feat: add new Arm URDF from SW in ROS1 package format

src/rover_urdf_pkg/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(rover_urdf_pkg)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'Axis 0 Joint', 'Axis 1 Joint', 'Axis 2 Joint', 'Axis 3 Joint', 'Wrist Differential Joint', 'Wrist-EF Roll Joint', 'Gripper Slider Right', 'Gripper Slider Left', ]

src/rover_urdf_pkg/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find URDF v2 - axes added)/urdf/URDF v2 - axes added.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find URDF v2 - axes added)/urdf.rviz" />
+</launch>

src/rover_urdf_pkg/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find URDF v2 - axes added)/urdf/URDF v2 - axes added.urdf -urdf -model URDF v2 - axes added"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

src/rover_urdf_pkg/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>rover_urdf_pkg</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for Clucky's arm</p>
+    <p>This package contains configuration data, 3D models and launch files
+for Clucky's arm</p>
+  </description>
+  <author>David Sharpe</author>
+  <maintainer email="ds0196@uah.edu" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

src/rover_urdf_pkg/urdf/ASTRA Arm.csv

@@ -0,0 +1,10 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,0.026661,-0.017083,-0.072681,0,0,0,1.344,0.0071986,-1.8109E-06,-4.371E-06,0.0087125,1.3418E-07,0.015884,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,,Turret Assembly-1/Base Plate OLD-2;Turret Assembly-1/Magnet Ring-1;Turret Assembly-1/Bearing Stack Pinch Ring-1;Turret Assembly-1/Ring Gear-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Axis 0 Plate,0.025635,0.047115,0.021109,0,0,0,2.045,0.0097744,2.0744E-07,0.00060246,0.012437,-2.2545E-05,0.00611,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,,Turret Assembly-1/Pinion Gear Mounting Plate-1;Turret Assembly-1/Motor Adjustment Plate-1;Turret Assembly-1/17HS19-1684S-PG14.step-1;Turret Assembly-1/Spur Gear Retainer-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-2;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-4;Turret Assembly-1/Electrical Box Assembly-1/Clamshell-1;Turret Assembly-1/Electrical Box Assembly-1/Sheet Base-2;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-1;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-1;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-2;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-3,Origin_Axis 0 Joint,Axis1,Axis 0 Joint,revolute,0.018772,-0.020734,-0.04971,1.5708,0,3.1115,base_link,0,-1,0,0,0,0,0,,,,,,,,
+Axis 1 Segment,0.317731812584795,0.0226837932394467,-2.94234579792906E-05,0,0,0,2.10107115350287,0.00185099460285527,-6.85595125576909E-06,-2.99093842113918E-07,0.00462248035875048,2.91093713403385E-07,0.00297641069201651,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,,Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-001-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-2;Axis 0-1 Forearm-1/ASTRA-02-00-009-1;Axis 0-1 Forearm-1/2024 Axis 0-1 CF Tube-1;Axis 0-1 Forearm-1/ASTRA-02-00-009-2;ASTRA-02-00-000-2/ASTRA-02-00-006-1;ASTRA-02-00-000-2/ASTRA-02-00-007-2;ASTRA-02-00-000-2/ASTRA-02-00-007-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1,Origin_Axis 1 Joint,Axis2,Axis 1 Joint,revolute,-0.0271654135185528,0.0927245490180083,0.00384109909109076,-3.14159265358977,-0.00524713054608625,1.5707963267949,Axis 0 Plate,0,-1,0,0,0,0,0,,,,,,,,
+Axis 2 Segment,0.179701426719665,-0.0176131583689303,5.71147464441535E-05,0,0,0,3.13644489009951,0.00172062005671382,1.49995165753112E-05,3.0146547850231E-07,0.00419573957161135,2.86281305896603E-07,0.00280821030835127,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,,ASTRA-02-00-000-2/ASTRA-02-00-003-1;ASTRA-02-00-000-2/ASTRA-02-00-004-1;ASTRA-02-00-000-2/ASTRA-02-00-003-2;Axis 1-2 Forearm-1/ASTRA-02-00-009-1;Axis 1-2 Forearm-1/2024 Axis 1-2 CF Tube-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Axis 1-2 Forearm-1/ASTRA-02-00-009-2;ASTRA-03-00-000-1/ASTRA-02-00-006-1;ASTRA-03-00-000-1/ASTRA-02-00-007-1;ASTRA-03-00-000-1/ASTRA-02-00-007-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1,Origin_Axis 2 Joint,Axis3,Axis 2 Joint,revolute,0.470027000000004,0.0126999999999999,0,3.14159265358979,0.000449358059257729,0,Axis 1 Segment,0,-1,0,0,0,0,0,,,,,,,,
+Wrist,0.0258890113931529,-0.0205223442970055,6.01641698143966E-05,0,0,0,1.95105877103309,0.00117490634970832,8.14355696873965E-06,2.37060433355634E-09,0.0025492938141431,-4.81227026285992E-09,0.00159235737231991,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,,ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2,Origin_Axis 3 Joint,Axis4,Axis 3 Joint,revolute,0.393826999999998,0,0,0,-0.000409495780687665,0,Axis 2 Segment,0,-1,0,0,0,0,0,,,,,,,,
+Diff Carrier,-8.64620358677695E-06,-0.00516792807449162,-7.22608790769408E-07,0,0,0,0.0655351660884378,1.65846526943977E-05,3.62206129298215E-09,5.09422122565314E-10,4.25479683866677E-05,2.86164802173259E-10,3.87760449919773E-05,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,,FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2,Origin_Wrist Differential Joint,Axis5,Wrist Differential Joint,revolute,0.176692001200001,-0.00622300000004081,0,-3.05263944120951,1.57079631189374,1.65994236547327,Wrist,-1,0,0,0,0,0,0,,,,,,,,
+End Effector,-0.00327558376591462,0.00327411156667146,-0.0553569354578649,0,0,0,0.397605677640027,0.000631368000075726,-1.01357929540856E-09,-3.06601632900158E-06,0.000105800099414061,2.32813748604228E-09,0.000592001119919064,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,,Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2,Origin_Wrist-EF Roll Joint,Axis6,Wrist-EF Roll Joint,continuous,0,0.01,0,-1.5708,-0.21566,-3.1416,Diff Carrier,0,0,1,,,,,,,,,,,,
+EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper Slider Right,Axis7,Gripper Slider Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,,
+EF Gripper Left,0.000260261090099842,0.0391877753208171,-0.0810862651363518,0,0,0,0.0813132558225319,7.92230074239095E-05,8.60239969339994E-10,-3.27617434511821E-07,8.29877943429396E-05,9.84609377733742E-09,4.98027032334885E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,,Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3,Origin_Gripper Slider Left,Axis7,Gripper Slider Left,prismatic,0,0,-0.031677,0,0,0,End Effector,0,-1,0,0,0,0,0,,,,,,,,

src/rover_urdf_pkg/urdf/ASTRA Arm.urdf

@@ -0,0 +1,524 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.1-11-gaed57c3-dirty  Build Version: 1.6.9361.3070
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="ASTRA Arm">
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.026661 -0.017083 -0.072681"
+        rpy="0 0 0" />
+      <mass
+        value="1.344" />
+      <inertia
+        ixx="0.0071986"
+        ixy="-1.8109E-06"
+        ixz="-4.371E-06"
+        iyy="0.0087125"
+        iyz="1.3418E-07"
+        izz="0.015884" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link
+    name="Axis 0 Plate">
+    <inertial>
+      <origin
+        xyz="0.025635 0.047115 0.021109"
+        rpy="0 0 0" />
+      <mass
+        value="2.045" />
+      <inertia
+        ixx="0.0097744"
+        ixy="2.0744E-07"
+        ixz="0.00060246"
+        iyy="0.012437"
+        iyz="-2.2545E-05"
+        izz="0.00611" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Axis 0 Plate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Axis 0 Plate.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Axis 0 Joint"
+    type="revolute">
+    <origin
+      xyz="0.018772 -0.020734 -0.04971"
+      rpy="1.5708 0 3.1115" />
+    <parent
+      link="base_link" />
+    <child
+      link="Axis 0 Plate" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <link
+    name="Axis 1 Segment">
+    <inertial>
+      <origin
+        xyz="0.317731812584795 0.0226837932394467 -2.94234579792906E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.10107115350287" />
+      <inertia
+        ixx="0.00185099460285527"
+        ixy="-6.85595125576909E-06"
+        ixz="-2.99093842113918E-07"
+        iyy="0.00462248035875048"
+        iyz="2.91093713403385E-07"
+        izz="0.00297641069201651" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Axis 1 Segment.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.8 0.2 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Axis 1 Segment.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Axis 1 Joint"
+    type="revolute">
+    <origin
+      xyz="-0.0271654135185528 0.0927245490180083 0.00384109909109076"
+      rpy="-3.14159265358977 -0.00524713054608625 1.5707963267949" />
+    <parent
+      link="Axis 0 Plate" />
+    <child
+      link="Axis 1 Segment" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-1.05"
+      upper="1.6"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <link
+    name="Axis 2 Segment">
+    <inertial>
+      <origin
+        xyz="0.179701426719665 -0.0176131583689303 5.71147464441535E-05"
+        rpy="0 0 0" />
+      <mass
+        value="3.13644489009951" />
+      <inertia
+        ixx="0.00172062005671382"
+        ixy="1.49995165753112E-05"
+        ixz="3.0146547850231E-07"
+        iyy="0.00419573957161135"
+        iyz="2.86281305896603E-07"
+        izz="0.00280821030835127" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Axis 2 Segment.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.2 0.8 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Axis 2 Segment.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Axis 2 Joint"
+    type="revolute">
+    <origin
+      xyz="0.470027000000004 0.0126999999999999 0"
+      rpy="3.14159265358979 0.000449358059257729 0" />
+    <parent
+      link="Axis 1 Segment" />
+    <child
+      link="Axis 2 Segment" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-2.0"
+      upper="2.0"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <link
+    name="Wrist">
+    <inertial>
+      <origin
+        xyz="0.0258890113931529 -0.0205223442970055 6.01641698143966E-05"
+        rpy="0 0 0" />
+      <mass
+        value="1.95105877103309" />
+      <inertia
+        ixx="0.00117490634970832"
+        ixy="8.14355696873965E-06"
+        ixz="2.37060433355634E-09"
+        iyy="0.0025492938141431"
+        iyz="-4.81227026285992E-09"
+        izz="0.00159235737231991" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Wrist.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.2 0.2 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Wrist.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Axis 3 Joint"
+    type="revolute">
+    <origin
+      xyz="0.393826999999998 0 0"
+      rpy="0 -0.000409495780687665 0" />
+    <parent
+      link="Axis 2 Segment" />
+    <child
+      link="Wrist" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-1.6"
+      upper="1.9"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <link
+    name="Diff Carrier">
+    <inertial>
+      <origin
+        xyz="-8.64620358677695E-06 -0.00516792807449162 -7.22608790769408E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.0655351660884378" />
+      <inertia
+        ixx="1.65846526943977E-05"
+        ixy="3.62206129298215E-09"
+        ixz="5.09422122565314E-10"
+        iyy="4.25479683866677E-05"
+        iyz="2.86164802173259E-10"
+        izz="3.87760449919773E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Diff Carrier.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.96 0.82 0.01 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/Diff Carrier.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Wrist Differential Joint"
+    type="revolute">
+    <origin
+      xyz="0.176692001200001 -0.00622300000004081 0"
+      rpy="-3.05263944120951 1.57079631189374 1.65994236547327" />
+    <parent
+      link="Wrist" />
+    <child
+      link="Diff Carrier" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-1.6"
+      upper="1.6"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <link
+    name="End Effector">
+    <inertial>
+      <origin
+        xyz="-0.00327558376591462 0.00327411156667146 -0.0553569354578649"
+        rpy="0 0 0" />
+      <mass
+        value="0.397605677640027" />
+      <inertia
+        ixx="0.000631368000075726"
+        ixy="-1.01357929540856E-09"
+        ixz="-3.06601632900158E-06"
+        iyy="0.000105800099414061"
+        iyz="2.32813748604228E-09"
+        izz="0.000592001119919064" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/End Effector.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.01 0.82 0.96 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/End Effector.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Wrist-EF Roll Joint"
+    type="continuous">
+    <origin
+      xyz="0 0.01 0"
+      rpy="-1.5708 -0.21566 -3.1416" />
+    <parent
+      link="Diff Carrier" />
+    <child
+      link="End Effector" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+
+  <link
+    name="EF Gripper Right">
+    <inertial>
+      <origin
+        xyz="3.60822483003176E-16 0.0395187564799554 -0.0785892929086096"
+        rpy="0 0 0" />
+      <mass
+        value="0.0859306256217421" />
+      <inertia
+        ixx="8.1015302646778E-05"
+        ixy="2.5410988417629E-21"
+        ixz="3.75123099070348E-19"
+        iyy="8.51028632685389E-05"
+        iyz="1.00631950096307E-08"
+        izz="5.50169350148622E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/EF Gripper Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.8 0.8 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/EF Gripper Right.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Gripper Slider Right"
+    type="prismatic">
+    <origin
+      xyz="0 0 -0.031677"
+      rpy="0 0 3.1416" />
+    <parent
+      link="End Effector" />
+    <child
+      link="EF Gripper Right" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.025"
+      upper="0.04"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <link
+    name="EF Gripper Left">
+    <inertial>
+      <origin
+        xyz="0.000260261090099842 0.0391877753208171 -0.0810862651363518"
+        rpy="0 0 0" />
+      <mass
+        value="0.0813132558225319" />
+      <inertia
+        ixx="7.92230074239095E-05"
+        ixy="8.60239969339994E-10"
+        ixz="-3.27617434511821E-07"
+        iyy="8.29877943429396E-05"
+        iyz="9.84609377733742E-09"
+        izz="4.98027032334885E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/EF Gripper Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.8 0.8 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rover_urdf_pkg/meshes/EF Gripper Left.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="Gripper Slider Left"
+    type="prismatic">
+    <origin
+      xyz="0 0 -0.031677"
+      rpy="0 0 0" />
+    <parent
+      link="End Effector" />
+    <child
+      link="EF Gripper Left" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-0.04"
+      upper="0.025"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+</robot>