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rickertmrickertm
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Prepare release 0.7
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629 files changed

+2757817
-38923
lines changed

‎rlkin/1enu.xml

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -118,7 +118,7 @@
118118
</dh>
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<max>180</max>
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<min>-180</min>
121-
<wraparound />
121+
<wraparound/>
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</revolute>
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<link id="link4">
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<ignore/>
@@ -141,7 +141,7 @@
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</dh>
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<max>180</max>
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<min>-180</min>
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<wraparound />
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<wraparound/>
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</revolute>
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<link id="link5">
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<ignore/>
@@ -164,7 +164,7 @@
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</dh>
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<max>180</max>
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<min>-180</min>
167-
<wraparound />
167+
<wraparound/>
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</revolute>
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<link id="link6">
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<ignore idref="link0"/>

‎rlkin/2dpoint1.xml

Lines changed: 94 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,94 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<rlkin xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlkin.xsd">
3+
<kinematics>
4+
<manufacturer>MSL</manufacturer>
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<name>2dpoint1</name>
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<world id="world">
7+
<rotation>
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<x>0</x>
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<y>0</y>
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<z>0</z>
11+
</rotation>
12+
<translation>
13+
<x>0</x>
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<y>0</y>
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<z>0</z>
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</translation>
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</world>
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<transform id="base">
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<frame>
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<a idref="world"/>
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<b idref="link0"/>
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</frame>
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<rotation>
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<x>0</x>
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<y>90</y>
26+
<z>0</z>
27+
</rotation>
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<translation>
29+
<x>0</x>
30+
<y>0</y>
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<z>0</z>
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</translation>
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</transform>
34+
<link id="link0">
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<ignore/>
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<ignore idref="link1"/>
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<ignore idref="link2"/>
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</link>
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<prismatic id="joint0">
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<frame>
41+
<a idref="link0"/>
42+
<b idref="link1"/>
43+
</frame>
44+
<dh>
45+
<d>0</d>
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<theta>0</theta>
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<a>0</a>
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<alpha>-90</alpha>
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</dh>
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<max>100</max>
51+
<min>0</min>
52+
</prismatic>
53+
<link id="link1">
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<ignore/>
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<ignore idref="link0"/>
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<ignore idref="link2"/>
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</link>
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<prismatic id="joint1">
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<frame>
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<a idref="link1"/>
61+
<b idref="link2"/>
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</frame>
63+
<dh>
64+
<d>0</d>
65+
<theta>-90</theta>
66+
<a>0</a>
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<alpha>90</alpha>
68+
</dh>
69+
<max>100</max>
70+
<min>0</min>
71+
</prismatic>
72+
<link id="link2">
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<ignore idref="link0"/>
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<ignore idref="link1"/>
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</link>
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<transform id="tool">
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<frame>
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<a idref="link2"/>
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<b idref="tcp"/>
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</frame>
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<rotation>
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<x>0</x>
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<y>0</y>
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<z>0</z>
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</rotation>
86+
<translation>
87+
<x>0</x>
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<y>0</y>
89+
<z>0</z>
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</translation>
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</transform>
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<frame id="tcp"/>
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</kinematics>
94+
</rlkin>

‎rlkin/alpha.xml

Lines changed: 194 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,194 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<rlkin xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlkin.xsd">
3+
<kinematics>
4+
<manufacturer></manufacturer>
5+
<name>Alpha-Puzzle</name>
6+
<world id="world">
7+
<rotation>
8+
<x>0</x>
9+
<y>0</y>
10+
<z>0</z>
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</rotation>
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<translation>
13+
<x>0</x>
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<y>0</y>
15+
<z>0</z>
16+
</translation>
17+
</world>
18+
<transform id="base">
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<frame>
20+
<a idref="world"/>
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<b idref="link0"/>
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</frame>
23+
<rotation>
24+
<x>0</x>
25+
<y>90</y>
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<z>0</z>
27+
</rotation>
28+
<translation>
29+
<x>0</x>
30+
<y>0</y>
31+
<z>0</z>
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</translation>
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</transform>
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<link id="link0">
35+
<ignore/>
36+
<ignore idref="link1"/>
37+
<ignore idref="link2"/>
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<ignore idref="link3"/>
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<ignore idref="link4"/>
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<ignore idref="link5"/>
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</link>
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<prismatic id="joint0">
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<frame>
44+
<a idref="link0"/>
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<b idref="link1"/>
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</frame>
47+
<dh>
48+
<d>0</d>
49+
<theta>0</theta>
50+
<a>0</a>
51+
<alpha>-90</alpha>
52+
</dh>
53+
<max>10</max>
54+
<min>-10</min>
55+
</prismatic>
56+
<link id="link1">
57+
<ignore/>
58+
<ignore idref="link0"/>
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<ignore idref="link2"/>
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<ignore idref="link3"/>
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<ignore idref="link4"/>
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<ignore idref="link5"/>
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</link>
64+
<prismatic id="joint1">
65+
<frame>
66+
<a idref="link1"/>
67+
<b idref="link2"/>
68+
</frame>
69+
<dh>
70+
<d>0</d>
71+
<theta>-90</theta>
72+
<a>0</a>
73+
<alpha>90</alpha>
74+
</dh>
75+
<max>10</max>
76+
<min>-10</min>
77+
</prismatic>
78+
<link id="link2">
79+
<ignore/>
80+
<ignore idref="link0"/>
81+
<ignore idref="link1"/>
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<ignore idref="link3"/>
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<ignore idref="link4"/>
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<ignore idref="link5"/>
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</link>
86+
<prismatic id="joint2">
87+
<frame>
88+
<a idref="link2"/>
89+
<b idref="link3"/>
90+
</frame>
91+
<dh>
92+
<d>0</d>
93+
<theta>90</theta>
94+
<a>0</a>
95+
<alpha>90</alpha>
96+
</dh>
97+
<max>10</max>
98+
<min>-10</min>
99+
</prismatic>
100+
<link id="link3">
101+
<ignore/>
102+
<ignore idref="link0"/>
103+
<ignore idref="link1"/>
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<ignore idref="link2"/>
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<ignore idref="link4"/>
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<ignore idref="link5"/>
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</link>
108+
<revolute id="joint3">
109+
<frame>
110+
<a idref="link3"/>
111+
<b idref="link4"/>
112+
</frame>
113+
<dh>
114+
<d>0</d>
115+
<theta>-90</theta>
116+
<a>0</a>
117+
<alpha>-90</alpha>
118+
</dh>
119+
<max>180</max>
120+
<min>-180</min>
121+
<wraparound/>
122+
</revolute>
123+
<link id="link4">
124+
<ignore/>
125+
<ignore idref="link0"/>
126+
<ignore idref="link1"/>
127+
<ignore idref="link2"/>
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<ignore idref="link3"/>
129+
<ignore idref="link5"/>
130+
</link>
131+
<revolute id="joint4">
132+
<frame>
133+
<a idref="link4"/>
134+
<b idref="link5"/>
135+
</frame>
136+
<dh>
137+
<d>0</d>
138+
<theta>-90</theta>
139+
<a>0</a>
140+
<alpha>90</alpha>
141+
</dh>
142+
<max>90</max>
143+
<min>-90</min>
144+
</revolute>
145+
<link id="link5">
146+
<ignore/>
147+
<ignore idref="link0"/>
148+
<ignore idref="link1"/>
149+
<ignore idref="link2"/>
150+
<ignore idref="link3"/>
151+
<ignore idref="link4"/>
152+
</link>
153+
<revolute id="joint5">
154+
<frame>
155+
<a idref="link5"/>
156+
<b idref="link6"/>
157+
</frame>
158+
<dh>
159+
<d>0</d>
160+
<theta>0</theta>
161+
<a>0</a>
162+
<alpha>0</alpha>
163+
</dh>
164+
<max>180</max>
165+
<min>-180</min>
166+
<wraparound/>
167+
</revolute>
168+
<link id="link6">
169+
<ignore idref="link0"/>
170+
<ignore idref="link1"/>
171+
<ignore idref="link2"/>
172+
<ignore idref="link3"/>
173+
<ignore idref="link4"/>
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<ignore idref="link5"/>
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</link>
176+
<transform id="tool">
177+
<frame>
178+
<a idref="link6"/>
179+
<b idref="tcp"/>
180+
</frame>
181+
<rotation>
182+
<x>0</x>
183+
<y>0</y>
184+
<z>0</z>
185+
</rotation>
186+
<translation>
187+
<x>0</x>
188+
<y>0</y>
189+
<z>0</z>
190+
</translation>
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</transform>
192+
<frame id="tcp"/>
193+
</kinematics>
194+
</rlkin>

‎rlkin/box-6d-151515.xml

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -118,7 +118,7 @@
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</dh>
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<max>180</max>
120120
<min>-180</min>
121-
<wraparound />
121+
<wraparound/>
122122
</revolute>
123123
<link id="link4">
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<ignore/>
@@ -163,7 +163,7 @@
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</dh>
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<max>180</max>
165165
<min>-180</min>
166-
<wraparound />
166+
<wraparound/>
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</revolute>
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<link id="link6">
169169
<ignore idref="link0"/>

‎rlkin/box-6d-300505.xml

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -118,7 +118,7 @@
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</dh>
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<max>180</max>
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<min>-180</min>
121-
<wraparound />
121+
<wraparound/>
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</revolute>
123123
<link id="link4">
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<ignore/>
@@ -163,7 +163,7 @@
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</dh>
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<max>180</max>
165165
<min>-180</min>
166-
<wraparound />
166+
<wraparound/>
167167
</revolute>
168168
<link id="link6">
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<ignore idref="link0"/>

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