aaron/rover-ros2
1
0
Fork 0
mirror of https://github.com/SHC-ASTRA/rover-ros2.git synced 2026-02-11 09:20:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
David Sharpe
2025-08-18 13:36:12 -05:00
committed by David
parent 2db9b67ebc
commit 6671f290e5
17 changed files with 1375 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
src/rover_urdf_pkg/CMakeLists.txt Executable file
View File

@@ -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)

1
src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml Executable file
View File

@@ -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', ]

765
src/rover_urdf_pkg/export.log Executable file
View File

File diff suppressed because one or more lines are too long

20
src/rover_urdf_pkg/launch/display.launch Executable file
View File

@@ -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>

20
src/rover_urdf_pkg/launch/gazebo.launch Executable file
View File

@@ -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>

BIN
src/rover_urdf_pkg/meshes/Axis 0 Plate.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/Axis 1 Segment.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/Axis 2 Segment.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/Diff Carrier.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/EF Gripper Left.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/EF Gripper Right.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/End Effector.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/Wrist.STL Executable file
View File

Binary file not shown.

BIN
src/rover_urdf_pkg/meshes/base_link.STL Executable file
View File

Binary file not shown.

21
src/rover_urdf_pkg/package.xml Executable file
View File

@@ -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>

10
src/rover_urdf_pkg/urdf/ASTRA Arm.csv Executable file
View File

@@ -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,,,,,,,,
1 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
2 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
3 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
4 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
5 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
6 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
7 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
8 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
9 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
10 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

524
src/rover_urdf_pkg/urdf/ASTRA Arm.urdf Executable file
View File

@@ -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>