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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
name="ur10" >
<!-- common stuff -->
<xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
<!-- ur10 -->
<xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
<!-- arm -->
<xacro:ur10_robot prefix="" joint_limited="true"
shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
/>
<link name="world" />
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
</joint>
<!-- depth camera-->
<xacro:include filename="$(find ur_my_experiment)/urdf/depth_camera.urdf.xacro" />
<joint name="world_to_camera" type="fixed">
<origin xyz="1.0 0.0 2.0" rpy="0 1.57 0"/>
<parent link="world"/>
<child link="depth_camera_link"/>
</joint>
</robot>