278 lines
13 KiB
XML
278 lines
13 KiB
XML
<?xml version="1.0" ?>
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<robot name="openarm_two_arms">
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<link name="l_J1_v002">
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<visual>
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<!--J1 v002/Part__Feature001.-->
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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_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
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</geometry>
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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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<inertial>
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</inertial>
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</link>
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<link name="l_J2_v002">
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<visual>
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<!--J2 v002/Part__Feature002.-->
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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_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
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</geometry>
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<collision>
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<link name="l_J3_v003">
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<visual>
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<geometry>
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</geometry>
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</visual>
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<collision>
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<!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
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</link>
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<link name="l_J4_v002">
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<visual>
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</link>
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<link name="l_J5_v003">
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<visual>
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<!--J5 v003/Part__Feature005.-->
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<mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
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<collision>
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</inertial>
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</link>
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<link name="l_J6_right_wrist">
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<visual>
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<!--J6 right_wrist/Part__Feature006.-->
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<origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
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<mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/>
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<collision>
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<!--bound_obj__right_link6__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
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</link>
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<link name="l_J7_v002">
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<visual>
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<!--J7 right v002/Part__Feature007.-->
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<collision>
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</link>
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<link name="l_J8_v002">
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<visual>
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<!--J8 v002/Part__Feature008.-->
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<collision>
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</inertial>
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</link>
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<link name="l_left_jaw_v002">
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<visual>
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<!--left_jaw v002/Part__Feature009.-->
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<geometry>
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<link name="l_right_jaw_v002">
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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_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
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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_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
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<inertial>
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</inertial>
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</link>
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<joint name="right_rev1" type="revolute">
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<parent link="l_J1_v002"/>
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<child link="l_J2_v002"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
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<joint name="right_rev2" type="revolute">
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<parent link="l_J2_v002"/>
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<child link="l_J3_v003"/>
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<origin rpy="-1.5707963267948968 0 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="0.0" upper="3.141592653589793" velocity="0.0"/>
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<joint name="right_rev3" type="revolute">
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<parent link="l_J3_v003"/>
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<child link="l_J4_v002"/>
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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 name="right_rev4" type="revolute">
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<parent link="l_J4_v002"/>
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<child link="l_J5_v003"/>
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<joint name="right_rev5" type="revolute">
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<parent link="l_J5_v003"/>
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<child link="l_J6_right_wrist"/>
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<origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
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<joint name="right_rev6" type="revolute">
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<parent link="l_J6_right_wrist"/>
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<child link="l_J7_v002"/>
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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 name="right_rev7" type="revolute">
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<parent link="l_J7_v002"/>
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<child link="l_J8_v002"/>
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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 name="right_left_pris1" type="prismatic">
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<parent link="l_J8_v002"/>
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<child link="l_left_jaw_v002"/>
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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="0.045" velocity="0.0"/>
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</joint>
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<joint name="right_right_pris2" type="prismatic">
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<parent link="l_J8_v002"/>
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<child link="l_right_jaw_v002"/>
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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="0.045" velocity="0.0"/>
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<mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
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</joint>
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