39 lines
936 B
XML
39 lines
936 B
XML
<?xml version="1.0"?>
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<robot name="painting_robot">
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<!-- Base Link -->
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<link name="base_link"/>
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<!-- Link 1 -->
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<link name="link1"/>
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<joint name="joint1" type="revolute">
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<parent link="base_link"/>
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<child link="link1"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="10.0" velocity="0.5" lower="-1.57" upper="1"/>
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</joint>
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<!-- Link 2 -->
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<link name="link2"/>
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<joint name="joint2" type="revolute">
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz="0.4 0 0" rpy="0 0 0"/> <!-- 400.00mm from base -->
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<axis xyz="0 0 1"/>
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<limit effort="10.0" velocity="0.5" lower="0.02" upper="2.8"/>
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</joint>
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<!-- Tool endpoint -->
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<link name="tool0"/>
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<joint name="tool0_fixed_joint" type="fixed">
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<parent link="link2"/>
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<child link="tool0"/>
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<origin xyz="0.25025 0 0" rpy="0 0 0"/> <!-- TCP 250.25mm from joint2 -->
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</joint>
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</robot>
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