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Add Kinova Gen2 7 DoF Spherical Wrist geometry and kinematics #2

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Add Kinova Gen2 7 DoF Spherical Wrist geometry and kinematics #2

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72e0120
Add Kinova Gen2 7 DoF Spherical Wrist geometry and kinematics
rickertm Apr 27, 2020
f782d0e
Add convex geometry for Kinova Gen2 7 DoF Spherical Wrist
rickertm Jul 7, 2020
0a2a696
Add path planning example for Kinova Gen2 7 DoF Spherical Wrist
rickertm Jul 7, 2020
4e78f77
Update end-effector frame of Kinova Gen2 7 DoF Spherical Wrist
rickertm Jan 6, 2021
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198 changes: 198 additions & 0 deletions rlkin/kinova-gen2-7dof.xml
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Original file line number Diff line number Diff line change
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<?xml version="1.0" encoding="UTF-8"?>
<rlkin xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlkin.xsd">
<kinematics>
<manufacturer>Kinova</manufacturer>
<name>Gen2 7 DoF Spherical Wrist</name>
<world id="world">
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</world>
<transform id="base">
<frame>
<a idref="world"/>
<b idref="link0"/>
</frame>
<rotation>
<x>180</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</transform>
<link id="link0">
<ignore/>
<ignore idref="link1"/>
</link>
<revolute id="joint0">
<frame>
<a idref="link0"/>
<b idref="link1"/>
</frame>
<dh>
<d>-0.2755</d>
<theta>0</theta>
<a>0</a>
<alpha>90</alpha>
</dh>
<offset>180</offset>
<max>180</max>
<min>-180</min>
<speed>36</speed>
<wraparound/>
</revolute>
<link id="link1">
<ignore idref="link0"/>
<ignore idref="link2"/>
</link>
<revolute id="joint1">
<frame>
<a idref="link1"/>
<b idref="link2"/>
</frame>
<dh>
<d>0</d>
<theta>0</theta>
<a>0</a>
<alpha>90</alpha>
</dh>
<max>313</max>
<min>47</min>
<speed>36</speed>
</revolute>
<link id="link2">
<ignore idref="link1"/>
<ignore idref="link3"/>
<ignore idref="link4"/>
</link>
<revolute id="joint2">
<frame>
<a idref="link2"/>
<b idref="link3"/>
</frame>
<dh>
<d>-0.41</d>
<theta>0</theta>
<a>0</a>
<alpha>90</alpha>
</dh>
<max>180</max>
<min>-180</min>
<speed>36</speed>
<wraparound/>
</revolute>
<link id="link3">
<ignore idref="link2"/>
<ignore idref="link4"/>
</link>
<revolute id="joint3">
<frame>
<a idref="link3"/>
<b idref="link4"/>
</frame>
<dh>
<d>-0.0098</d>
<theta>0</theta>
<a>0</a>
<alpha>90</alpha>
</dh>
<max>330</max>
<min>30</min>
<speed>36</speed>
</revolute>
<link id="link4">
<ignore idref="link2"/>
<ignore idref="link3"/>
<ignore idref="link5"/>
<ignore idref="link6"/>
</link>
<revolute id="joint4">
<frame>
<a idref="link4"/>
<b idref="link5"/>
</frame>
<dh>
<d>-0.3111</d>
<theta>0</theta>
<a>0</a>
<alpha>90</alpha>
</dh>
<max>180</max>
<min>-180</min>
<speed>48</speed>
<wraparound/>
</revolute>
<link id="link5">
<ignore idref="link4"/>
<ignore idref="link6"/>
</link>
<revolute id="joint5">
<frame>
<a idref="link5"/>
<b idref="link6"/>
</frame>
<dh>
<d>0</d>
<theta>0</theta>
<a>0</a>
<alpha>90</alpha>
</dh>
<max>295</max>
<min>65</min>
<speed>48</speed>
</revolute>
<link id="link6">
<ignore idref="link4"/>
<ignore idref="link5"/>
</link>
<revolute id="joint6">
<frame>
<a idref="link6"/>
<b idref="link7"/>
</frame>
<dh>
<d>-0.13074</d>
<theta>0</theta>
<a>0</a>
<alpha>180</alpha>
</dh>
<offset>90</offset>
<max>180</max>
<min>-180</min>
<speed>48</speed>
<wraparound/>
</revolute>
<link id="link7">
<ignore idref="link5"/>
<ignore idref="link6"/>
</link>
<transform id="tool">
<frame>
<a idref="link7"/>
<b idref="tcp"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</transform>
<frame id="tcp"/>
</kinematics>
</rlkin>
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