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  1. <?xml version="1.0" encoding="utf-8"?>
  2. <robot name="dexrov_exoskeleton">
  3. <link name="base_plate">
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  163. <link name="l_wrist">
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  423. <limit effort="3.1" lower="-1.83259571459" upper="1.83259571459" velocity="7.0"></limit>
  424. </joint>
  425. <joint name="r_1" type="revolute">
  426. <origin xyz="0.0771000000000001 0.0499999999999999 0.00399999999999997" rpy="-1.5707963267949 0 0"></origin>
  427. <parent link="chest"></parent>
  428. <child link="l_shoulder"></child>
  429. <axis xyz="1 0 0"></axis>
  430. <limit effort="3.1" lower="-2.09439510239" upper="2.70526034059" velocity="7.0"></limit>
  431. </joint>
  432. <joint name="r_2" type="revolute">
  433. <origin xyz="0.0284 0 0" rpy="3.14159265358979 0 1.5707963267949"></origin>
  434. <parent link="l_shoulder"></parent>
  435. <child link="l_shoulder_motor"></child>
  436. <axis xyz="0 0 1"></axis>
  437. <limit effort="3.1" lower="-1.83259571459" upper="1.91986217719" velocity="7.0"></limit>
  438. </joint>
  439. <joint name="r_3" type="revolute">
  440. <origin xyz="0 0.03625 0.0185000000000001" rpy="0 0 0"></origin>
  441. <parent link="l_shoulder_motor"></parent>
  442. <child link="l_upper_arm"></child>
  443. <axis xyz="0 1 0"></axis>
  444. <limit effort="3.1" lower="-1.83259571459" upper="1.83259571459" velocity="7.0"></limit>
  445. </joint>
  446. <joint name="r_4" type="revolute">
  447. <origin xyz="0 0.11175 -0.00999999999999998" rpy="0 0 0"></origin>
  448. <parent link="l_upper_arm"></parent>
  449. <child link="l_forearm"></child>
  450. <axis xyz="1 0 0"></axis>
  451. <limit effort="3.1" lower="-2.58308729295" upper="0.0174532925199" velocity="7.0"></limit>
  452. </joint>
  453. <joint name="r_5" type="revolute">
  454. <origin xyz="-0.0770999999999999 0.0500000000000002 0.00400000000000003" rpy="-1.5707963267949 0 0"></origin>
  455. <parent link="chest"></parent>
  456. <child link="r_shoulder"></child>
  457. <axis xyz="-1 0 0"></axis>
  458. <limit effort="3.1" lower="-2.70526034059" upper="2.09439510239" velocity="7.0"></limit>
  459. </joint>
  460. <joint name="r_6" type="revolute">
  461. <origin xyz="-0.0284 0 0" rpy="3.14159265358979 0 -1.5707963267949"></origin>
  462. <parent link="r_shoulder"></parent>
  463. <child link="r_shoulder_motor"></child>
  464. <axis xyz="0 0 -1"></axis>
  465. <limit effort="3.1" lower="-1.91986217719" upper="1.83259571459" velocity="7.0"></limit>
  466. </joint>
  467. <joint name="r_7" type="revolute">
  468. <origin xyz="0 0.03625 0.0185000000000002" rpy="0 0 0"></origin>
  469. <parent link="r_shoulder_motor"></parent>
  470. <child link="r_upper_arm"></child>
  471. <axis xyz="0 1 0"></axis>
  472. <limit effort="3.1" lower="-1.83259571459" upper="1.83259571459" velocity="7.0"></limit>
  473. </joint>
  474.  
  475. <origin xyz="0 0.11175 -0.01" rpy="0 0 0"></origin>
  476. <parent link="r_upper_arm"></parent>
  477. <child link="r_forearm"></child>
  478. <axis xyz="-1 0 0"></axis>
  479. <limit effort="3.1" lower="-0.0174532925199" upper="2.58308729295" velocity="7.0"></limit>
  480. </joint>
  481. </robot>
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