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pointy.urdf
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pointy.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ./boxy_description.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="pointy" xmlns:controller="http:https://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http:https://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http:https://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http:https://www.ros.org/wiki/xacro">
<link name="base_link"/>
<joint name="joint_x" type="prismatic">
<parent link="base_link"/>
<child link="link1"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-1.1" upper="1.2" velocity=".1"/>
</joint>
<link name="link1"/>
<joint name="joint_y" type="prismatic">
<parent link="link1"/>
<child link="link2"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="1.0" lower="-1.3" upper="1.4" velocity=".3"/>
</joint>
<link name="link2"/>
<joint name="joint_z" type="prismatic">
<parent link="link2"/>
<child link="eef"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="1.0" lower="-1.5" upper="1.6" velocity=".5"/>
</joint>
<link name="eef"/>
</robot>