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- <robot
- name="ADA">
- <link
- name="base_link">
- <inertial>
- <origin
- xyz="0 -0.0018698 0.00076788"
- rpy="0 0 0" />
- <mass
- value="0.64" />
- <inertia
- ixx="0.00059853"
- ixy="0"
- ixz="0"
- iyy="0.00058911"
- iyz="0"
- izz="0.00031086" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/base_link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.4 0.4 0.4 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/base_link.STL" />
- </geometry>
- </collision>
- </link>
- <link
- name="Shoulder_Link">
- <inertial>
- <origin
- xyz="0 0.015563 0.072664"
- rpy="0 0 0" />
- <mass
- value="0.15215" />
- <inertia
- ixx="0.00035346"
- ixy="0"
- ixz="0"
- iyy="0.00038125"
- iyz="0"
- izz="0.00016029" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Shoulder_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.2 0.2 0.2 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Shoulder_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Shoulder_Joint"
- type="continuous">
- <origin
- xyz="0 0 0.09875"
- rpy="0 0 0" />
- <parent
- link="base_link" />
- <child
- link="Shoulder_Link" />
- <axis
- xyz="0 0 -1" />
- <!--
- <limit
- lower="-3.14"
- upper="3.14"
- effort="0"
- velocity="0.785398163" />
- -->
- <limit
- effort="18"
- velocity="0.785398163" />
- </joint>
- <transmission name="Shoulder_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Shoulder_Joint"/>
- <actuator name="Shoulder_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>136</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Arm_Link">
- <inertial>
- <origin
- xyz="-0.14503 0 -0.02688"
- rpy="0 0 0" />
- <mass
- value="0.2936" />
- <inertia
- ixx="0.00020244"
- ixy="0"
- ixz="0"
- iyy="0.0033623"
- iyz="0"
- izz="0.0034884" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Arm_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.2 0.2 0.2 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Arm_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Arm_Joint"
- type="revolute">
- <origin
- xyz="0 -0.00175 0.11875"
- rpy="1.5708 0 3.1416" />
- <parent
- link="Shoulder_Link" />
- <child
- link="Arm_Link" />
- <axis
- xyz="0 0 1" />
- <!--
- <limit
- lower="-3.92"
- upper="0.78"
- effort="0"
- velocity="0.785398163" />
- -->
- <limit
- lower="0.785"
- upper="5.4981853"
- effort="18"
- velocity="0.785398163" />
- </joint>
- <transmission name="Arm_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Arm_Joint"/>
- <actuator name="Arm_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>136</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Forearm_Link">
- <inertial>
- <origin
- xyz="0 -0.04006 -0.021871"
- rpy="0 0 0" />
- <mass
- value="0.12259" />
- <inertia
- ixx="0.00024901"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0.00028426" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Forearm_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.2 0.2 0.2 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Forearm_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Forearm_Joint"
- type="revolute">
- <origin
- xyz="-0.29 0 0"
- rpy="3.1416 0 -3.1416" />
- <parent
- link="Arm_Link" />
- <child
- link="Forearm_Link" />
- <axis
- xyz="0 0 1" />
- <!--
- <limit
- lower="-0.87"
- upper="4.01"
- effort="0"
- velocity="0.785398163" />
- -->
- <limit
- lower="0.65"
- upper="5.6331853"
- effort="18"
- velocity="0.785398163" />
- </joint>
- <transmission name="Forearm_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Forearm_Joint"/>
- <actuator name="Forearm_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>136</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Wrist_1_Link">
- <inertial>
- <origin
- xyz="0 -0.0082688 -0.038029"
- rpy="0 0 0" />
- <mass
- value="0.03694" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_1_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.2 0.2 0.2 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_1_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Wrist_1_Joint"
- type="continuous">
- <origin
- xyz="0 -0.12325 -0.00875"
- rpy="1.5708 0 -3.1416" />
- <parent
- link="Forearm_Link" />
- <child
- link="Wrist_1_Link" />
- <axis
- xyz="0 0 1" />
- <!--
- <limit
- lower="-3.14"
- upper="3.14"
- effort="8"
- velocity="0.785398163" />
- -->
- <limit
- effort="0"
- velocity="0.785398163" />
- </joint>
- <transmission name="Wrist_1_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Wrist_1_Joint"/>
- <actuator name="Wrist_1_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>110</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Wrist_2_Link">
- <inertial>
- <origin
- xyz="0 0.0082685 -0.038029"
- rpy="0 0 0" />
- <mass
- value="0.036939" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_2_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.2 0.2 0.2 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_2_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Wrist_2_Joint"
- type="continuous">
- <origin
- xyz="0 -0.037029 -0.064136"
- rpy="1.0472 0 3.1416" />
- <parent
- link="Wrist_1_Link" />
- <child
- link="Wrist_2_Link" />
- <axis
- xyz="0 0 1" />
- <!--
- <limit
- lower="-3.14"
- upper="3.14"
- effort="0"
- velocity="0.785398163" />
- -->
- <limit
- effort="8"
- velocity="0.785398163" />
- </joint>
- <transmission name="Wrist_2_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Wrist_2_Joint"/>
- <actuator name="Wrist_2_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>110</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Hand_Link">
- <inertial>
- <origin
- xyz="0.0015134 0 -0.074456"
- rpy="0 0 0" />
- <mass
- value="0.4" />
- <inertia
- ixx="0.00020901"
- ixy="0"
- ixz="0"
- iyy="0.00015498"
- iyz="0"
- izz="0.00012507" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Hand_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.2 0.2 0.2 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Hand_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Hand_Joint"
- type="continuous">
- <origin
- xyz="0 0.037029 -0.064136"
- rpy="1.0472 0 0" />
- <parent
- link="Wrist_2_Link" />
- <child
- link="Hand_Link" />
- <axis
- xyz="0 0 1" />
- <!--
- <limit
- lower="-3.14"
- upper="3.14"
- effort="0"
- velocity="0.785398163" />
- -->
- <limit
- effort="8"
- velocity="0.785398163" />
- </joint>
- <transmission name="Hand_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Hand_Joint"/>
- <actuator name="Hand_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>110</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Finger_1_Proximal_Link">
- <inertial>
- <origin
- xyz="-0.00894704183784709 -0.0181466381953971 0"
- rpy="0 0 0" />
- <mass
- value="0.0106365590225629" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_1_Proximal_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_1_Proximal_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Finger_1_Proximal_Joint"
- type="revolute">
- <origin
- xyz="0.0024957 -0.030948 -0.11482"
- rpy="1.5708 0.56392 1.5708" />
- <parent
- link="Hand_Link" />
- <child
- link="Finger_1_Proximal_Link" />
- <axis
- xyz="0 0 1" />
- <limit
- lower="0"
- upper="1.05"
- effort="1.2"
- velocity="0.785398163" />
- </joint>
- <transmission name="Finger_1_Proximal_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Finger_1_Proximal_Joint"/>
- <actuator name="Finger_1_Proximal_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Finger_1_Distal_Link">
- <inertial>
- <origin
- xyz="-0.0047690584177113 -0.0133399601477665 0"
- rpy="0 0 0" />
- <mass
- value="0.0121939815401302" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_1_Distal_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_1_Distal_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Finger_1_Distal_Joint"
- type="revolute">
- <origin
- xyz="-0.003 -0.044 0"
- rpy="0 0 -0.19199" />
- <parent
- link="Finger_1_Proximal_Link" />
- <child
- link="Finger_1_Distal_Link" />
- <axis
- xyz="0 0 1" />
- <limit
- lower="0"
- upper="1.05"
- effort="1.2"
- velocity="0.785398163" />
- <mimic
- joint="Finger_1_Proximal_Joint"
- multiplier="0.5" />
- </joint>
- <transmission name="Finger_1_Distal_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Finger_1_Distal_Joint"/>
- <actuator name="Finger_1_Distal_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Finger_2_Proximal_Link">
- <inertial>
- <origin
- xyz="-0.00894697932265109 -0.018146678045967 0"
- rpy="0 0 0" />
- <mass
- value="0.0106364391584646" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_2_Proximal_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_2_Proximal_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Finger_2_Proximal_Joint"
- type="revolute">
- <origin
- xyz="0.0024957 0.030948 -0.11482"
- rpy="1.5708 0.56392 -1.5708" />
- <parent
- link="Hand_Link" />
- <child
- link="Finger_2_Proximal_Link" />
- <axis
- xyz="0 0 1" />
- <limit
- lower="0"
- upper="1.05"
- effort="1.2"
- velocity="0.785398163" />
- </joint>
- <transmission name="Finger_2_Proximal_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Finger_2_Proximal_Joint"/>
- <actuator name="Finger_2_Proximal_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Finger_2_Distal_Link">
- <inertial>
- <origin
- xyz="-0.00476909654850879 -0.0133398607161451 0"
- rpy="0 0 0" />
- <mass
- value="0.0121939010456702" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_2_Distal_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Finger_2_Distal_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Finger_2_Distal_Joint"
- type="revolute">
- <origin
- xyz="-0.003 -0.044 0"
- rpy="0 0 -0.19199" />
- <parent
- link="Finger_2_Proximal_Link" />
- <child
- link="Finger_2_Distal_Link" />
- <axis
- xyz="0 0 1" />
- <limit
- lower="0"
- upper="1.05"
- effort="1.2"
- velocity="0.785398163" />
- <mimic
- joint="Finger_1_Proximal_Joint"
- multiplier="0.5" />
- </joint>
- <transmission name="Finger_2_Distal_Joint_Transmission">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="Finger_2_Distal_Joint"/>
- <actuator name="Finger_2_Distal_Motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- <link
- name="Hand_Ring_Link">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.4" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Hand_Ring_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.79216 0.81961 0.93333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Hand_Ring_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Hand_Ring_Joint"
- type="fixed">
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <parent
- link="Hand_Link" />
- <child
- link="Hand_Ring_Link" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="Wrist_2_Ring_Link">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.4" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_2_Ring_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.79216 0.81961 0.93333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_2_Ring_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Wrist_2_Ring_Joint"
- type="fixed">
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <parent
- link="Wrist_2_Link" />
- <child
- link="Wrist_2_Ring_Link" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="Wrist_1_Ring_Link">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.4" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_1_Ring_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.79216 0.81961 0.93333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Wrist_1_Ring_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Wrist_1_Ring_Joint"
- type="fixed">
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <parent
- link="Wrist_1_Link" />
- <child
- link="Wrist_1_Ring_Link" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="Forearm_Ring_Link">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.76" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Forearm_Ring_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.79216 0.81961 0.93333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Forearm_Ring_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Forearm_Ring_Joint"
- type="fixed">
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <parent
- link="Forearm_Link" />
- <child
- link="Forearm_Ring_Link" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="Arm_Ring_Link">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.76" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Arm_Ring_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.79216 0.81961 0.93333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Arm_Ring_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Arm_Ring_Joint"
- type="fixed">
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <parent
- link="Arm_Link" />
- <child
- link="Arm_Ring_Link" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="Shoulder_Ring_Link">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.76" />
- <inertia
- ixx="0"
- ixy="0"
- ixz="0"
- iyy="0"
- iyz="0"
- izz="0" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Shoulder_Ring_Link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.79216 0.81961 0.93333 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://ada_description/meshes/Shoulder_Ring_Link.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Shoulder_Ring_Joint"
- type="fixed">
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <parent
- link="Shoulder_Link" />
- <child
- link="Shoulder_Ring_Link" />
- <axis
- xyz="0 0 0" />
- </joint>
- </robot>
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