Macro: ecm_base | Parameters: <prefix parent_link xyz:='-0.612599 0.0 -0.101595' rpy:='0.0 0.0 0.0'>
| Link Number | Link Name | Mesh File | Origin (xyz) |
Orientation (rpy) |
|---|---|---|---|---|
| Link 0 | Base Link | Ecm Base/ecm Base Link | 0 0 0 |
0 0 0 |
| Link 1 | Yaw Link | Ecm Base/ecm Yaw Link | 0 0 0 |
0 0 0 |
| Link 2 | Pitch Front Link | Ecm Base/ecm Pitch Front Link | 0 0 0 |
0 0 0 |
| Link 3 | Pitch Bottom Link | Ecm Base/ecm Pitch Bottom Link | 0 0 0 |
0 0 0 |
| Link 4 | Pitch End Link | Ecm Base/ecm Pitch End Link | 0 0 0 |
0 0 0 |
| Link 5 | Main Insertion Link | Ecm Base/ecm Main Insertion Link | 0 0 0 |
0 0 0 |
| Link 6 | Tool Link | Ecm Base/ecm Tool Link | 0 0 0 |
0 0 0 |
| Link 7 | Pitch Top Link | Ecm Base/ecm Pitch Top Link | 0 0 0 |
0 0 0 |
| Link 8 | Pitch Back Link | Ecm Base/ecm Pitch Back Link | 0 0 0 |
0 0 0 |
| Link 9 | Remote Center Link | Ecm Base/ecm Remote Center Link | 0 0 0 |
0 0 0 |
| Link 10 | End Link | Ecm Base/ecm Remote Center Link | 0 0 0 |
0 0 0 |
| Joint Number | Joint Name | Parent | Child | Type | Origin (xyz) |
Orientation (rpy) |
|---|---|---|---|---|---|---|
| Joint 0 | Fixed to Setup Joint | Macro Parent | Base Link | Fixed | ${xyz} |
${rpy} |
| Joint 1 | Yaw Joint | Base Link | Yaw Link | Revolute | 0.073199 0 0.101460 |
${PI/2} 0 ${PI/2} |
| Joint 2 | Pitch Front Joint | Yaw Link | Pitch Front Link | Revolute | 0 0 0.199000 |
${PI} -${PI/2} 0 |
| Joint 3 | Pitch Bottom Joint | Pitch Front Link | Pitch Bottom Link | Revolute | -0.10300 -0.28680 0 |
0 0 0 |
| Joint 4 | Pitch End Joint | Pitch Bottom Link | Pitch End Link | Revolute | 0.340400 -0.00013 0 |
0 0 0 |
| Joint 5 | Insertion Joint | Pitch End Link | Main Insertion Link | Prismatic | 0.042 -0.08614 0 |
-${PI/2} 0 0 |
| Joint 6 | Roll Joint | Main Insertion Link | Tool Link | Revolute | 0.060999 0 0 |
0 0 0 |
| Joint 7 | Pitch Top Joint | Pitch Front Link | Pitch Top Link | Revolute | -0.10847 -0.32425 0 |
0 0 0 |
| Joint 8 | Pitch Back Joint | Yaw Link | Pitch Back Link | Revolute | 0 -0.00979 0.162430 |
${PI} -${PI/2} 0 |
| Joint 9 | Remote Center Joint | Base Link | Remote Center Link | Fixed | 0.612599 0 0.101595 |
0 0 -${PI/2} |
| Joint 10 | End Joint | Tool Link | End Link | Fixed | 0 0 0.37364 |
0 0 0 |
| Link Number | Link Name | Mesh File | Origin (xyz) |
Orientation (rpy) |
|---|---|---|---|---|
| Link 0 | Setup Base Link | N/A | N/A | N/A |
| Link 1 | Setup Link | Ecm/endo Arm | 0 0 0 |
0 0 0 |
| Link 2 | Base Link | Ecm/endo Arm | 0 0 0 |
0 0 0 |
| Link 3 | Yaw Link | Ecm/endo Link 5 | 0.0 0 0.603 |
0 0 -${PI/2} |
| Link 4 | Pitch Link | Ecm/endo Link 5 | 0.0 0 0.603 |
0 0 -${PI/2} |
| Link 5 | Pitch Link 1 | Ecm/endo Link 5 2 | 0.0 0 0.0 |
${PI} 0 ${PI*78. |
| Link 6 | Pitch Link 2 | Ecm/endo Link 6 2 | 0.0 0 -0.0225 |
0 0 0 |
| Link 7 | Pitch Link 3 | Ecm/endo Link 7 | 0.0 0 0.025 |
0 0 -${PI/2} |
| Link 8 | Insertion Link | Ecm/endo Link 8 | 0.0 0 -0.015 |
0 0 -${PI/2} |
| Link 9 | Roll Link | Ecm/endoscop | 0.0 0 -0.3979 |
0 0 ${PI/2} |
| Joint Number | Joint Name | Parent | Child | Type | Origin (xyz) |
Orientation (rpy) |
|---|---|---|---|---|---|---|
| Joint 0 | Fixed to World | Macro Parent | Setup Base Link | Fixed | ${xyz} |
${rpy} |
| Joint 1 | Fixed to Setup Joint | Setup Base Link | Setup Link | Fixed | 0.91324 -0.02111 0.03166 |
-0.87046 0 -${PI/2} |
| Joint 2 | Fixed to Base Joint | Setup Link | Base Link | Fixed | 0 0.603 0 |
0 0 0 |
| Joint 3 | Outer Yaw Joint | Base Link | Yaw Link | Revolute | 0 0 0 |
0 -${PI/2} ${PI/2} |
| Joint 4 | Outer Pitch Joint | Yaw Link | Pitch Link | Revolute | 0 0 0 |
-${PI/2} -${PI/2} 0 |
| Joint 5 | Outer Pitch Joint 0 | Yaw Link | Pitch Link 1 | Revolute | 0 0 0.378 |
-${PI/2} -${PI/2} 0 |
| Joint 6 | Outer Pitch Joint 1 | Pitch Link 1 | Pitch Link 2 | Revolute | 0.055862 0.274575 0 |
0 0 0 |
| Joint 7 | Outer Pitch Joint 2 | Pitch Link 2 | Pitch Link 3 | Revolute | -0.340 0 0 |
0 0 0 |
| Joint 8 | Insertion Joint | Pitch Link | Insertion Link | Prismatic | 0 0.3822 0 |
${PI/2} 0 0 |
| Joint 9 | Outer Roll Joint | Insertion Link | Roll Link | Revolute | 0 0 0.3829 |
0 0 0 |