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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,94 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <rlkin xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlkin.xsd"> | ||
| <kinematics> | ||
| <manufacturer>MSL</manufacturer> | ||
| <name>2dpoint1</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>0</x> | ||
| <y>90</y> | ||
| <z>0</z> | ||
| </rotation> | ||
| <translation> | ||
| <x>0</x> | ||
| <y>0</y> | ||
| <z>0</z> | ||
| </translation> | ||
| </transform> | ||
| <link id="link0"> | ||
| <ignore/> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link2"/> | ||
| </link> | ||
| <prismatic id="joint0"> | ||
| <frame> | ||
| <a idref="link0"/> | ||
| <b idref="link1"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>0</theta> | ||
| <a>0</a> | ||
| <alpha>-90</alpha> | ||
| </dh> | ||
| <max>100</max> | ||
| <min>0</min> | ||
| </prismatic> | ||
| <link id="link1"> | ||
| <ignore/> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link2"/> | ||
| </link> | ||
| <prismatic id="joint1"> | ||
| <frame> | ||
| <a idref="link1"/> | ||
| <b idref="link2"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>-90</theta> | ||
| <a>0</a> | ||
| <alpha>90</alpha> | ||
| </dh> | ||
| <max>100</max> | ||
| <min>0</min> | ||
| </prismatic> | ||
| <link id="link2"> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link1"/> | ||
| </link> | ||
| <transform id="tool"> | ||
| <frame> | ||
| <a idref="link2"/> | ||
| <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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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,194 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <rlkin xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlkin.xsd"> | ||
| <kinematics> | ||
| <manufacturer></manufacturer> | ||
| <name>Alpha-Puzzle</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>0</x> | ||
| <y>90</y> | ||
| <z>0</z> | ||
| </rotation> | ||
| <translation> | ||
| <x>0</x> | ||
| <y>0</y> | ||
| <z>0</z> | ||
| </translation> | ||
| </transform> | ||
| <link id="link0"> | ||
| <ignore/> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link2"/> | ||
| <ignore idref="link3"/> | ||
| <ignore idref="link4"/> | ||
| <ignore idref="link5"/> | ||
| </link> | ||
| <prismatic id="joint0"> | ||
| <frame> | ||
| <a idref="link0"/> | ||
| <b idref="link1"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>0</theta> | ||
| <a>0</a> | ||
| <alpha>-90</alpha> | ||
| </dh> | ||
| <max>10</max> | ||
| <min>-10</min> | ||
| </prismatic> | ||
| <link id="link1"> | ||
| <ignore/> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link2"/> | ||
| <ignore idref="link3"/> | ||
| <ignore idref="link4"/> | ||
| <ignore idref="link5"/> | ||
| </link> | ||
| <prismatic id="joint1"> | ||
| <frame> | ||
| <a idref="link1"/> | ||
| <b idref="link2"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>-90</theta> | ||
| <a>0</a> | ||
| <alpha>90</alpha> | ||
| </dh> | ||
| <max>10</max> | ||
| <min>-10</min> | ||
| </prismatic> | ||
| <link id="link2"> | ||
| <ignore/> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link3"/> | ||
| <ignore idref="link4"/> | ||
| <ignore idref="link5"/> | ||
| </link> | ||
| <prismatic id="joint2"> | ||
| <frame> | ||
| <a idref="link2"/> | ||
| <b idref="link3"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>90</theta> | ||
| <a>0</a> | ||
| <alpha>90</alpha> | ||
| </dh> | ||
| <max>10</max> | ||
| <min>-10</min> | ||
| </prismatic> | ||
| <link id="link3"> | ||
| <ignore/> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link2"/> | ||
| <ignore idref="link4"/> | ||
| <ignore idref="link5"/> | ||
| </link> | ||
| <revolute id="joint3"> | ||
| <frame> | ||
| <a idref="link3"/> | ||
| <b idref="link4"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>-90</theta> | ||
| <a>0</a> | ||
| <alpha>-90</alpha> | ||
| </dh> | ||
| <max>180</max> | ||
| <min>-180</min> | ||
| <wraparound/> | ||
| </revolute> | ||
| <link id="link4"> | ||
| <ignore/> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link2"/> | ||
| <ignore idref="link3"/> | ||
| <ignore idref="link5"/> | ||
| </link> | ||
| <revolute id="joint4"> | ||
| <frame> | ||
| <a idref="link4"/> | ||
| <b idref="link5"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>-90</theta> | ||
| <a>0</a> | ||
| <alpha>90</alpha> | ||
| </dh> | ||
| <max>90</max> | ||
| <min>-90</min> | ||
| </revolute> | ||
| <link id="link5"> | ||
| <ignore/> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link2"/> | ||
| <ignore idref="link3"/> | ||
| <ignore idref="link4"/> | ||
| </link> | ||
| <revolute id="joint5"> | ||
| <frame> | ||
| <a idref="link5"/> | ||
| <b idref="link6"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0</d> | ||
| <theta>0</theta> | ||
| <a>0</a> | ||
| <alpha>0</alpha> | ||
| </dh> | ||
| <max>180</max> | ||
| <min>-180</min> | ||
| <wraparound/> | ||
| </revolute> | ||
| <link id="link6"> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link2"/> | ||
| <ignore idref="link3"/> | ||
| <ignore idref="link4"/> | ||
| <ignore idref="link5"/> | ||
| </link> | ||
| <transform id="tool"> | ||
| <frame> | ||
| <a idref="link6"/> | ||
| <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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