Initial Commit

URDF and STLs stolen from https://github.com/ongdexter/ar3_core/tree/master/ar3_description

Bare minumum state publisher from ROS2 tutorials

.gitignore

@@ -0,0 +1,171 @@
+
+# Created by https://www.toptal.com/developers/gitignore/api/python,vim
+# Edit at https://www.toptal.com/developers/gitignore?templates=python,vim
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+### Vim ###
+# Swap
+[._]*.s[a-v][a-z]
+!*.svg  # comment out if you don't need vector files
+[._]*.sw[a-p]
+[._]s[a-rt-v][a-z]
+[._]ss[a-gi-z]
+[._]sw[a-p]
+
+# Session
+Session.vim
+Sessionx.vim
+
+# Temporary
+.netrwhist
+*~
+# Auto-generated tag files
+tags
+# Persistent undo
+[._]*.un~
+
+# End of https://www.toptal.com/developers/gitignore/api/python,vim
+
+build/
+install/
+log/
+

src/ar3_description/ar3_description/state_publisher.py

@@ -0,0 +1,85 @@
+from math import sin, cos, pi
+import rclpy, random
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from geometry_msgs.msg import Quaternion
+from sensor_msgs.msg import JointState
+from tf2_ros import TransformBroadcaster, TransformStamped
+
+class StatePublisher(Node):
+
+    def __init__(self):
+        rclpy.init()
+        super().__init__('state_publisher')
+
+        qos_profile = QoSProfile(depth=10)
+        self.joint_pub = self.create_publisher(JointState, 'joint_states', qos_profile)
+        self.broadcaster = TransformBroadcaster(self, qos=qos_profile)
+        self.nodeName = self.get_name()
+        self.get_logger().info("{0} started".format(self.nodeName))
+
+        degree = pi / 180.0
+        loop_rate = self.create_rate(30)
+
+        # robot state
+        tilt = 0.
+        tinc = degree
+        swivel = 0.
+        angle = 0.
+        height = 0.
+        hinc = 0.005
+
+        # message declarations
+        odom_trans = TransformStamped()
+        odom_trans.header.frame_id = 'odom'
+        odom_trans.child_frame_id = 'base_link'
+        joint_state = JointState()
+
+        try:
+            while rclpy.ok():
+                rclpy.spin_once(self)
+
+                # update joint_state
+                now = self.get_clock().now()
+                joint_state.header.stamp = now.to_msg()
+                joint_state.name = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
+                # joint_state.position = [sin(angle) * pi / 1] * 6
+                # joint_state.position = [random.random() * pi / 2] * 6
+                # joint_state.position = [angle * 16, pi/2., -25 / 180 * pi, 0., 0., 0.]
+                # joint_state.position = [angle * 0.01 * random.random()] * 6
+                joint_state.position = [0., 0., 0., 0., angle, 0.]
+
+                # update transform
+                # (moving in a circle with radius=2)
+                odom_trans.header.stamp = now.to_msg()
+                odom_trans.transform.translation.x = 0.0# cos(angle) * 0.4
+                odom_trans.transform.translation.y = 0.0# sin(angle) * 0.4
+                odom_trans.transform.translation.z = 0.0
+                odom_trans.transform.rotation = \
+                    euler_to_quaternion(0, 0, 0) # roll,pitch,yaw
+
+                # send the joint state and transform
+                self.joint_pub.publish(joint_state)
+                self.broadcaster.sendTransform(odom_trans)
+
+                # Create new robot state
+                angle += degree
+
+                # This will adjust as needed per iteration
+                loop_rate.sleep()
+
+        except KeyboardInterrupt:
+            pass
+
+def euler_to_quaternion(roll, pitch, yaw):
+    qx = sin(roll/2) * cos(pitch/2) * cos(yaw/2) - cos(roll/2) * sin(pitch/2) * sin(yaw/2)
+    qy = cos(roll/2) * sin(pitch/2) * cos(yaw/2) + sin(roll/2) * cos(pitch/2) * sin(yaw/2)
+    qz = cos(roll/2) * cos(pitch/2) * sin(yaw/2) - sin(roll/2) * sin(pitch/2) * cos(yaw/2)
+    qw = cos(roll/2) * cos(pitch/2) * cos(yaw/2) + sin(roll/2) * sin(pitch/2) * sin(yaw/2)
+    return Quaternion(x=qx, y=qy, z=qz, w=qw)
+
+def main():
+    node = StatePublisher()
+
+if __name__ == '__main__':
+    main()

src/ar3_description/launch/demo.launch.py

@@ -0,0 +1,36 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    urdf_file_name = 'ar3.urdf'
+    urdf = os.path.join(
+        get_package_share_directory('ar3_description'),
+        urdf_file_name)
+    with open(urdf, 'r') as infp:
+        robot_desc = infp.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation (Gazebo) clock if true'),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{'use_sim_time': use_sim_time, 'robot_description': robot_desc}],
+            arguments=[urdf]),
+        Node(
+            package='ar3_description',
+            executable='state_publisher',
+            name='state_publisher',
+            output='screen'),
+    ])

src/ar3_description/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ar3_description</name>
+  <version>1.0.0</version>
+  <description>Robot description and state publisher for the AR3 arm</description>
+  <maintainer email="tmuller2017@my.fit.edu">Thomas Muller</maintainer>
+  <maintainer email="farell2017@my.fit.edu">John Farell</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/ar3_description/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/ar3_description
+[install]
+install-scripts=$base/lib/ar3_description

src/ar3_description/setup.py

@@ -0,0 +1,32 @@
+import os
+from glob import glob
+from setuptools import setup
+from setuptools import find_packages
+
+package_name = 'ar3_description'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name, glob('launch/*.py')),
+        ('share/' + package_name, glob('urdf/*')),
+        ('share/' + package_name + '/meshes', glob('meshes/*'))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer=['Thomas Muller', 'John Farell'],
+    maintainer_email=['tmuller2017@my.fit.edu', 'farell2017@my.fit.edu'],
+    description='Robot description and state publisher for the AR3 arm',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'state_publisher = ar3_description.state_publisher:main'
+        ],
+    },
+)

src/ar3_description/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/ar3_description/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/ar3_description/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/ar3_description/urdf/ar3.urdf

@@ -0,0 +1,361 @@
+<robot
+  name="ar3">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-4.6941E-06 0.054174 0.038824"
+        rpy="0 0 0" />
+      <mass
+        value="0.7102" />
+      <inertia
+        ixx="0.0039943"
+        ixy="3.697E-07"
+        ixz="-5.7364E-08"
+        iyy="0.0014946"
+        iyz="-0.00036051"
+        izz="0.0042554" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_1">
+    <inertial>
+      <origin
+        xyz="-0.022706 0.04294 -0.12205"
+        rpy="0 0 0" />
+      <mass
+        value="0.88065" />
+      <inertia
+        ixx="0.0034"
+        ixy="0.00042296"
+        ixz="-0.00089231"
+        iyy="0.0041778"
+        iyz="0.0010848"
+        izz="0.0027077" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_1"
+    type="continuous">
+    <origin
+      xyz="0 0 0.003445"
+      rpy="3.1416 -1.0248E-21 -1.6736E-05" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_1" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+  <link
+    name="link_2">
+    <inertial>
+      <origin
+        xyz="0.064818 -0.11189 -0.038671"
+        rpy="0 0 0" />
+      <mass
+        value="0.57738" />
+      <inertia
+        ixx="0.0047312"
+        ixy="0.0022624"
+        ixz="0.00032144"
+        iyy="0.0020836"
+        iyz="-0.00056569"
+        izz="0.0056129" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_2"
+    type="continuous">
+    <origin
+      xyz="0 0.064146 -0.16608"
+      rpy="1.5708 0.5236 -1.5708" />
+    <parent
+      link="link_1" />
+    <child
+      link="link_2" />
+    <axis
+      xyz="0 0 -1" />
+  </joint>
+  <link
+    name="link_3">
+    <inertial>
+      <origin
+        xyz="-0.00029765 -0.023661 -1.04720367321"
+        rpy="0 0 0" />
+      <mass
+        value="0.1787" />
+      <inertia
+        ixx="0.0001685"
+        ixy="-2.7713E-05"
+        ixz="5.6885E-06"
+        iyy="0.00012865"
+        iyz="2.9256E-05"
+        izz="0.00020744" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_3"
+    type="continuous">
+    <origin
+      xyz="0.1525 -0.26414 0"
+      rpy="3.3431E-16 -1.4164E-16 -1.4953816339" />
+    <parent
+      link="link_2" />
+    <child
+      link="link_3" />
+    <axis
+      xyz="0 0 -1" />
+  </joint>
+  <link
+    name="link_4">
+    <inertial>
+      <origin
+        xyz="-0.0016798 -0.00057319 -0.074404"
+        rpy="0 0 0" />
+      <mass
+        value="0.34936" />
+      <inertia
+        ixx="0.0030532"
+        ixy="-1.8615E-05"
+        ixz="-7.0047E-05"
+        iyy="0.0031033"
+        iyz="-2.3301E-05"
+        izz="0.00022264" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_4"
+    type="continuous">
+    <origin
+      xyz="0 0 0.00675"
+      rpy="1.5708 -1.2554 -1.5708" />
+    <parent
+      link="link_3" />
+    <child
+      link="link_4" />
+    <axis
+      xyz="0 0 -1" />
+  </joint>
+  <link
+    name="link_5">
+    <inertial>
+      <origin
+        xyz="0.0015066 -1.3102E-05 -0.012585"
+        rpy="0 0 0" />
+      <mass
+        value="0.11562" />
+      <inertia
+        ixx="5.5035E-05"
+        ixy="-1.019E-08"
+        ixz="-2.6243E-06"
+        iyy="8.2921E-05"
+        iyz="1.4437E-08"
+        izz="5.2518E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_5"
+    type="continuous">
+    <origin
+      xyz="0 0 -0.22225"
+      rpy="3.1416 0 -2.8262" />
+    <parent
+      link="link_4" />
+    <child
+      link="link_5" />
+    <axis
+      xyz="-1 0 0" />
+  </joint>
+  <link
+    name="link_6">
+    <inertial>
+      <origin
+        xyz="2.9287E-10 -1.6472E-09 0.0091432"
+        rpy="0 0 0" />
+      <mass
+        value="0.013863" />
+      <inertia
+        ixx="1.3596E-06"
+        ixy="3.0585E-13"
+        ixz="5.7102E-14"
+        iyy="1.7157E-06"
+        iyz="6.3369E-09"
+        izz="2.4332E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ar3_description/meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_6"
+    type="continuous">
+    <origin
+      xyz="-0.000294 0 0.02117"
+      rpy="0 0 3.1416" />
+    <parent
+      link="link_5" />
+    <child
+      link="link_6" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+</robot>

src/ar3_description/urdf/ar3.urdf.xacro

@@ -0,0 +1,204 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ar3.urdf                       | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ar3">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.6941E-06 0.054174 0.038824"/>
+      <mass value="0.7102"/>
+      <inertia ixx="0.0039943" ixy="3.697E-07" ixz="-5.7364E-08" iyy="0.0014946" iyz="-0.00036051" izz="0.0042554"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/base_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.022706 0.04294 -0.12205"/>
+      <mass value="0.88065"/>
+      <inertia ixx="0.0034" ixy="0.00042296" ixz="-0.00089231" iyy="0.0041778" iyz="0.0010848" izz="0.0027077"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <origin rpy="${pi} 0 0" xyz="0 0 0.003445"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.96706" upper="2.96706" effort="0" velocity="0"/>
+  </joint>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.064818 -0.11189 -0.038671"/>
+      <mass value="0.57738"/>
+      <inertia ixx="0.0047312" ixy="0.0022624" ixz="0.00032144" iyy="0.0020836" iyz="-0.00056569" izz="0.0056129"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <origin rpy="1.5708 0.5236 -1.5708" xyz="0 0.064146 -0.16608"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="${-39.6 / 180.0 * pi}" upper="${pi / 2.0}" effort="0" velocity="0"/>
+  </joint>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00029765 -0.023661 -0.0019125"/>
+      <mass value="0.1787"/>
+      <inertia ixx="0.0001685" ixy="-2.7713E-05" ixz="5.6885E-06" iyy="0.00012865" iyz="2.9256E-05" izz="0.00020744"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_3.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <origin rpy="0 0 -1.04720367321" xyz="0.1525 -0.26414 0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0.0174533" upper="2.5080381" effort="0" velocity="0"/>
+  </joint>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0016798 -0.00057319 -0.074404"/>
+      <mass value="0.34936"/>
+      <inertia ixx="0.0030532" ixy="-1.8615E-05" ixz="-7.0047E-05" iyy="0.0031033" iyz="-2.3301E-05" izz="0.00022264"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_4.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <origin rpy="1.5708 -1.2554 -1.5708" xyz="0 0 0.00675"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-2.8710666" upper="2.8710666" effort="0" velocity="0"/>
+  </joint>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0015066 -1.3102E-05 -0.012585"/>
+      <mass value="0.11562"/>
+      <inertia ixx="5.5035E-05" ixy="-1.019E-08" ixz="-2.6243E-06" iyy="8.2921E-05" iyz="1.4437E-08" izz="5.2518E-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_5.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <origin rpy="${pi} 0 -2.8262" xyz="0 0 -0.22225"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.81776042" upper="1.81776042" effort="0" velocity="0"/>
+  </joint>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.9287E-10 -1.6472E-09 0.0091432"/>
+      <mass value="0.013863"/>
+      <inertia ixx="1.3596E-06" ixy="3.0585E-13" ixz="5.7102E-14" iyy="1.7157E-06" iyz="6.3369E-09" izz="2.4332E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_6.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ar3_description/meshes/link_6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <origin rpy="0 0 3.1416" xyz="-0.000294 0 0.02117"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.5848326" upper="2.5848326" effort="0" velocity="0"/>
+  </joint>
+</robot>
+