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<child link="spur_gear__35_teeth_" />
|
||||
<mimic joint="revolute_1_4" multiplier="-1.0" offset="0.0"/>
|
||||
</joint>
|
||||
<joint name="revolute_3" type="continuous">
|
||||
<origin xyz="0.0579516 0.008 0.00218178" rpy="1.5708 -0.0376306 2.66989e-15" />
|
||||
<axis xyz="0 0 -1" />
|
||||
<parent link="spur_gear__35_teeth__1" />
|
||||
<child link="claw1" />
|
||||
<mimic joint="revolute_1_4" multiplier="1.0" offset="0.0"/>
|
||||
</joint>
|
||||
<joint name="revolute_5" type="continuous">
|
||||
<origin xyz="0.047843 0.0398884 -0.0045" rpy="-8.29198e-16 -5.55112e-17 -1.07509e-15" />
|
||||
<axis xyz="0 0 -1" />
|
||||
<parent link="claw_bracket" />
|
||||
<child link="part_1_6" />
|
||||
<mimic joint="revolute_1_4" multiplier="-1.0" offset="0.0"/>
|
||||
</joint>
|
||||
<joint name="revolute_6" type="continuous">
|
||||
<origin xyz="0.047843 0.0236182 -5.55112e-16" rpy="2.74412e-15 -2.12334e-15 1.42553" />
|
||||
<axis xyz="-0 -0 1" />
|
||||
<parent link="claw_bracket" />
|
||||
<child link="part_1_5" />
|
||||
<mimic joint="revolute_2_4" multiplier="1.0" offset="0.0"/>
|
||||
</joint>
|
||||
<joint name="cylindrical_2_1" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 -0 0" />
|
||||
<axis xyz="0 0 1" />
|
||||
<parent link="cylindrical_2" />
|
||||
<child link="claw2" />
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user