This package includes the kinematic and geometric model of the robot named "tra1". tra1 is an industrial robot manipulator with 6 DOFs, for specialized to manipulate heavy weight object up to 20kg.

Quick start

To visualize the robot model in rviz, type command as:

$ roslaunch tra1_description tra1.launch

The rviz and slider interface for joint angle appears.

Package contents

The files organized into following directories.

• urdf/ contains (xacro representations of) urdf descriptions of tra1.
• meshes/ contains mesh files (.stl) for visualization and collision properties.
• launch/ contains launch file to visualize the robot model in rviz.