from openarm.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="openarm">
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<material name="gray">
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<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
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</material>
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<!-- side right, left -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- zero_pos up, arm -->
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<link name="link1">
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<visual>
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<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link1.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
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<geometry>
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<box size="0.11 0.073 0.0592"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.5769283920617254"/>
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<origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
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<inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
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</inertial>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link2.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
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<geometry>
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<box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.16257504134917358"/>
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<origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
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<inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
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</inertial>
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</link>
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<link name="link3">
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<visual>
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<origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link3.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
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<geometry>
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<box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.4201676469910031"/>
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<origin rpy="1.5707963267948966 0 0" xyz="-0.00688022 0.0 0.0282752"/>
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<inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
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</inertial>
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</link>
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<link name="link4">
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<visual>
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<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link4.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
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<geometry>
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<box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.819475539373447"/>
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<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
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<inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
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</inertial>
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</link>
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<link name="link5">
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<visual>
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<origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link5.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
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<geometry>
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<box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.4086748254352304"/>
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<origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
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<inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
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</inertial>
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</link>
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<link name="link6">
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<visual>
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<origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link6_rightarm.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
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<geometry>
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<box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.3448471958049249"/>
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<origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
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<inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
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</inertial>
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</link>
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<link name="link7">
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<visual>
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<origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link7_rightarm.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
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<geometry>
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<box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.2782138078738053"/>
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<origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
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<inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
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</inertial>
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</link>
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<link name="link8">
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<visual>
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<origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/link8.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
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<geometry>
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<box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.31261452743802165"/>
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<origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
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<inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
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</inertial>
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</link>
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<link name="link_left_jaw">
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<visual>
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<origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.04297897856394934"/>
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<origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
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<inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
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</inertial>
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</link>
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<link name="link_right_jaw">
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<visual>
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<origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<collision>
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<origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
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<geometry>
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<mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.042981665301134515"/>
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<origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
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<inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
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</inertial>
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</link>
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<joint name="rev1" type="revolute">
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<parent link="link1"/>
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<child link="link2"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
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</joint>
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<joint name="rev2" type="revolute">
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<parent link="link2"/>
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<child link="link3"/>
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<origin rpy="-1.5707963267948968 1.5707963267948966 0" xyz="0.0 -0.02975 0.04475"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
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</joint>
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<joint name="rev3" type="revolute">
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<parent link="link3"/>
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<child link="link4"/>
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<origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
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</joint>
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<joint name="rev4" type="revolute">
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<parent link="link4"/>
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<child link="link5"/>
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<origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
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</joint>
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<joint name="rev5" type="revolute">
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<parent link="link5"/>
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<child link="link6"/>
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<origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
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</joint>
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<joint name="rev6" type="revolute">
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<parent link="link6"/>
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<child link="link7"/>
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<origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
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</joint>
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<joint name="rev7" type="revolute">
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<parent link="link7"/>
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<child link="link8"/>
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<origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
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</joint>
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<joint name="left_pris1" type="prismatic">
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<parent link="link8"/>
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<child link="link_left_jaw"/>
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<origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
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</joint>
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<joint name="right_pris2" type="prismatic">
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<parent link="link8"/>
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<child link="link_right_jaw"/>
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<origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
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<mimic joint="left_pris1" multiplier="-1.0" offset="0.0"/>
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</joint>
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</robot>
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