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Add new URDFs with mass data. Still need to merge in.

feature/urdf_mass
aedsinger 1 year ago
parent
3c1e01d1a2
commit
3a2d875a53
3 changed files with 2076 additions and 0 deletions
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  1. +1263
    -0
      stretch_description/urdf/stretch_description_S2.SLDASM.urdf
  2. +491
    -0
      stretch_description/urdf/stretch_description_S2_DexWrist.SLDASM.urdf
  3. +322
    -0
      stretch_description/urdf/stretch_description_S2_gripper.SLDASM.urdf

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- 0
stretch_description/urdf/stretch_description_S2.SLDASM.urdf
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stretch_description/urdf/stretch_description_S2_DexWrist.SLDASM.urdf View File

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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="stretch_description_S2_DexWrist.SLDASM">
<link
name="link_wrist_yaw">
<inertial>
<origin
xyz="0 -3.9E-05 -0.016495"
rpy="0 0 0" />
<mass
value="0.054422" />
<inertia
ixx="9E-06"
ixy="0"
ixz="0"
iyy="9E-06"
iyz="0"
izz="7E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_yaw.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_yaw.STL" />
</geometry>
</collision>
</link>
<link
name="link_wrist_yaw_bottom">
<inertial>
<origin
xyz="-0.012462 -0.032314 -0.021973"
rpy="0 0 0" />
<mass
value="0.24284" />
<inertia
ixx="0.000194"
ixy="3.4E-05"
ixz="7E-06"
iyy="0.000107"
iyz="2E-05"
izz="0.000229" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_yaw_bottom.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_yaw_bottom.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_yaw_bottom"
type="fixed">
<origin
xyz="0 0 0"
rpy="3.141592654 0 1.570796327" />
<parent
link="link_wrist_yaw" />
<child
link="link_wrist_yaw_bottom" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_wrist_pitch">
<inertial>
<origin
xyz="-0.006752 -0.01567 0.021672"
rpy="0 0 0" />
<mass
value="0.208129" />
<inertia
ixx="8.5E-05"
ixy="1.6E-05"
ixz="5E-06"
iyy="8.4E-05"
iyz="4E-06"
izz="0.000105" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_pitch.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_pitch.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_pitch"
type="revolute">
<origin
xyz="0 0.01955 -0.02475"
rpy="1.570796327 0 0" />
<parent
link="link_wrist_yaw_bottom" />
<child
link="link_wrist_pitch" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="link_wrist_roll">
<inertial>
<origin
xyz="6E-05 -3.1E-05 0.006242"
rpy="0 0 0" />
<mass
value="0.01528" />
<inertia
ixx="1E-06"
ixy="0"
ixz="0"
iyy="9.5E-07"
iyz="0"
izz="1.39E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_roll.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_wrist_roll.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_roll"
type="revolute">
<origin
xyz="-0.01885874441 -0.024 0.01955"
rpy="3.141592654 1.570796327 0" />
<parent
link="link_wrist_pitch" />
<child
link="link_wrist_roll" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="link_straight_gripper">
<inertial>
<origin
xyz="0.002409 -0.011138 0.028861"
rpy="0 0 0" />
<mass
value="0.147853" />
<inertia
ixx="9.5E-07"
ixy="-4E-06"
ixz="-1E-06"
iyy="0.000119"
iyz="6E-06"
izz="5.9E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_straight_gripper.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_straight_gripper.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_straight_gripper"
type="fixed">
<origin
xyz="0 0 0.0155"
rpy="0 0 -3.141592654" />
<parent
link="link_wrist_roll" />
<child
link="link_straight_gripper" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000213"
iyz="0"
izz="0.000223" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_finger_right.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_finger_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
xyz="-0.01859924143 0.003 0.03368889599"
rpy="1.570796327 1.570796327 0" />
<parent
link="link_straight_gripper" />
<child
link="link_gripper_finger_right" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_fingertip_right.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_fingertip_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
<origin
xyz="-0.1905969486 -0.006042004918 0"
rpy="-1.570796327 0 0.5404560564" />
<parent
link="link_gripper_finger_right" />
<child
link="link_gripper_fingertip_right" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_left">
<inertial>
<origin
xyz="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000214"
iyz="0"
izz="0.000224" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_finger_left.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_finger_left.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_left"
type="revolute">
<origin
xyz="0.01859924143 0.003 0.03368889599"
rpy="1.570796327 -1.570796327 0" />
<parent
link="link_straight_gripper" />
<child
link="link_gripper_finger_left" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="link_gripper_fingertip_left">
<inertial>
<origin
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_fingertip_left.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_DexWrist.SLDASM/meshes/link_gripper_fingertip_left.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_left"
type="fixed">
<origin
xyz="0.1905969486 -0.006042004918 0"
rpy="1.570796327 0 2.601136597" />
<parent
link="link_gripper_finger_left" />
<child
link="link_gripper_fingertip_left" />
<axis
xyz="0 0 0" />
</joint>
</robot>

+ 322
- 0
stretch_description/urdf/stretch_description_S2_gripper.SLDASM.urdf View File

@ -0,0 +1,322 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="stretch_description_S2_gripper.SLDASM">
<link
name="link_wrist_yaw">
<inertial>
<origin
xyz="0 -3.9E-05 -0.016495"
rpy="0 0 0" />
<mass
value="0.054422" />
<inertia
ixx="9E-06"
ixy="0"
ixz="0"
iyy="9E-06"
iyz="0"
izz="7E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_wrist_yaw.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_wrist_yaw.STL" />
</geometry>
</collision>
</link>
<link
name="link_gripper">
<inertial>
<origin
xyz="-0.013687 0.015548 -0.035364"
rpy="0 0 0" />
<mass
value="0.175929" />
<inertia
ixx="0.000124"
ixy="3.7E-05"
ixz="5.7E-05"
iyy="0.000217"
iyz="1.1E-05"
izz="0.000221" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper"
type="fixed">
<origin
xyz="0 0 0"
rpy="3.141592654 0 1.570796327" />
<parent
link="link_wrist_yaw" />
<child
link="link_gripper" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000213"
iyz="0"
izz="0.000223" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_finger_right.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_finger_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
xyz="-0.02558069591 0.01004924142 -0.03429"
rpy="-3.141592654 -0.5235987756 0" />
<parent
link="link_gripper" />
<child
link="link_gripper_finger_right" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_fingertip_right.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_fingertip_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
<origin
xyz="-0.1901087319 -0.01491216603 0"
rpy="-1.570796327 0 0.5870461496" />
<parent
link="link_gripper_finger_right" />
<child
link="link_gripper_fingertip_right" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_left">
<inertial>
<origin
xyz="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000214"
iyz="0"
izz="0.000224" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_finger_left.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_finger_left.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_left"
type="revolute">
<origin
xyz="-0.02558069591 -0.01015075858 -0.03429"
rpy="0 0.5235987756 3.141592654" />
<parent
link="link_gripper" />
<child
link="link_gripper_finger_left" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="link_gripper_fingertip_left">
<inertial>
<origin
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_fingertip_left.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S2_gripper.SLDASM/meshes/link_gripper_fingertip_left.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_left"
type="fixed">
<origin
xyz="0.1901087319 0.01491216603 0"
rpy="-1.570796327 0 -2.554546504" />
<parent
link="link_gripper_finger_left" />
<child
link="link_gripper_fingertip_left" />
<axis
xyz="0 0 0" />
</joint>
</robot>

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