Add URDF model for RM75-B OmniPicker with detailed link and joint specifications
This commit is contained in:
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@@ -0,0 +1,503 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<robot name="RM75_B_OmniPicker_fixed">
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<link name="base_link">
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<inertial>
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<origin xyz="0.00049987 5.2709E-05 0.060019" rpy="0 0 0"/>
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<mass value="1.862"/>
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<inertia ixx="0.0017232" ixy="-3.1058E-06" ixz="-3.7924E-05" iyy="0.0017051" iyz="1.3691E-06" izz="0.00090158"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/base_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link_1">
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<inertial>
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<origin xyz="0.000241 -0.013273 -0.00995" rpy="0 0 0"/>
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<mass value="1.574"/>
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<inertia ixx="0.002487573" ixy="0.000009663" ixz="-0.000007909" iyy="0.002321038" iyz="0.000179393" izz="0.001450554"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_1.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_1.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_1" type="revolute">
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<origin xyz="0 0 0.2405" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="link_1"/>
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<axis xyz="0 0 1"/>
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<limit lower="-3.106" upper="3.106" effort="60" velocity="3.14"/>
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</joint>
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<link name="link_2">
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<inertial>
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<origin xyz="-0.000357 -0.106789 0.005329" rpy="0 0 0"/>
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<mass value="1.217"/>
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<inertia ixx="0.003494121" ixy="0.000002921" ixz="-0.000005613" iyy="0.000892721" iyz="-0.000583884" izz="0.003444080"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_2.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_2.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_2" type="revolute">
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<origin xyz="0 0 0" rpy="-1.5708 0 0"/>
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<parent link="link_1"/>
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<child link="link_2"/>
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<axis xyz="0 0 1"/>
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<limit lower="-2.2689" upper="2.2689" effort="60" velocity="3.14"/>
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</joint>
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<link name="link_3">
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<inertial>
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<origin xyz="0.000003 -0.01398 -0.011324" rpy="0 0 0"/>
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<mass value="1.11"/>
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<inertia ixx="0.001836663" ixy="0.000002259" ixz="-0.000004216" iyy="0.001498875" iyz="0.000037167" izz="0.001062545"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_3.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_3.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_3" type="revolute">
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<origin xyz="0 -0.256 0" rpy="1.5708 0 0"/>
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<parent link="link_2"/>
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<child link="link_3"/>
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<axis xyz="0 0 1"/>
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<limit lower="-3.106" upper="3.106" effort="30" velocity="3.14"/>
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</joint>
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<link name="link_4">
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<inertial>
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<origin xyz="-0.000005 -0.084658 0.004747" rpy="0 0 0"/>
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<mass value="0.685"/>
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<inertia ixx="0.001282444" ixy="-0.000000551" ixz="-0.000000630" iyy="0.000373013" iyz="-0.000232084" izz="0.001256177"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_4.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_4.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_4" type="revolute">
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<origin xyz="0 0 0" rpy="-1.5708 0 0"/>
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<parent link="link_3"/>
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<child link="link_4"/>
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<axis xyz="0 0 1"/>
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<limit lower="-2.356" upper="2.356" effort="30" velocity="3.14"/>
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</joint>
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<link name="link_5">
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<inertial>
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<origin xyz="0.000078 -0.012937 -0.008781" rpy="0 0 0"/>
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<mass value="0.619"/>
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<inertia ixx="0.000627336" ixy="0.000001636" ixz="-0.000001345" iyy="0.000542455" iyz="0.000034970" izz="0.000370291"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_5.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_5.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_5" type="revolute">
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<origin xyz="0 -0.21 0" rpy="1.5708 0 0"/>
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<parent link="link_4"/>
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<child link="link_5"/>
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<axis xyz="0 0 1"/>
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<limit lower="-3.106" upper="3.106" effort="10" velocity="3.14"/>
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</joint>
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<link name="link_6">
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<inertial>
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<origin xyz="-0.000014 -0.078524 0.002819" rpy="0 0 0"/>
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<mass value="0.602"/>
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<inertia ixx="0.000780774" ixy="-0.000000121" ixz="-0.000000469" iyy="0.000289973" iyz="-0.000120513" izz="0.000763955"/>
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||||
</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_6.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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||||
</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_6.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_6" type="revolute">
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<origin xyz="0 0 0" rpy="-1.5708 0 0"/>
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<parent link="link_5"/>
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<child link="link_6"/>
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<axis xyz="0 0 1"/>
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<limit lower="-2.234" upper="2.234" effort="10" velocity="3.14"/>
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</joint>
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<link name="link_7">
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<inertial>
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<origin xyz="0.001094 -0.000077 -0.010119" rpy="0 0 0"/>
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||||
<mass value="0.107"/>
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||||
<inertia ixx="0.000044123" ixy="-0.000000064" ixz="0.0000003" iyy="0.000035078" iyz="-0.000000029" izz="0.000065445"/>
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||||
</inertial>
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||||
<visual>
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||||
<origin xyz="0 0 0" rpy="0 0 0"/>
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||||
<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_7.STL"/>
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||||
</geometry>
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||||
<material name="">
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||||
<color rgba="1 1 1 1"/>
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||||
</material>
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||||
</visual>
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||||
<collision>
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||||
<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/rm75/link_7.STL"/>
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||||
</geometry>
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||||
</collision>
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</link>
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<joint name="joint_7" type="revolute">
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<origin xyz="0 -0.144 0" rpy="1.5708 0 0"/>
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<parent link="link_6"/>
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<child link="link_7"/>
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<axis xyz="0 0 1"/>
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<limit lower="-6.28" upper="6.28" effort="10" velocity="3.14"/>
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</joint>
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<!-- RM75 end-flange alias. link_7 is treated as the tool mounting frame. -->
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<link name="rm75_flange"/>
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<joint name="rm75_link7_to_flange" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="link_7"/>
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<child link="rm75_flange"/>
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</joint>
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<!-- OmniPicker mounting transform. Adjust xyz/rpy here if an adapter plate or different clocking is used. -->
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<joint name="rm75_flange_to_omnipicker" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="rm75_flange"/>
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<child link="omnipicker_base_link"/>
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</joint>
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<link name="omnipicker_base_link">
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<inertial>
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<origin xyz="-0.00005520 1.2341E-05 0.03296193" rpy="0 0 0"/>
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||||
<mass value="0.25641368"/>
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||||
<inertia ixx="4.6351E-04" ixy="-1.0E-08" ixz="-1.04E-06" iyy="4.4525E-04" iyz="-5.00E-08" izz="1.0438E-04"/>
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</inertial>
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||||
<visual>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/base_link.STL"/>
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||||
</geometry>
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||||
<material name="">
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||||
<color rgba="0.89804 0.91765 0.92941 1"/>
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</material>
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</visual>
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</link>
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<link name="omnipicker_hand_narrow1_Link">
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<inertial>
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<origin xyz="0.0094685 0.0068806 6.5437E-05" rpy="0 0 0"/>
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<mass value="0.025428"/>
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||||
<inertia ixx="1.9574E-06" ixy="-4.2911E-07" ixz="-3.7111E-11" iyy="2.3919E-06" iyz="-3.008E-10" izz="1.5501E-06"/>
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||||
</inertial>
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||||
<visual>
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||||
<origin xyz="0 0 0" rpy="0 0 0"/>
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||||
<geometry>
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||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow1_Link.STL"/>
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||||
</geometry>
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<material name="">
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||||
<color rgba="0.75294 0.75294 0.75294 1"/>
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||||
</material>
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||||
</visual>
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||||
<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow1_Link.STL"/>
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||||
</geometry>
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||||
</collision>
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</link>
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<joint name="omnipicker_hand_narrow1_joint" type="fixed">
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<origin xyz="0 -0.0195 0.0565" rpy="-2.9951 -1.5708 -0.15964"/>
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<parent link="omnipicker_base_link"/>
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<child link="omnipicker_hand_narrow1_Link"/>
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</joint>
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<link name="omnipicker_hand_narrow2_Link">
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||||
<inertial>
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||||
<origin xyz="0.0088027 -0.007035 1.6424E-05" rpy="0 0 0"/>
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||||
<mass value="0.0040132"/>
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||||
<inertia ixx="1.0307E-07" ixy="5.7851E-08" ixz="9.5801E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
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||||
</inertial>
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||||
<visual>
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||||
<origin xyz="0 0 0" rpy="0 0 0"/>
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||||
<geometry>
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||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow2_Link.STL"/>
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||||
</geometry>
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||||
<material name="">
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||||
<color rgba="0.75294 0.75294 0.75294 1"/>
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||||
</material>
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||||
</visual>
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||||
<collision>
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||||
<origin xyz="0 0 0" rpy="0 0 0"/>
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||||
<geometry>
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||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow2_Link.STL"/>
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||||
</geometry>
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||||
</collision>
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||||
</link>
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||||
<joint name="omnipicker_hand_narrow2_joint" type="fixed">
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||||
<origin xyz="0.030852 0.018551 0" rpy="0 0 0"/>
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||||
<parent link="omnipicker_hand_narrow1_Link"/>
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||||
<child link="omnipicker_hand_narrow2_Link"/>
|
||||
</joint>
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||||
<link name="omnipicker_hand_narrow3_Link">
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||||
<inertial>
|
||||
<origin xyz="0.012508 -0.0079729 9.4339E-05" rpy="0 0 0"/>
|
||||
<mass value="0.018029"/>
|
||||
<inertia ixx="1.1403E-06" ixy="5.5159E-07" ixz="-4.0096E-13" iyy="2.5704E-06" iyz="1.0951E-12" izz="2.3252E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow3_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow3_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
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||||
<joint name="omnipicker_hand_narrow3_joint" type="fixed">
|
||||
<origin xyz="0.018118 -0.01574 0" rpy="0 0 0"/>
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||||
<parent link="omnipicker_hand_narrow2_Link"/>
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||||
<child link="omnipicker_hand_narrow3_Link"/>
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||||
</joint>
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||||
<link name="omnipicker_hand_narrow4_Link">
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||||
</link>
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||||
<joint name="omnipicker_hand_narrow4_joint" type="fixed">
|
||||
<origin xyz="0 -0.0104 0" rpy="0 0 0"/>
|
||||
<parent link="omnipicker_hand_narrow3_Link"/>
|
||||
<child link="omnipicker_hand_narrow4_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-3.14" upper="3.14" effort="0" velocity="0"/>
|
||||
</joint>
|
||||
<link name="omnipicker_hand_narrow_loop_Link">
|
||||
<inertial>
|
||||
<origin xyz="0.014869 -0.0036066 0.00029307" rpy="0 0 0"/>
|
||||
<mass value="0.022591"/>
|
||||
<inertia ixx="4.3916E-06" ixy="1.114E-07" ixz="-4.9655E-12" iyy="4.737E-06" iyz="1.7121E-11" izz="6.0445E-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow_loop_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/narrow_loop_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="omnipicker_hand_narrow_loop_joint" type="fixed">
|
||||
<origin xyz="0 -0.021633 0.07387" rpy="-2.9951 -1.5708 -0.15964"/>
|
||||
<parent link="omnipicker_base_link"/>
|
||||
<child link="omnipicker_hand_narrow_loop_Link"/>
|
||||
</joint>
|
||||
<link name="omnipicker_hand_wide1_Link">
|
||||
<inertial>
|
||||
<origin xyz="0.0095051 -0.0068479 6.8268E-05" rpy="0 0 0"/>
|
||||
<mass value="0.025428"/>
|
||||
<inertia ixx="1.9565E-06" ixy="4.2798E-07" ixz="2.3844E-10" iyy="2.3928E-06" iyz="-1.4454E-10" izz="1.5501E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide1_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide1_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="omnipicker_hand_wide1_joint" type="fixed">
|
||||
<origin xyz="0 0.0195 0.0565" rpy="-2.9951 -1.5708 -0.15964"/>
|
||||
<parent link="omnipicker_base_link"/>
|
||||
<child link="omnipicker_hand_wide1_Link"/>
|
||||
</joint>
|
||||
<link name="omnipicker_hand_wide2_Link">
|
||||
<inertial>
|
||||
<origin xyz="0.0088027 0.007035 -1.6424E-05" rpy="0 0 0"/>
|
||||
<mass value="0.0040132"/>
|
||||
<inertia ixx="1.0307E-07" ixy="-5.7851E-08" ixz="-9.58E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide2_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide2_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="omnipicker_hand_wide2_joint" type="fixed">
|
||||
<origin xyz="0.030852 -0.018551 0" rpy="0 0 0"/>
|
||||
<parent link="omnipicker_hand_wide1_Link"/>
|
||||
<child link="omnipicker_hand_wide2_Link"/>
|
||||
</joint>
|
||||
<link name="omnipicker_hand_wide3_Link">
|
||||
<inertial>
|
||||
<origin xyz="0.016206 0.0094593 4.7668E-05" rpy="0 0 0"/>
|
||||
<mass value="0.035835"/>
|
||||
<inertia ixx="8.5056E-06" ixy="-1.1363E-06" ixz="-4.2908E-11" iyy="1.1235E-05" iyz="-2.9251E-11" izz="4.6309E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide3_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide3_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="omnipicker_hand_wide3_joint" type="fixed">
|
||||
<origin xyz="0.018118 0.01574 0" rpy="0 0 0"/>
|
||||
<parent link="omnipicker_hand_wide2_Link"/>
|
||||
<child link="omnipicker_hand_wide3_Link"/>
|
||||
</joint>
|
||||
<link name="omnipicker_hand_wide4_Link">
|
||||
</link>
|
||||
<joint name="omnipicker_hand_wide4_joint" type="fixed">
|
||||
<origin xyz="0 0.0104 0" rpy="0 0 0"/>
|
||||
<parent link="omnipicker_hand_wide3_Link"/>
|
||||
<child link="omnipicker_hand_wide4_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-3.14" upper="3.14" effort="0" velocity="0"/>
|
||||
</joint>
|
||||
<link name="omnipicker_hand_wide_loop_Link">
|
||||
<inertial>
|
||||
<origin xyz="0.016268 0.0040555 0.00030323" rpy="0 0 0"/>
|
||||
<mass value="0.025142"/>
|
||||
<inertia ixx="5.887E-06" ixy="-1.1234E-07" ixz="2.1954E-11" iyy="6.236E-06" iyz="-9.473E-12" izz="6.2389E-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide_loop_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xr_rm_teleop/models/rm75_omnipicker/meshes/omnipicker/wide_loop_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="omnipicker_hand_wide_loop_joint" type="fixed">
|
||||
<origin xyz="0 0.021633 0.07387" rpy="-2.9951 -1.5708 -0.15964"/>
|
||||
<parent link="omnipicker_base_link"/>
|
||||
<child link="omnipicker_hand_wide_loop_Link"/>
|
||||
</joint>
|
||||
<link name="omnipicker_mount_frame"/>
|
||||
<joint name="omnipicker_base_to_mount_frame" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="omnipicker_base_link"/>
|
||||
<child link="omnipicker_mount_frame"/>
|
||||
</joint>
|
||||
<link name="omnipicker_tcp"/>
|
||||
<joint name="omnipicker_tcp_joint" type="fixed">
|
||||
<parent link="omnipicker_base_link"/>
|
||||
<child link="omnipicker_tcp"/>
|
||||
<origin xyz="0 0 0.16" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user