mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-03 02:27:04 +00:00
70 lines
2.1 KiB
XML
70 lines
2.1 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="paraller_gripper" >
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<xacro:property name="width" value=".2" />
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<link name="gripper_base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " -1.5708 0 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_left">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_left.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " -1.5708 0 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_left.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_right">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_right.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " -1.5708 0 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_right.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<joint name="gripper_controller" type="prismatic">
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<axis xyz="1 0 0"/>
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<limit effort = "1000.0" lower = "-0.007" upper = "0.0" velocity = "0"/>
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<parent link="gripper_base"/>
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<child link="gripper_left"/>
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<origin xyz= "0.0 0 0" rpy = "0 0 0"/>
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</joint>
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<joint name="gripper_base_to_gripper_left" type="prismatic">
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<axis xyz="1 0 0"/>
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<limit effort = "1000.0" lower = "-0.007" upper = "0.0" velocity = "0"/>
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<parent link="gripper_base"/>
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<child link="gripper_right"/>
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<origin xyz= "0 0.0 0" rpy = "0 0 0"/>
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<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
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</joint>
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</robot>
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