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Original file line number | Diff line number | Diff line change |
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<?xml version="1.0" ?> | ||
<robot name="spot_arm" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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<material name="silver"> | ||
<color rgba="0.700 0.700 0.700 1.000"/> | ||
</material> | ||
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<link name="base_arm_link"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="1.2371844231029972e-17 0.0 0.0325"/> | ||
<mass value="5.770791545379091"/> | ||
<inertia ixx="0.007226" ixy="-0.0" ixz="0.0" iyy="0.007226" iyz="0.0" izz="0.010387"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="0 0 0"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/base_link.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="0 0 0"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/base_link.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
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||
<link name="link4"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="-0.00911464892336129 0.12606054498393937 5.551115123125783e-17"/> | ||
<mass value="10.95245995004642"/> | ||
<inertia ixx="0.066789" ixy="0.011971" ixz="-0.0" iyy="0.014993" iyz="0.0" izz="0.071949"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="0.001 -0.4505 -0.0475"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link4.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="0.001 -0.4505 -0.0475"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link4.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
|
||
<link name="gripper"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="-8.366123908053191e-08 0.07051371901138614 0.017123167388316526"/> | ||
<mass value="5.9780007036604434"/> | ||
<inertia ixx="0.01723" ixy="0.0" ixz="0.0" iyy="0.00734" iyz="-0.003871" izz="0.0153"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="0.0085 -0.77959 -0.0475"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/gripper.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="0.0085 -0.77959 -0.0475"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/gripper.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
|
||
<link name="finger"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="0.8635899028063472 0.09862056591557622 0.00850232975194119"/> | ||
<mass value="1.71236178687828"/> | ||
<inertia ixx="0.002129" ixy="0.0" ixz="-0.0" iyy="0.001681" iyz="0.000162" izz="0.003403"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="0.87709 -0.823505 -0.0185"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/finger.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="0.87709 -0.823505 -0.0185"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/finger.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
|
||
<link name="link2"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="-0.0163095589512068 0.17540914221218962 0.0"/> | ||
<mass value="12.658281999999998"/> | ||
<inertia ixx="0.12979" ixy="0.002625" ixz="0.0" iyy="0.01004" iyz="0.0" izz="0.129493"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="-0.015 -0.0 -0.115"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link2.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="-0.015 -0.0 -0.115"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link2.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
|
||
<link name="link1"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="0.05071972800114364 -1.0308563411658574e-17 0.04676911608650795"/> | ||
<mass value="6.925827706354272"/> | ||
<inertia ixx="0.01241" ixy="-0.0" ixz="-0.001047" iyy="0.010387" iyz="0.0" izz="0.012306"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="-0.0 -0.0 -0.065"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link1.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="-0.0 -0.0 -0.065"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link1.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
|
||
<link name="wrist"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="0.03954999709763633 0.03472006124891969 4.209155544249166e-08"/> | ||
<mass value="3.2278801394086396"/> | ||
<inertia ixx="0.00339" ixy="-2.1e-05" ixz="0.0" iyy="0.002242" iyz="-0.0" izz="0.003439"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="0.0485 -0.69859 -0.0475"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/wrist.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="0.0485 -0.69859 -0.0475"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/wrist.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
|
||
<link name="link3"> | ||
<inertial> | ||
<origin rpy="0 0 0" xyz="-0.015621881612358529 0.06665620790957599 -0.058074231003688394"/> | ||
<mass value="7.368455487741179"/> | ||
<inertia ixx="0.018073" ixy="0.000915" ixz="-0.00101" iyy="0.011789" iyz="0.003728" izz="0.01667"/> | ||
</inertial> | ||
<visual> | ||
<origin rpy="0 0 0" xyz="-0.017 -0.3125 -0.115"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link3.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
<material name="silver"/> | ||
</visual> | ||
<collision> | ||
<origin rpy="0 0 0" xyz="-0.017 -0.3125 -0.115"/> | ||
<geometry> | ||
<mesh filename="package://spot_description/meshes/arm/link3.stl" scale="0.001 0.001 0.001"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
|
||
<joint name="base_arm_joint" type="fixed"> | ||
<origin xyz="0.29 0 0.08" rpy="0 0 0" /> | ||
<parent link="body" /> | ||
<child link="base_arm_link" /> | ||
</joint> | ||
|
||
<joint name="arm_joint1" type="revolute"> | ||
<origin rpy="0 0 0" xyz="0.0 0.0 0.065"/> | ||
<parent link="base_arm_link"/> | ||
<child link="link1"/> | ||
<axis xyz="0.0 0.0 1.0"/> | ||
<limit effort="100" lower="-3.141593" upper="2.617994" velocity="100"/> | ||
</joint> | ||
|
||
<joint name="arm_joint2" type="revolute"> | ||
<origin rpy="0 0 0" xyz="0.015 0.0 0.05"/> | ||
<parent link="link1"/> | ||
<child link="link2"/> | ||
<axis xyz="-1.0 0.0 0.0"/> | ||
<limit effort="100" lower="-3.665191" upper="0.0" velocity="100"/> | ||
</joint> | ||
|
||
<joint name="arm_joint3" type="revolute"> | ||
<origin rpy="0 0 0" xyz="0.002 0.3125 0.0"/> | ||
<parent link="link2"/> | ||
<child link="link3"/> | ||
<axis xyz="1.0 0.0 0.0"/> | ||
<limit effort="100" lower="0.0" upper="2.96706" velocity="100"/> | ||
</joint> | ||
|
||
<joint name="arm_joint4" type="revolute"> | ||
<origin rpy="0 0 0" xyz="-0.018 0.138 -0.0675"/> | ||
<parent link="link3"/> | ||
<child link="link4"/> | ||
<axis xyz="0.0 1.0 0.0"/> | ||
<limit effort="100" lower="-2.879793" upper="2.879793" velocity="100"/> | ||
</joint> | ||
|
||
<joint name="arm_joint5" type="revolute"> | ||
<origin rpy="0 0 0" xyz="-0.0475 0.24809 0.0"/> | ||
<parent link="link4"/> | ||
<child link="wrist"/> | ||
<axis xyz="1.0 0.0 0.0"/> | ||
<limit effort="100" lower="-1.570796" upper="1.570796" velocity="100"/> | ||
</joint> | ||
|
||
<joint name="arm_joint6" type="revolute"> | ||
<origin rpy="0 0 0" xyz="0.04 0.081 0.0"/> | ||
<parent link="wrist"/> | ||
<child link="gripper"/> | ||
<axis xyz="-0.0 1.0 0.0"/> | ||
<limit effort="100" lower="-2.96706" upper="2.96706" velocity="100"/> | ||
</joint> | ||
|
||
<joint name="arm_gripper" type="revolute"> | ||
<origin rpy="0 0 0" xyz="-0.86859 0.043915 -0.029"/> | ||
<parent link="gripper"/> | ||
<child link="finger"/> | ||
<axis xyz="1.0 -0.0 0.0"/> | ||
<limit effort="100" lower="-1.396263" upper="0.349066" velocity="100"/> | ||
</joint> | ||
|
||
</robot> |
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