180 lines
6.2 KiB
XML
180 lines
6.2 KiB
XML
<?xml version="1.0" ?>
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<robot name="robot">
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<link name="Board">
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<visual>
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<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Board.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<visual>
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<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/BoardRail.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.500000 0.000000 0.016000" rpy="0.000000 1.570796 0.000000"/>
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<geometry>
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<cylinder radius="0.004000" length="1.000000"/>
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</geometry>
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</collision>
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</link>
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<link name="Base">
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<visual>
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<origin xyz="-0.030000 0.000000 -0.035000" rpy="0.000000 0.000000 0.000000"/>
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<geometry>
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<mesh filename="surfaces/Base.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.055000 0.108000 0.045000" rpy="0.000000 1.570796 0.000000"/>
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<geometry>
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<cylinder radius="0.004000" length="0.110000"/>
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</geometry>
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</collision>
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</link>
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<link name="Arm1">
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<visual>
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<origin xyz="-0.029000 0.025000 0.028500" rpy="3.141593 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Holm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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<cylinder radius="0.004000" length="0.250000"/>
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</geometry>
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</collision>
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</link>
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<link name="Ellbow">
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<visual>
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<origin xyz="0.090000 0.000000 0.000000" rpy="0.000000 -1.570796 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Ellebogen.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.045000 0.000000 0.000000" rpy="0.000000 1.570796 0.000000"/>
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<geometry>
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<cylinder radius="0.004000" length="0.090000"/>
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</geometry>
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</collision>
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</link>
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<link name="Arm2">
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<visual>
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<origin xyz="0.000000 -0.250000 0.000000" rpy="3.141593 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Unterarm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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<cylinder radius="0.004000" length="0.250000"/>
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</geometry>
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</collision>
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</link>
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<link name="Hand">
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<collision>
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<origin xyz="0.000000 -0.017500 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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<cylinder radius="0.004000" length="0.035000"/>
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</geometry>
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</collision>
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</link>
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<link name="Palm">
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<collision>
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<origin xyz="0.000000 -0.035000 0.000000" rpy="0.000000 1.570796 0.000000"/>
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<geometry>
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<cylinder radius="0.007000" length="0.100000"/>
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</geometry>
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</collision>
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</link>
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<link name="FingerA">
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<visual>
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<origin xyz="0.024000 0.000000 -0.009100" rpy="1.570796 -1.570796 0.000000"/>
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<geometry>
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<mesh filename="surfaces/Finger.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.000000 -0.030000 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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<cylinder radius="0.004000" length="0.060000"/>
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</geometry>
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</collision>
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</link>
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<link name="FingerB">
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<visual>
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<origin xyz="-0.024000 0.000000 0.009100" rpy="1.570796 1.570796 0.000000"/>
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<geometry>
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<mesh filename="surfaces/Finger.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.000000 -0.030000 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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<cylinder radius="0.004000" length="0.060000"/>
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</geometry>
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</collision>
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</link>
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<joint name="Slider" type="prismatic">
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<parent link="Board"/>
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<child link="Base"/>
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<origin xyz="0.000000 0.000000 0.016000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="1.000000 0.000000 0.000000"/>
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<limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
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</joint>
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<joint name="Joint1" type="revolute">
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<parent link="Base"/>
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<child link="Arm1"/>
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<origin xyz="0.110000 0.108000 0.045000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="-1.000000 0.000000 0.000000"/>
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<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
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</joint>
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<joint name="Joint2" type="revolute">
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<parent link="Arm1"/>
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<child link="Ellbow"/>
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<origin xyz="0.000000 -0.250000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="-1.000000 0.000000 0.000000"/>
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<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
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</joint>
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<joint name="Joint3" type="revolute">
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<parent link="Ellbow"/>
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<child link="Arm2"/>
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<origin xyz="0.090000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="0.000000 -1.000000 0.000000"/>
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<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
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</joint>
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<joint name="Joint4" type="revolute">
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<parent link="Arm2"/>
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<child link="Hand"/>
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<origin xyz="0.000000 -0.250000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="1.000000 0.000000 0.000000"/>
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<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
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</joint>
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<joint name="Joint3" type="revolute">
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<parent link="Hand"/>
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<child link="Palm"/>
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<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="0.000000 -1.000000 0.000000"/>
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<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
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</joint>
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<joint name="Slider" type="prismatic">
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<parent link="Palm"/>
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<child link="FingerA"/>
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<origin xyz="0.004000 -0.035000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="1.000000 0.000000 0.000000"/>
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<limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
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</joint>
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<joint name="Slider" type="prismatic">
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<parent link="Palm"/>
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<child link="FingerB"/>
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<origin xyz="-0.004000 -0.035000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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<axis xyz="-1.000000 0.000000 0.000000"/>
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<limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
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</joint>
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</robot>
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