87 lines
4.0 KiB
XML
87 lines
4.0 KiB
XML
<?xml version="1.0" ?>
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<robotMeta>
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<robotName>openarm</robotName>
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<urdfFileName>openarm.urdf</urdfFileName>
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<packageName>openarm_description_2</packageName>
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<meshesDir>meshes </meshesDir>
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<robotType>nonspecific</robotType>
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<generateCodeForRosVersion>jazzy</generateCodeForRosVersion>
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<rootLinkName>l_J1_v002</rootLinkName>
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<xacroWrapperFileName>openarm_wrapper.urdf.xacro</xacroWrapperFileName>
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<controllersConfigFileName>openarm_controllers.yaml</controllersConfigFileName>
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<joints>
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<joint>
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<name>l_J1_v002__to__l_J2_v002</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>0.09289716518533317</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>0.0012062241015717492</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>-0.061900576071863</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J2_v002__to__l_J3_v003</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>0.09289716518533321</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>-0.02854377589842827</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>-0.017150576071863013</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J3_v003__to__l_J4_v002</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>0.031649514284448864</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>0.0012062241015718708</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>-0.01661414422754956</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J4_v002__to__l_J5_v003</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>-0.20983062047238518</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>0.033077014697707</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>-0.016614144227858844</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J5_v003__to__l_J6_v002</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>-0.08488103444256599</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>0.0022268460560923354</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>0.030965376793060356</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J6_v002__to__l_J7_v002</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>0.02795991840243387</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>-0.03426282248752859</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>0.07396277148947943</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J7_v002__to__l_J8_v002</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>0.033758514926782335</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>0.001187752615916666</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>0.05952028198168136</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J8_v002__to__l_right_jaw_v002</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
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</joint>
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<joint>
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<name>l_J8_v002__to__l_left_jaw_v002</name>
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<jointSpecific>unset</jointSpecific>
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<jointRotationDirection>unset</jointRotationDirection>
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<jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
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<jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
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<jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
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</joint>
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</joints>
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</robotMeta>
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