66 lines
2.4 KiB
XML
66 lines
2.4 KiB
XML
<?xml version="1.0" ?>
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<robot name="ur10e">
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<link name="world"/>
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<link name="base_link"/>
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<link name="shoulder_link"/>
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<link name="upper_arm_link"/>
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<link name="forearm_link"/>
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<link name="wrist_1_link"/>
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<link name="wrist_2_link"/>
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<link name="wrist_3_link"/>
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<link name="tool0"/>
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<joint name="base_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base_link"/>
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</joint>
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<joint name="shoulder_pan_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.1807"/>
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<parent link="base_link"/>
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<child link="shoulder_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
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</joint>
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<joint name="shoulder_lift_joint" type="revolute">
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<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
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<parent link="shoulder_link"/>
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<child link="upper_arm_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
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</joint>
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<joint name="elbow_joint" type="revolute">
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<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
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<parent link="upper_arm_link"/>
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<child link="forearm_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
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</joint>
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<joint name="wrist_1_joint" type="revolute">
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<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
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<parent link="forearm_link"/>
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<child link="wrist_1_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
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</joint>
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<joint name="wrist_2_joint" type="revolute">
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<origin rpy="1.570796327 0 0" xyz="0 -0.11985 0"/>
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<parent link="wrist_1_link"/>
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<child link="wrist_2_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
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</joint>
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<joint name="wrist_3_joint" type="revolute">
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<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 0"/>
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<parent link="wrist_2_link"/>
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<child link="wrist_3_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
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</joint>
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<joint name="tool0_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="wrist_3_link"/>
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<child link="tool0"/>
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</joint>
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</robot>
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