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- <robot
- name="robotarm">
- <link
- name="base_link">
- <inertial>
- <origin
- xyz="-8.98316883899366E-21 0.0371833197218132 5.84804291418487E-18"
- rpy="0 0 0" />
- <mass
- value="0.736649284793532" />
- <inertia
- ixx="0.00136014146084527"
- ixy="1.34419615815924E-21"
- ixz="-1.66676893429435E-19"
- iyy="0.00201173713380681"
- iyz="9.88817735312407E-20"
- izz="0.00136014146084527" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/base_link.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0 0 1 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/base_link.STL" />
- </geometry>
- </collision>
- </link>
- <link
- name="link_bescherming_voet">
- <inertial>
- <origin
- xyz="1.89715073762982E-17 0.0246076878833881 -1.85713732548366E-17"
- rpy="0 0 0" />
- <mass
- value="0.975479811968255" />
- <inertia
- ixx="0.00283902632376722"
- ixy="-1.66823701635174E-19"
- ixz="-2.59570718767664E-08"
- iyy="0.0055247670044155"
- iyz="8.3179086062007E-19"
- izz="0.00402668154368391" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_bescherming_voet.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0.501960784313725 0.501960784313725 0.501960784313725 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_bescherming_voet.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="bescherming_voet"
- type="revolute">
- <origin
- xyz="0 0 0.08"
- rpy="1.5707963267949 6.12291108317084E-17 1.56451775600263" />
- <parent
- link="base_link" />
- <child
- link="link_bescherming_voet" />
- <axis
- xyz="0 1 0" />
- <limit
- lower="-3.1415926535898"
- upper="0"
- effort="0"
- velocity="0" />
- </joint>
- <link
- name="link_onderstuk">
- <inertial>
- <origin
- xyz="2.77555756156289E-16 0.0370359598710503 0.00249745962155625"
- rpy="0 0 0" />
- <mass
- value="0.727126641555552" />
- <inertia
- ixx="0.00332215160948305"
- ixy="-1.60630771451646E-17"
- ixz="-3.59377738046309E-20"
- iyy="0.00164734137380899"
- iyz="-1.37219337455197E-19"
- izz="0.00191216507803197" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_onderstuk.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0 0 1 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_onderstuk.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="onderstuk_robotarm"
- type="revolute">
- <origin
- xyz="0 0.061 0"
- rpy="-1.57079632679489 1.66533453693774E-14 1.5707963267949" />
- <parent
- link="link_bescherming_voet" />
- <child
- link="link_onderstuk" />
- <axis
- xyz="0 0 1" />
- <limit
- lower="-3.1415926535898"
- upper="0"
- effort="0"
- velocity="0" />
- </joint>
- <link
- name="link_middenstuk">
- <inertial>
- <origin
- xyz="0.0171121874832891 0.0914745896991612 0.00596722744564532"
- rpy="0 0 0" />
- <mass
- value="0.342780601633154" />
- <inertia
- ixx="0.00209352219888755"
- ixy="8.61259300002377E-10"
- ixz="-2.6521686422925E-10"
- iyy="0.0001513360619975"
- iyz="0.000121720831518031"
- izz="0.00204368119640363" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_middenstuk.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://robotarm/meshes/link_middenstuk.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="middenstuk_robotarm"
- type="continuous">
- <origin
- xyz="0 0.143055389944023 -0.0146160189168883"
- rpy="3.14159265358941 -1.55832909924767 -3.14159265358942" />
- <parent
- link="link_onderstuk" />
- <child
- link="link_middenstuk" />
- <axis
- xyz="0 -1 0" />
- </joint>
- <link
- name="link_tussenstuk">
- <inertial>
- <origin
- xyz="0.042225186109333 -0.0276464688445403 0.00221825165528444"
- rpy="0 0 0" />
- <mass
- value="0.0146929182738881" />
- <inertia
- ixx="9.79920835370967E-06"
- ixy="5.1351372427292E-21"
- ixz="-3.45430623802144E-21"
- iyy="1.06327575004056E-05"
- iyz="2.17041852976258E-20"
- izz="1.65869261432896E-05" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_tussenstuk.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0 0 1 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_tussenstuk.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="tussenstuk_robotarm"
- type="continuous">
- <origin
- xyz="-0.0251130375427305 0.209723130216404 0.000313106175830219"
- rpy="-1.56474174182987 -5.74540415243519E-15 5.49300188668056E-15" />
- <parent
- link="link_middenstuk" />
- <child
- link="link_tussenstuk" />
- <axis
- xyz="1 0 0" />
- </joint>
- <link
- name="link_bovenstuk">
- <inertial>
- <origin
- xyz="0.0423548102941489 -0.00892681385474869 -0.0709623288789762"
- rpy="0 0 0" />
- <mass
- value="0.258131973119121" />
- <inertia
- ixx="0.000644471337323276"
- ixy="-2.84604977136333E-10"
- ixz="-6.36341097582589E-10"
- iyy="0.000613223892148524"
- iyz="7.98343530423762E-05"
- izz="9.86664163020403E-05" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_bovenstuk.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0 0 1 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_bovenstuk.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="bovenstuk_robotarm"
- type="continuous">
- <origin
- xyz="-0.000146563213221401 -0.0520202004343439 0.000435282046611418"
- rpy="-1.5707963267949 0.00863982311053207 2.11297205627931E-15" />
- <parent
- link="link_tussenstuk" />
- <child
- link="link_bovenstuk" />
- <axis
- xyz="0 0 1" />
- </joint>
- <link
- name="link_montage_grijper">
- <inertial>
- <origin
- xyz="0.0427823459515499 0.0180745023432853 -0.00052810086084093"
- rpy="0 0 0" />
- <mass
- value="0.0085410615680975" />
- <inertia
- ixx="2.38414878122796E-06"
- ixy="-8.57414063941841E-21"
- ixz="6.9929848985233E-21"
- iyy="4.16919134966305E-06"
- iyz="-1.19597391878097E-21"
- izz="4.36342650764439E-06" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_montage_grijper.STL" />
- </geometry>
- <material
- name="">
- <color
- rgba="0 0 1 1" />
- </material>
- </visual>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_montage_grijper.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="montage_grijper"
- type="continuous">
- <origin
- xyz="-0.000427582421852708 -0.00123451622302745 -0.147972004628097"
- rpy="3.13722090754549 8.33708102554453E-15 1.19088766625808E-15" />
- <parent
- link="link_bovenstuk" />
- <child
- link="link_montage_grijper" />
- <axis
- xyz="1 0 0" />
- </joint>
- <link
- name="link_plaat_grijper">
- <inertial>
- <origin
- xyz="0.0506039311498872 0.0481900257607031 0.00509605662971782"
- rpy="0 0 0" />
- <mass
- value="0.0277940281502333" />
- <inertia
- ixx="1.82462908586164E-05"
- ixy="2.13515554343703E-08"
- ixz="1.57777692671081E-08"
- iyy="1.89031544868748E-05"
- iyz="-4.82441967600682E-06"
- izz="2.6372016559843E-05" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_plaat_grijper.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://robotarm/meshes/link_plaat_grijper.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="plaat_grijper"
- type="fixed">
- <origin
- xyz="-0.00774743207443959 0.10353765267612 0.0247322402258109"
- rpy="3.14159265358979 1.73472347597681E-18 5.11743425413158E-17" />
- <parent
- link="link_montage_grijper" />
- <child
- link="link_plaat_grijper" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="link_grijper_pootrechts">
- <inertial>
- <origin
- xyz="-0.00101901145429764 0.0838468984925917 0.00416398156504004"
- rpy="0 0 0" />
- <mass
- value="0.018945632742562" />
- <inertia
- ixx="5.64376783052975E-05"
- ixy="1.49773197001328E-06"
- ixz="5.61831466729789E-10"
- iyy="3.9822210767515E-07"
- iyz="-4.6228946458019E-08"
- izz="5.65142908961964E-05" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_grijper_pootrechts.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://robotarm/meshes/link_grijper_pootrechts.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="grijper_pootrechts"
- type="continuous">
- <origin
- xyz="0.0755297780259896 0.0433842684954152 0"
- rpy="-3.65321922018991E-16 2.38871422642006E-15 3.11161228998964" />
- <parent
- link="link_plaat_grijper" />
- <child
- link="link_grijper_pootrechts" />
- <axis
- xyz="0 0 1" />
- </joint>
- <link
- name="link_grijper_pootlinks">
- <inertial>
- <origin
- xyz="-0.0509847753245112 0.0856968825103725 -0.00416398156503998"
- rpy="0 0 0" />
- <mass
- value="0.018945632742562" />
- <inertia
- ixx="5.64376783052975E-05"
- ixy="1.49773197001314E-06"
- ixz="-5.6183146672926E-10"
- iyy="3.98222107675142E-07"
- iyz="4.62289464580082E-08"
- izz="5.65142908961964E-05" />
- </inertial>
- <visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <mesh
- filename="package://robotarm/meshes/link_grijper_pootlinks.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://robotarm/meshes/link_grijper_pootlinks.STL" />
- </geometry>
- </collision>
- </link>
- <joint
- name="grijper_pootlinks"
- type="continuous">
- <origin
- xyz="0.0755297780259896 0.0433842684954152 0"
- rpy="-3.14159265358979 -3.10688974547446E-15 -0.0370081275083065" />
- <parent
- link="link_plaat_grijper" />
- <child
- link="link_grijper_pootlinks" />
- <axis
- xyz="0 0 -1" />
- </joint>
- </robot>
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