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  1. <?xml version="1.0" encoding="utf-8"?>
  2. <!-- =================================================================================== -->
  3. <!-- | This document was autogenerated by xacro from arm_description.urdf.xacro | -->
  4. <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
  5. <!-- =================================================================================== -->
  6. <!--
  7. Author: Daniel Hirsch
  8. This xacro expands into the URDF for the arm.
  9.  
  10. Note we use a dummy inertia as we never actually care about the intertia
  11. enough to calculate it.
  12.  
  13. Note that most links have origin's equal to half their lengths
  14. -->
  15. <robot name="arm_description">
  16. <link name="base">
  17. <intertial>
  18. <origin rpy="0 0 0" xyz="0 0 0"/>
  19. <mass value="1000"/>
  20. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  21. </intertial>
  22. <visual>
  23. <geometry>
  24. <cylinder length="0" radius="0.0001"/>
  25. </geometry>
  26. <origin rpy="0 0 0" xyz="0 0 0"/>
  27. <material name="base">
  28. <color rgba="0 1 0 1"/>
  29. </material>
  30. </visual>
  31. <collision>
  32. <geometry>
  33. <cylinder length="0" radius="0.0001"/>
  34. </geometry>
  35. <origin rpy="0 0 0" xyz="0 0 0"/>
  36. </collision>
  37. </link>
  38. <link name="base_rotate">
  39. <intertial>
  40. <origin rpy="0 0 0" xyz="0 0 0"/>
  41. <mass value="1"/>
  42. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  43. </intertial>
  44. <visual>
  45. <geometry>
  46. <cylinder length="0.05" radius="0.2"/>
  47. </geometry>
  48. <origin rpy="0 0 0" xyz="0 0 0"/>
  49. <material name="base_rotate">
  50. <color rgba="1 0 0 1"/>
  51. </material>
  52. </visual>
  53. <collision>
  54. <geometry>
  55. <cylinder length="0.05" radius="0.2"/>
  56. </geometry>
  57. <origin rpy="0 0 0" xyz="0 0 0"/>
  58. </collision>
  59. </link>
  60. <joint name="base_rotate" type="revolute">
  61. <origin xyz="0 0 0"/>
  62. <parent link="base"/>
  63. <child link="base_rotate"/>
  64. <axis xyz="0 0 1"/>
  65. <limit effort="0" lower="-1.57" upper="1.57" velocity="0"/>
  66. </joint>
  67. <link name="shoulder">
  68. <intertial>
  69. <origin rpy="0 0 0" xyz="0 0 0.17215"/>
  70. <mass value="0.65"/>
  71. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  72. </intertial>
  73. <visual>
  74. <geometry>
  75. <cylinder length="0.3443" radius="0.04"/>
  76. </geometry>
  77. <origin rpy="0 0 0" xyz="0 0 0.17215"/>
  78. <material name="shoulder">
  79. <color rgba="1 0 0 1"/>
  80. </material>
  81. </visual>
  82. <collision>
  83. <geometry>
  84. <cylinder length="0.3443" radius="0.04"/>
  85. </geometry>
  86. <origin rpy="0 0 0" xyz="0 0 0.17215"/>
  87. </collision>
  88. </link>
  89. <joint name="shoulder" type="revolute">
  90. <origin xyz="0 0 0.098"/>
  91. <parent link="base_rotate"/>
  92. <child link="shoulder"/>
  93. <axis xyz="1 0 0"/>
  94. <limit effort="0" lower="-2.35" upper="2.35" velocity="0"/>
  95. </joint>
  96. <link name="elbow">
  97. <intertial>
  98. <origin rpy="0 1.57075 0" xyz="0.049 0 0"/>
  99. <mass value="0.1"/>
  100. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  101. </intertial>
  102. <visual>
  103. <geometry>
  104. <cylinder length="0.098" radius="0.02"/>
  105. </geometry>
  106. <origin rpy="0 1.57075 0" xyz="0.049 0 0"/>
  107. <material name="elbow">
  108. <color rgba="0 0 1 1"/>
  109. </material>
  110. </visual>
  111. <collision>
  112. <geometry>
  113. <cylinder length="0.098" radius="0.02"/>
  114. </geometry>
  115. <origin rpy="0 1.57075 0" xyz="0.049 0 0"/>
  116. </collision>
  117. </link>
  118. <joint name="elbow" type="revolute">
  119. <origin xyz="0 0 0.3443"/>
  120. <parent link="shoulder"/>
  121. <child link="elbow"/>
  122. <axis xyz="1 0 0"/>
  123. <limit effort="0" lower="-2.35" upper="2.35" velocity="0"/>
  124. </joint>
  125. <link name="second_rotate">
  126. <intertial>
  127. <origin rpy="0 0 0" xyz="0 0 0.2298"/>
  128. <mass value="0.65"/>
  129. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  130. </intertial>
  131. <visual>
  132. <geometry>
  133. <cylinder length="0.4596" radius="0.02"/>
  134. </geometry>
  135. <origin rpy="0 0 0" xyz="0 0 0.2298"/>
  136. <material name="second_rotate">
  137. <color rgba="0 0.5 0.5 1"/>
  138. </material>
  139. </visual>
  140. <collision>
  141. <geometry>
  142. <cylinder length="0.4596" radius="0.02"/>
  143. </geometry>
  144. <origin rpy="0 0 0" xyz="0 0 0.2298"/>
  145. </collision>
  146. </link>
  147. <joint name="second_rotate" type="revolute">
  148. <origin xyz="0.098 0 0"/>
  149. <parent link="elbow"/>
  150. <child link="second_rotate"/>
  151. <axis xyz="0 0 1"/>
  152. <limit effort="0" lower="-3.14" upper="3.14" velocity="0"/>
  153. </joint>
  154. <link name="third_tilt">
  155. <intertial>
  156. <origin rpy="0 0 0" xyz="0 0 0.0674"/>
  157. <mass value="0.3"/>
  158. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  159. </intertial>
  160. <visual>
  161. <geometry>
  162. <cylinder length="0.1348" radius="0.02"/>
  163. </geometry>
  164. <origin rpy="0 0 0" xyz="0 0 0.0674"/>
  165. <material name="third_tilt">
  166. <color rgba=".4 .3 .3 1"/>
  167. </material>
  168. </visual>
  169. <collision>
  170. <geometry>
  171. <cylinder length="0.1348" radius="0.02"/>
  172. </geometry>
  173. <origin rpy="0 0 0" xyz="0 0 0.0674"/>
  174. </collision>
  175. </link>
  176. <joint name="third_tilt" type="revolute">
  177. <origin xyz="0 0 0.4596"/>
  178. <parent link="second_rotate"/>
  179. <child link="third_tilt"/>
  180. <axis xyz="1 0 0"/>
  181. <limit effort="0" lower="-1.57" upper="1.57" velocity="0"/>
  182. </joint>
  183. <link name="third_rotate">
  184. <intertial>
  185. <origin rpy="0 0 0" xyz="0 0 0.0726"/>
  186. <mass value="0.3"/>
  187. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  188. </intertial>
  189. <visual>
  190. <geometry>
  191. <cylinder length="0.1452" radius="0.02"/>
  192. </geometry>
  193. <origin rpy="0 0 0" xyz="0 0 0.0726"/>
  194. <material name="third_rotate">
  195. <color rgba=".5 .5 0 1"/>
  196. </material>
  197. </visual>
  198. <collision>
  199. <geometry>
  200. <cylinder length="0.1452" radius="0.02"/>
  201. </geometry>
  202. <origin rpy="0 0 0" xyz="0 0 0.0726"/>
  203. </collision>
  204. </link>
  205. <joint name="third_rotate" type="continuous">
  206. <origin xyz="0 0 0.1348"/>
  207. <parent link="third_tilt"/>
  208. <child link="third_rotate"/>
  209. <axis xyz="0 0 1"/>
  210. </joint>
  211. <link name="end_effector">
  212. <intertial>
  213. <origin rpy="0 0 0" xyz="0 0 0.012"/>
  214. <mass value="0.3"/>
  215. <inertia ixx="0.00035480405869602" ixy="-0.00065199857117274" ixz="0.000191849153841144" iyy="0.00158383903971818" iyz="9.59056305777939E-05" izz="0.00188232432766353"/>
  216. </intertial>
  217. <visual>
  218. <geometry>
  219. <box size="0.025 0.025 0.025"/>
  220. </geometry>
  221. <origin rpy="0 0 0" xyz="0 0 0.012"/>
  222. <material name="end_effector">
  223. <color rgba="0 0 0 1"/>
  224. </material>
  225. </visual>
  226. <collision>
  227. <geometry>
  228. <box size="0.025 0.025 0.025"/>
  229. </geometry>
  230. <origin rpy="0 0 0" xyz="0 0 0.012"/>
  231. </collision>
  232. </link>
  233. <joint name="end_effector" type="fixed">
  234. <origin xyz="0 0 0.1452"/>
  235. <parent link="third_rotate"/>
  236. <child link="end_effector"/>
  237. <axis xyz="0 0 1"/>
  238. </joint>
  239. </robot>
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