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s650.urdf
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s650.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from s650.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="adept_s650" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- link list -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/visual/base_link.stl"/>
</geometry>
<material name="adept_grey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/collision/base_link.stl"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
</collision>
</link>
<link name="link_1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/visual/link_1.stl"/>
</geometry>
<material name="adept_grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/collision/link_1.stl"/>
</geometry>
<material name="blue"/>
</collision>
</link>
<link name="link_2">
<visual>
<origin rpy="0 1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/visual/link_2.stl"/>
</geometry>
<material name="adept_grey"/>
</visual>
<collision>
<origin rpy="0 1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/collision/link_2.stl"/>
</geometry>
<material name="blue"/>
</collision>
</link>
<link name="link_3">
<visual>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/visual/link_3.stl"/>
</geometry>
<material name="adept_grey"/>
</visual>
<collision>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/collision/link_3.stl"/>
</geometry>
<material name="blue"/>
</collision>
</link>
<link name="link_4">
<visual>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/visual/link_4.stl"/>
</geometry>
<material name="adept_grey"/>
</visual>
<collision>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/collision/link_4.stl"/>
</geometry>
<material name="blue"/>
</collision>
</link>
<link name="link_5">
<visual>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/visual/link_5.stl"/>
</geometry>
<material name="adept_grey"/>
</visual>
<collision>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/collision/link_5.stl"/>
</geometry>
<material name="blue"/>
</collision>
</link>
<link name="link_6">
<visual>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/visual/link_6.stl"/>
</geometry>
<material name="adept_grey"/>
</visual>
<collision>
<origin rpy="0 -1.5714 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://adept_s650_support/meshes/s650/collision/link_6.stl"/>
</geometry>
<material name="blue"/>
</collision>
</link>
<!-- end of linke list -->
<!-- joint list -->
<joint name="joint_1" type="revolute">
<origin xyz="0 0 0.203"/>
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-2.9670" upper="2.9670" velocity="5.72468"/>
</joint>
<joint name="joint_2" type="revolute">
<origin xyz="0.074 0 0.18795"/>
<parent link="link_1"/>
<child link="link_2"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.31613" upper="0.7854" velocity="5.235"/>
</joint>
<joint name="joint_3" type="revolute">
<origin xyz="0.270 0 0"/>
<parent link="link_2"/>
<child link="link_3"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-0.50615" upper="4.468053" velocity="6.544"/>
</joint>
<joint name="joint_4" type="revolute">
<origin xyz="-0.090 0 0.295"/>
<parent link="link_3"/>
<child link="link_4"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.31613" upper="3.316133" velocity="6.544"/>
</joint>
<joint name="joint_5" type="revolute">
<origin xyz="0 0 0"/>
<parent link="link_4"/>
<child link="link_5"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-2.0944" upper="2.0944" velocity="6.544"/>
</joint>
<joint name="joint_6" type="revolute">
<origin xyz="0.0 0 0.08"/>
<parent link="link_5"/>
<child link="link_6"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.1416" upper="3.1416" velocity="10.47"/>
</joint>
<!-- end of joint list -->
<!-- ROS base_link to Adept World Coordinates transform - if necessary -->
</robot>