gear

<?xml version="1.0"?>


<robot name="robotic_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">

<material name="Yellow">
        <color rgba="1.0 1.0 0.0 1.0"/>
    </material>

    <material name="Black">
        <color rgba="0.0 0.0 0.0 1.0"/>
    </material>

<material name="White">
        <color rgba="1.0 1.0 1.0 1.0"/>
    </material>

 <material name="Blue">
        <color rgba="0.0 0.0 1.0 1.0"/>
    </material>


<!-- Shoulder yaw link properties -->
  <property name="shoulder_yaw_len" value="0.195" />

  <!-- Elbow roll link properties -->
  <property name="elbow_roll_len" value="0.16" />

  <property name="deg_to_rad" value="0.01745329251994329577"/>

  <!-- Constants -->
  <property name="M_SCALE" value="0.001 0.001 0.001"/>
  <property name="M_PI" value="3.14159"/>


<!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
<!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->

  <link name="bottom_link">
	    <visual>
	      <origin xyz="0 0 0.6" rpy="0 0 0" />
	      <geometry>
		       <box size="0.16 0.3 1.2" />
	      </geometry>
	     <material name="Black" />
	    </visual>
  </link>


  <joint name="bottom_joint" type="fixed">
	    <parent link="bottom_link"/>
	    <child link="base_link"/>
	    <origin xyz="0 0 0.105" rpy="0 0 0" />
  </joint>


  <link name="base_link">
	    <visual>
	      <origin xyz="0 0.24 0.9" rpy="0 0 0" />
	      <geometry>
		       <box size="0.1 0.16 0.1" />
	      </geometry>
	     <material name="White" />
	    </visual>
  </link>


  <joint name="shoulder_pan_joint" type="revolute">
	    <parent link="base_link"/>
	    <child link="shoulder_pan_link"/>
	    <origin xyz="0 0.348 0.9" rpy="0 0 0" />
	    <axis xyz="0 1 0" />
	    <limit effort="300" velocity="1" lower="-1.57" upper="0"/>
  </joint>


  <link name="shoulder_pan_link" >
	    <visual>
	      <origin xyz="0 0 0" rpy="0 0 0" />
	      <geometry>
		    <box size="0.08 0.05 0.038"/>
	      </geometry>
	     <material name="White" />
	    </visual>
  </link>


  <joint name="shoulder_pitch_joint" type="revolute">
	    <parent link="shoulder_pan_link"/>
	    <child link="shoulder_yaw_link"/>
	    <origin xyz="0 0.02 0" rpy="0 0 0" />
	    <axis xyz="1 0 0" />
	    <limit effort="300" velocity="1" lower="0" upper="1.57" />
  </joint>


  <link name="shoulder_yaw_link" >
	    <visual>
	      <origin xyz="0 0 -0.0975" rpy="0 0 0" />
	      <geometry>
		    <cylinder radius="0.02" length="0.195"/>
	      </geometry>
	     <material name="White" />
	    </visual>
  </link>


  <joint name="elbow_pitch_joint" type="revolute">
	    <parent link="shoulder_yaw_link"/>
	    <child link="elbow_pitch_link"/>
	    <origin xyz="0 0 -${shoulder_yaw_len}" rpy="0 0 0" />
	    <axis xyz="0 1 0" />
	    <limit effort="300" velocity="1" lower="-1.57" upper="1.57" />
  </joint>


  <link name="elbow_pitch_link" >
	    <visual>
	      <origin xyz="0 0 0" rpy="0 0 0" />
	      <geometry>
		    <sphere radius="0.02"/>
	      </geometry>
	     <material name="White" />
	    </visual>
  </link>


  <joint name="elbow_roll_joint" type="continuous">
	    <parent link="elbow_pitch_link"/>
	    <child link="elbow_roll_link"/>
	    <origin xyz="0 0 0" rpy="0 0 0" />
	    <axis xyz="0 0 1" />
	    <dynamics damping="50" friction="1"/>
  </joint>


  <link name="elbow_roll_link" >
	    <visual>
	      <origin xyz="0 0 -${elbow_roll_len/2}" rpy="0 0 0" />
	      <geometry>
		    <cylinder radius="0.02" length="${elbow_roll_len}"/>
	      </geometry>
	    <material name="White" />
	    </visual>
  </link>


  <joint name="wrist_pitch_joint" type="revolute">
	    <parent link="elbow_roll_link"/>
	    <child link="wrist_pitch_link"/>
	    <origin xyz="0 0 -${elbow_roll_len}" rpy="0 0 0" />
	    <axis xyz="1 0 0" />
	    <limit effort="300" velocity="1" lower="-1.57" upper="1.57" />
	    <dynamics damping="50" friction="1"/>
  </joint>


  <link name="wrist_pitch_link" >
	    <visual>
	      <origin xyz="0 0 -0.1" rpy="0 0 0" />
	      <geometry>
		    <cylinder radius="0.02" length="0.2"/>
	      </geometry>
	     <material name="White" />
	    </visual>


  <joint name="wrist_joint" type="continuous">
	    <parent link="wrist_pitch_link"/>
	    <child link="wrist_link"/>
	    <origin xyz="0 0 0.01" rpy="0 0 0" />
	    <axis xyz="0 0 1" />
  </joint>


  <link name="wrist_link" >
	    <visual>
	      <origin xyz="0 0 -0.22" rpy="0 0 0" />
	      <geometry>
		    <box size="0.03 0.04 0.02"/>
	      </geometry>
	    <material name="White" />
	    </visual>
  </link>



<!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
<!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->



	  <transmission name="tran1">
	    <type>transmission_interface/SimpleTransmission</type>
	    <joint name="shoulder_pan_joint2">
	      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
	    </joint>
	    <actuator name="motor1">
	      <hardwareInterface>EffortJointInterface</hardwareInterface>
	      <mechanicalReduction>1.75</mechanicalReduction>
	    </actuator>
	  </transmission>


</robot>