30 lines
959 B
Plaintext
30 lines
959 B
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro"
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name="ur5e" >
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<!-- common stuff -->
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<xacro:include filename="$(find ur_e_description)/urdf/common.gazebo.xacro" />
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<!-- ur5e -->
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<xacro:include filename="$(find ur_e_description)/urdf/ur5e.urdf.xacro" />
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<!-- arm -->
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<xacro:ur5e_robot prefix="" joint_limited="true"
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shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
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shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
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elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
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wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
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wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
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wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
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/>
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<link name="world" />
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<joint name="world_joint" type="fixed">
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<parent link="world" />
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<child link = "base_link" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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</robot>
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