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offset_wrench.urdf
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<robot name="wrench">
<material name="trans_grey">
<color rgba="0.2 0.2 0.2 0.5"/>
</material>
<link name="link_x_trans"/>
<link name="link_y_trans"/>
<link name="link_z_trans"/>
<link name="link_x_rot"/>
<link name="link_y_rot"/>
<link name="link_z_rot"/>
<link name="offset_wrench">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.00987"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<geometry>
<mesh filename="offset_wrench_nogrip.obj"/>
</geometry>
<material name="trans_grey"/>
</visual>
<collision>
<geometry>
<mesh filename="offset_wrench_nogrip.obj"/>
</geometry>
</collision>
</link>
<joint name="x_trans" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_x_trans"/>
<child link="link_y_trans"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-10" upper="10" velocity="100"/>
</joint>
<joint name="y_trans" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_y_trans"/>
<child link="link_z_trans"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-10" upper="10" velocity="100"/>
</joint>
<joint name="z_trans" type="prismatic">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_z_trans"/>
<child link="link_x_rot"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-10" upper="10" velocity="100"/>
</joint>
<joint name="x_rot" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_x_rot"/>
<child link="link_y_rot"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-10" upper="10" velocity="100"/>
</joint>
<joint name="y_rot" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_y_rot"/>
<child link="link_z_rot"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-10" upper="10" velocity="100"/>
</joint>
<joint name="z_rot" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_z_rot"/>
<child link="offset_wrench"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-10" upper="10" velocity="100"/>
</joint>
</robot>