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Adds teleop kit support for dex wrist

feature/gazebo_teleop_kit_dex_wrist
Mohamed Fazil 11 months ago
parent
badae7e561
commit
9e584a7d68
16 changed files with 917 additions and 193 deletions
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  1. BIN
     
  2. BIN
     
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  4. BIN
     
  5. +7
    -7
      stretch_description/urdf/stretch_base_imu.xacro
  6. +16
    -15
      stretch_description/urdf/stretch_description_standard.xacro
  7. +30
    -31
      stretch_description/urdf/stretch_gripper.xacro
  8. +26
    -26
      stretch_description/urdf/stretch_gripper_with_puller.xacro
  9. +8
    -8
      stretch_description/urdf/stretch_laser_range_finder.xacro
  10. +98
    -98
      stretch_description/urdf/stretch_main.xacro
  11. +8
    -8
      stretch_description/urdf/stretch_respeaker.xacro
  12. +215
    -0
      stretch_description/urdf/stretch_teleop_kit.xacro
  13. +78
    -0
      stretch_gazebo/urdf/stretch_gazebo_dex_wrist.urdf.xacro
  14. +1
    -0
      stretch_gazebo/urdf/stretch_gazebo_standard_gripper.urdf.xacro
  15. +215
    -0
      stretch_gazebo/urdf/stretch_teleop_kit_dex_wrist.xacro
  16. +215
    -0
      stretch_gazebo/urdf/stretch_teleop_kit_standard_gripper.xacro

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+ 7
- 7
stretch_description/urdf/stretch_base_imu.xacro View File

@ -8,14 +8,14 @@
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443" xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.00092" />
value="0.000901473198307758" />
<inertia <inertia
ixx="3E-08"
ixy="0"
ixz="0"
iyy="5E-08"
iyz="0"
izz="8E-08" />
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial> </inertial>
<visual> <visual>
<origin <origin

+ 16
- 15
stretch_description/urdf/stretch_description_standard.xacro View File

@ -1,15 +1,16 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
<xacro:include filename="stretch_gripper.xacro" />
<!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
<!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
<xacro:include filename="stretch_main.xacro" />
<xacro:include filename="stretch_aruco.xacro" />
<xacro:include filename="stretch_d435i.xacro" />
<xacro:include filename="stretch_laser_range_finder.xacro" />
<xacro:include filename="stretch_base_imu.xacro" />
<xacro:include filename="stretch_respeaker.xacro" />
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
<xacro:include filename="stretch_gripper.xacro" />
<!-- <xacro:include filename="stretch_dex_wrist.xacro" /> -->
<!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
<!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
<xacro:include filename="stretch_main.xacro" />
<xacro:include filename="stretch_aruco.xacro" />
<xacro:include filename="stretch_d435i.xacro" />
<xacro:include filename="stretch_laser_range_finder.xacro" />
<xacro:include filename="stretch_base_imu.xacro" />
<xacro:include filename="stretch_respeaker.xacro" />
</robot>

+ 30
- 31
stretch_description/urdf/stretch_gripper.xacro View File

@ -4,21 +4,20 @@
<xacro:property name="scale_finger_length" value="0.9" /> <xacro:property name="scale_finger_length" value="0.9" />
<link <link
name="link_gripper">
name="link_gripper"> name="link_gripper">
<inertial> <inertial>
<origin <origin
xyz="-0.013687 0.015548 -0.035364"
xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.175929" />
value="0.101902711393094" />
<inertia <inertia
ixx="0.000124"
ixy="3.7E-05"
ixz="5.7E-05"
iyy="0.000217"
iyz="1.1E-05"
izz="0.000221" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -65,17 +64,17 @@
name="link_gripper_finger_left"> name="link_gripper_finger_left">
<inertial> <inertial>
<origin <origin
xyz="0.094071 0.011377 0"
xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.06" />
value="0.0476207785199474" />
<inertia <inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixx="0.001"
ixy="0"
ixz="0" ixz="0"
iyy="0.000214"
iyy="0.001"
iyz="0" iyz="0"
izz="0.000224" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -121,17 +120,17 @@
name="link_gripper_fingertip_left"> name="link_gripper_fingertip_left">
<inertial> <inertial>
<origin <origin
xyz="0 0 0.008126"
xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.003822" />
value="0.00382159917455729" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="1E-06" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -176,17 +175,17 @@
name="link_gripper_finger_right"> name="link_gripper_finger_right">
<inertial> <inertial>
<origin <origin
xyz="-0.093921 -0.011351 0"
xyz="-0.0945047483510099 -0.0124301080924345 0"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.06" />
value="0.0476207785199481" />
<inertia <inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixx="0.001"
ixy="0"
ixz="0" ixz="0"
iyy="0.000213"
iyy="0.001"
iyz="0" iyz="0"
izz="0.000223" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -232,17 +231,17 @@
name="link_gripper_fingertip_right"> name="link_gripper_fingertip_right">
<inertial> <inertial>
<origin <origin
xyz="0 0 0.008126"
xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.003822" />
value="0.00382160037319545" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="1E-06" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin

+ 26
- 26
stretch_description/urdf/stretch_gripper_with_puller.xacro View File

@ -7,17 +7,17 @@
name="link_gripper"> name="link_gripper">
<inertial> <inertial>
<origin <origin
xyz="-0.013687 0.015548 -0.035364"
xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.175929" />
value="0.101902711393094" />
<inertia <inertia
ixx="0.000124"
ixy="3.7E-05"
ixz="5.7E-05"
iyy="0.000217"
iyz="1.1E-05"
izz="0.000221" />
ixx="2.79241618017607E-05"
ixy="-1.10819247449605E-05"
ixz="-1.50343284036654E-05"
iyy="3.67945130513069E-05"
iyz="-4.33280448535579E-06"
izz="4.14524691955231E-05" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -118,17 +118,17 @@
name="link_gripper_finger_left"> name="link_gripper_finger_left">
<inertial> <inertial>
<origin <origin
xyz="0.094071 0.011377 0"
xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.06" />
value="0.0476207785199474" />
<inertia <inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixx="0"
ixy="0"
ixz="0" ixz="0"
iyy="0.000214"
iyy="0"
iyz="0" iyz="0"
izz="0.000224" />
izz="0" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -174,17 +174,17 @@
name="link_gripper_fingertip_left"> name="link_gripper_fingertip_left">
<inertial> <inertial>
<origin <origin
xyz="0 0 0.008126"
xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.003822" />
value="0.00382159917455729" />
<inertia <inertia
ixx="0" ixx="0"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0" iyy="0"
iyz="0" iyz="0"
izz="1E-06" />
izz="0" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -229,17 +229,17 @@
name="link_gripper_finger_right"> name="link_gripper_finger_right">
<inertial> <inertial>
<origin <origin
xyz="-0.093921 -0.011351 0"
xyz="-0.0945047483510099 -0.0124301080924345 0"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.06" />
value="0.0476207785199481" />
<inertia <inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixx="0"
ixy="0"
ixz="0" ixz="0"
iyy="0.000213"
iyy="0"
iyz="0" iyz="0"
izz="0.000223" />
izz="0" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -285,17 +285,17 @@
name="link_gripper_fingertip_right"> name="link_gripper_fingertip_right">
<inertial> <inertial>
<origin <origin
xyz="0 0 0.008126"
xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.003822" />
value="0.00382160037319545" />
<inertia <inertia
ixx="0" ixx="0"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0" iyy="0"
iyz="0" iyz="0"
izz="1E-06" />
izz="0" />
</inertial> </inertial>
<visual> <visual>
<origin <origin

+ 8
- 8
stretch_description/urdf/stretch_laser_range_finder.xacro View File

@ -5,17 +5,17 @@
name="laser"> name="laser">
<inertial> <inertial>
<origin <origin
xyz="0.011979 -0.000523 -0.01998"
xyz="0 0 -0.000755956127492408"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.216007" />
value="0.0749979022894495" />
<inertia <inertia
ixx="9.5E-05"
ixy="2E-06"
ixz="-1.9E-05"
iyy="0.000184"
iyz="-1E-06"
izz="0.000216" />
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial> </inertial>
<visual> <visual>
<origin <origin

+ 98
- 98
stretch_description/urdf/stretch_main.xacro View File

@ -10,17 +10,17 @@
name="base_link"> name="base_link">
<inertial> <inertial>
<origin <origin
xyz="-0.087526 -0.001626 0.081009"
xyz="-0.11587 0.0019426 0.093621"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="17.384389" />
value="1.1912" />
<inertia <inertia
ixx="0.160002"
ixy="0.006758"
ixz="0.004621"
iyy="0.138068"
iyz="0.002208"
izz="0.228992" />
ixx="0.0034667"
ixy="-5.0568E-06"
ixz="0.00042861"
iyy="0.0052744"
iyz="-5.766E-05"
izz="0.0047945" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -51,17 +51,17 @@
name="link_right_wheel"> name="link_right_wheel">
<inertial> <inertial>
<origin <origin
xyz="0 0 0.02765"
xyz="1.1719E-11 2.0783E-11 0.037544"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.20773" />
value="0.0042721" />
<inertia <inertia
ixx="5.4E-05"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="5.4E-05"
iyy="0.001"
iyz="0" iyz="0"
izz="5.1E-05" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -107,17 +107,17 @@
name="link_left_wheel"> name="link_left_wheel">
<inertial> <inertial>
<origin <origin
xyz="0 0 -0.02765"
xyz="-2.0783E-11 -1.1719E-11 -0.037544"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.20773" />
value="0.0042721" />
<inertia <inertia
ixx="5.4E-05"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="5.4E-05"
iyy="0.001"
iyz="0" iyz="0"
izz="5.1E-05" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -214,17 +214,17 @@
name="link_mast"> name="link_mast">
<inertial> <inertial>
<origin <origin
xyz="0.000337 0.722201 0.002652"
xyz="2.0817E-17 0.7075 -2.7756E-17"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="1.764017" />
value="1.8285" />
<inertia <inertia
ixx="0.291286"
ixy="0.004149"
ixz="-0.000174"
iyy="0.001226"
iyz="0.000354"
izz="0.291429" />
ixx="0.0709854511954588"
ixy="-0.00433428742758457"
ixz="-0.000186110788697573"
iyy="0.000437922053342648"
iyz="-0.00288788257713431"
izz="0.071104808501661" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -269,17 +269,17 @@
name="link_lift"> name="link_lift">
<inertial> <inertial>
<origin <origin
xyz="-0.020369 0.03438 0.02236"
xyz="-0.031727 0.038403 0.013361"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="1.987167" />
value="0.27218" />
<inertia <inertia
ixx="0.006518"
ixy="-0.001539"
ixz="0.000371"
iyy="0.004464"
iyz="0.000392"
izz="0.008092" />
ixx="0.00052571"
ixy="0.00014899"
ixz="-1.9258E-05"
iyy="0.00030679"
iyz="-6.2451E-06"
izz="0.00037324" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -318,7 +318,7 @@
link="link_lift" /> link="link_lift" />
<axis <axis
xyz="0 0 1" /> xyz="0 0 1" />
<!-- for now: hand copied range_m: from lift: from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
<!-- for now hand copied range_m from lift from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
<!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>--> <!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
<!-- copied value did not reach the top of mesh model with GUI sliders and RViz --> <!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
<limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/> <limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
@ -328,17 +328,17 @@
name="link_arm_l4"> name="link_arm_l4">
<inertial> <inertial>
<origin <origin
xyz="-0.000168 -0.000254 -0.125235"
xyz="-1.0146E-06 -1.9719E-05 -0.094738"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.235626" />
value="0.068095" />
<inertia <inertia
ixx="0.001518"
ixy="-1E-06"
ixz="3E-06"
iyy="0.001519"
iyz="3E-06"
izz="0.000176" />
ixx="0.0001256"
ixy="-5.6914E-12"
ixz="6.0647E-09"
iyy="0.0001256"
iyz="1.1787E-07"
izz="1.1091E-10" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -383,17 +383,17 @@
name="link_arm_l3"> name="link_arm_l3">
<inertial> <inertial>
<origin <origin
xyz="-1E-06 -0.000146 -0.11908"
xyz="-5.13853606326845E-07 -1.99844969271112E-05 -0.0971104963726614"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.146817" />
value="0.0628927381893134" />
<inertia <inertia
ixx="0.001081"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0.001081"
iyz="-1E-06"
izz="7.7E-05" />
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -440,17 +440,17 @@
name="link_arm_l2"> name="link_arm_l2">
<inertial> <inertial>
<origin <origin
xyz="0 -7.1E-05 -0.115635"
xyz="-5.17421949435687E-07 -2.02045301450349E-05 -0.0968815475684904"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.130565" />
value="0.0571386353275368" />
<inertia <inertia
ixx="0.000943"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0.000943"
iyy="0.001"
iyz="0" iyz="0"
izz="5.7E-05" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -497,17 +497,17 @@
name="link_arm_l1"> name="link_arm_l1">
<inertial> <inertial>
<origin <origin
xyz="-1E-06 -0.000121 -0.113457"
xyz="-5.257E-07 -2.0482E-05 -0.096543"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.113658" />
value="0.051382" />
<inertia <inertia
ixx="0.0008"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0.0008"
iyy="0.001"
iyz="0" iyz="0"
izz="4E-05" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -554,17 +554,17 @@
name="link_arm_l0"> name="link_arm_l0">
<inertial> <inertial>
<origin <origin
xyz="0.033681 -0.000847 -0.031723"
xyz="0.0270582141286185 -0.00189876414654466 -0.0377809018481181"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.427734" />
value="0.085003260946398" />
<inertia <inertia
ixx="0.001689"
ixy="-2.8E-05"
ixz="0.000483"
iyy="0.002107"
iyz="-1.1E-05"
izz="0.000571" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -611,17 +611,17 @@
name="link_wrist_yaw"> name="link_wrist_yaw">
<inertial> <inertial>
<origin <origin
xyz="0 -3.9E-05 -0.016495"
xyz="2.20122392535771E-11 2.9317167880849E-05 -0.018966592644729"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.054422" />
value="0.0404746907425003" />
<inertia <inertia
ixx="9E-06"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="9E-06"
iyy="0.001"
iyz="0" iyz="0"
izz="7E-06" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -661,9 +661,9 @@
<axis <axis
xyz="0 0 -1" /> xyz="0 0 -1" />
<!-- <!--
stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
stowed to front ~225 deg, 3.15159 x 1.25 = 3.9395
using 4.0 using 4.0
stowed to back ~100 deg: 100 / 180 x 3.14159 = 1.7453
stowed to back ~100 deg, 100 / 180 x 3.14159 = 1.7453
using -1.75 using -1.75
--> -->
<limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/> <limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
@ -673,17 +673,17 @@
name="link_head"> name="link_head">
<inertial> <inertial>
<origin <origin
xyz="0.047462 0.04451 0.016376"
xyz="0.0406850995527703 0.0396956343318414 0.0226500246461012"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.681871" />
value="0.133027236718691" />
<inertia <inertia
ixx="0.001023"
ixy="0.000641"
ixz="6.6E-05"
iyy="0.002097"
iyz="6.5E-05"
izz="0.00281" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -728,17 +728,17 @@
name="link_head_pan"> name="link_head_pan">
<inertial> <inertial>
<origin <origin
xyz="-0.000422 0.013934 -0.0161"
xyz="-0.000326562615178591 0.00850012613776489 0.000130487222982367"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.062462" />
value="0.0273764496535409" />
<inertia <inertia
ixx="4.1E-05"
ixy="-1E-06"
ixz="1E-06"
iyy="3.2E-05"
iyz="-1.5E-05"
izz="2.2E-05" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -785,17 +785,17 @@
name="link_head_tilt"> name="link_head_tilt">
<inertial> <inertial>
<origin <origin
xyz="0.003907 -0.02418 0.030154"
xyz="0.00704566394917504 -0.0212256210929691 0.0302058990060359"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.283548" />
value="0.090217113313934" />
<inertia <inertia
ixx="0.000316"
ixy="-6E-06"
ixz="1E-06"
iyy="0.000143"
iyz="-2E-06"
izz="0.00031" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin

+ 8
- 8
stretch_description/urdf/stretch_respeaker.xacro View File

@ -5,17 +5,17 @@
name="respeaker_base"> name="respeaker_base">
<inertial> <inertial>
<origin <origin
xyz="-0.001594 -0.001282 -0.008098"
xyz="-0.003809 -0.0023075 -0.012854"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.025175" />
value="0.015643" />
<inertia <inertia
ixx="1E-05"
ixy="2E-06"
ixz="1E-06"
iyy="1.2E-05"
iyz="0"
izz="1.5E-05" />
ixx="1.0075E-06"
ixy="-5.4396E-08"
ixz="-2.8652E-07"
iyy="1.0569E-06"
iyz="-1.8463E-07"
izz="1.1947E-07" />
</inertial> </inertial>
<visual> <visual>
<origin <origin

+ 215
- 0
stretch_description/urdf/stretch_teleop_kit.xacro View File

@ -0,0 +1,215 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_teleop_kit">
<link
name="link_gripper_teleop_mount">
<inertial>
<origin
xyz="3.8266E-05 -0.0044089 0.014934"
rpy="0 0 0" />
<mass
value="0.032535" />
<inertia
ixx="1.0206E-05"
ixy="7.894E-09"
ixz="-8.5844E-11"
iyy="7.437E-06"
iyz="-2.9587E-06"
izz="2.8384E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_mount.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_mount.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_teleop_mount"
type="fixed">
<origin
xyz="-0.10807 0 -0.069789"
rpy="-0.5236 -4.3792E-15 1.5708" />
<parent
link="link_gripper" />
<child
link="link_gripper_teleop_mount" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_teleop_camera">
<inertial>
<origin
xyz="0.0040022 5.9321E-05 -0.00011952"
rpy="0 0 0" />
<mass
value="0.0056257" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_camera.STL" />
</geometry>
<material
name="">
<color
rgba="0.25098 0.25098 0.25098 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_camera.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_teleop_camera"
type="fixed">
<origin
xyz="0 0.0025 0.029"
rpy="1.8934E-15 5.5511E-17 1.5708" />
<parent
link="link_gripper_teleop_mount" />
<child
link="link_gripper_teleop_camera" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_teleop_mount">
<inertial>
<origin
xyz="0.032675 0.036403 -0.0035184"
rpy="0 0 0" />
<mass
value="0.072645" />
<inertia
ixx="9.371E-05"
ixy="-3.7238E-05"
ixz="1.2184E-05"
iyy="2.7972E-05"
iyz="2.6994E-05"
izz="9.9358E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_mount.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_mount.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_teleop_mount"
type="fixed">
<origin
xyz="0.079 0.0731 0.052"
rpy="0 0 0" />
<parent
link="link_head" />
<child
link="link_head_teleop_mount" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_teleop_camera">
<inertial>
<origin
xyz="0.0040022 5.9321E-05 -0.00011952"
rpy="0 0 0" />
<mass
value="0.0056257" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_camera.STL" />
</geometry>
<material
name="">
<color
rgba="0.25098 0.25098 0.25098 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_camera.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_teleop_camera"
type="fixed">
<origin
xyz="0.055997 0.088091 -0.0245"
rpy="${-M_PI/2} ${M_PI/2} 0" />
<parent
link="link_head_teleop_mount" />
<child
link="link_head_teleop_camera" />
<axis
xyz="0 0 0" />
</joint>
</robot>

+ 78
- 0
stretch_gazebo/urdf/stretch_gazebo_dex_wrist.urdf.xacro View File

@ -9,6 +9,7 @@
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_laser_range_finder.xacro" /> <xacro:include filename="$(find stretch_gazebo)/urdf/stretch_laser_range_finder.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_respeaker.xacro" /> <xacro:include filename="$(find stretch_gazebo)/urdf/stretch_respeaker.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_dex_wrist.xacro" /> <xacro:include filename="$(find stretch_gazebo)/urdf/stretch_dex_wrist.xacro" />
<!-- <xacro:include filename="$(find stretch_gazebo)/urdf/stretch_teleop_kit_dex_wrist.xacro" /> -->
<gazebo> <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
@ -69,6 +70,83 @@
<!-- Sensors --> <!-- Sensors -->
<!--Teleop Cameras-->
<gazebo reference="link_gripper_teleop_camera">
<sensor type="camera" name="gripper_teleop_camera">
<update_rate>30.0</update_rate>
<camera name="gripper_teleop_camera">
<horizontal_fov>2.26</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>teleop/gripper_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="link_head_teleop_camera">
<sensor type="camera" name="head_teleop_camera">
<update_rate>30.0</update_rate>
<camera name="head_teleop_camera">
<horizontal_fov>2.26</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>teleop/head_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<!-- Realsense D435i --> <!-- Realsense D435i -->
<gazebo reference="camera_color_frame"> <gazebo reference="camera_color_frame">
<sensor name="color" type="camera"> <sensor name="color" type="camera">

+ 1
- 0
stretch_gazebo/urdf/stretch_gazebo_standard_gripper.urdf.xacro View File

@ -9,6 +9,7 @@
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_laser_range_finder.xacro" /> <xacro:include filename="$(find stretch_gazebo)/urdf/stretch_laser_range_finder.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_respeaker.xacro" /> <xacro:include filename="$(find stretch_gazebo)/urdf/stretch_respeaker.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_gripper.xacro" /> <xacro:include filename="$(find stretch_gazebo)/urdf/stretch_gripper.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_teleop_kit_standard_gripper.xacro" />
<gazebo> <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">

+ 215
- 0
stretch_gazebo/urdf/stretch_teleop_kit_dex_wrist.xacro View File

@ -0,0 +1,215 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_teleop_kit">
<link
name="link_gripper_teleop_mount">
<inertial>
<origin
xyz="3.8266E-05 -0.0044089 0.014934"
rpy="0 0 0" />
<mass
value="0.032535" />
<inertia
ixx="1.0206E-05"
ixy="7.894E-09"
ixz="-8.5844E-11"
iyy="7.437E-06"
iyz="-2.9587E-06"
izz="2.8384E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_mount.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_mount.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_teleop_mount"
type="fixed">
<origin
xyz="-0.10807 0 -0.069789"
rpy="-0.5236 -4.3792E-15 1.5708" />
<parent
link="link_straight_gripper" />
<child
link="link_gripper_teleop_mount" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_teleop_camera">
<inertial>
<origin
xyz="0.0040022 5.9321E-05 -0.00011952"
rpy="0 0 0" />
<mass
value="0.0056257" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_camera.STL" />
</geometry>
<material
name="">
<color
rgba="0.25098 0.25098 0.25098 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_camera.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_teleop_camera"
type="fixed">
<origin
xyz="0 0.0025 0.029"
rpy="1.8934E-15 5.5511E-17 1.5708" />
<parent
link="link_gripper_teleop_mount" />
<child
link="link_gripper_teleop_camera" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_teleop_mount">
<inertial>
<origin
xyz="0.032675 0.036403 -0.0035184"
rpy="0 0 0" />
<mass
value="0.072645" />
<inertia
ixx="9.371E-05"
ixy="-3.7238E-05"
ixz="1.2184E-05"
iyy="2.7972E-05"
iyz="2.6994E-05"
izz="9.9358E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_mount.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_mount.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_teleop_mount"
type="fixed">
<origin
xyz="0.079 0.0731 0.052"
rpy="0 0 0" />
<parent
link="link_head" />
<child
link="link_head_teleop_mount" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_teleop_camera">
<inertial>
<origin
xyz="0.0040022 5.9321E-05 -0.00011952"
rpy="0 0 0" />
<mass
value="0.0056257" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_camera.STL" />
</geometry>
<material
name="">
<color
rgba="0.25098 0.25098 0.25098 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_camera.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_teleop_camera"
type="fixed">
<origin
xyz="0.055997 0.088091 -0.0245"
rpy="${-M_PI/2} ${M_PI/2} 0" />
<parent
link="link_head_teleop_mount" />
<child
link="link_head_teleop_camera" />
<axis
xyz="0 0 0" />
</joint>
</robot>

+ 215
- 0
stretch_gazebo/urdf/stretch_teleop_kit_standard_gripper.xacro View File

@ -0,0 +1,215 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_teleop_kit">
<link
name="link_gripper_teleop_mount">
<inertial>
<origin
xyz="3.8266E-05 -0.0044089 0.014934"
rpy="0 0 0" />
<mass
value="0.032535" />
<inertia
ixx="1.0206E-05"
ixy="7.894E-09"
ixz="-8.5844E-11"
iyy="7.437E-06"
iyz="-2.9587E-06"
izz="2.8384E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_mount.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_mount.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_teleop_mount"
type="fixed">
<origin
xyz="-0.10807 0 -0.069789"
rpy="-0.5236 -4.3792E-15 1.5708" />
<parent
link="link_gripper" />
<child
link="link_gripper_teleop_mount" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_teleop_camera">
<inertial>
<origin
xyz="0.0040022 5.9321E-05 -0.00011952"
rpy="0 0 0" />
<mass
value="0.0056257" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_camera.STL" />
</geometry>
<material
name="">
<color
rgba="0.25098 0.25098 0.25098 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_teleop_camera.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_teleop_camera"
type="fixed">
<origin
xyz="0 0.0025 0.029"
rpy="1.8934E-15 5.5511E-17 1.5708" />
<parent
link="link_gripper_teleop_mount" />
<child
link="link_gripper_teleop_camera" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_teleop_mount">
<inertial>
<origin
xyz="0.032675 0.036403 -0.0035184"
rpy="0 0 0" />
<mass
value="0.072645" />
<inertia
ixx="9.371E-05"
ixy="-3.7238E-05"
ixz="1.2184E-05"
iyy="2.7972E-05"
iyz="2.6994E-05"
izz="9.9358E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_mount.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_mount.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_teleop_mount"
type="fixed">
<origin
xyz="0.079 0.0731 0.052"
rpy="0 0 0" />
<parent
link="link_head" />
<child
link="link_head_teleop_mount" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_teleop_camera">
<inertial>
<origin
xyz="0.0040022 5.9321E-05 -0.00011952"
rpy="0 0 0" />
<mass
value="0.0056257" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_camera.STL" />
</geometry>
<material
name="">
<color
rgba="0.25098 0.25098 0.25098 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_head_teleop_camera.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_teleop_camera"
type="fixed">
<origin
xyz="0.055997 0.088091 -0.0245"
rpy="${-M_PI/2} ${M_PI/2} 0" />
<parent
link="link_head_teleop_mount" />
<child
link="link_head_teleop_camera" />
<axis
xyz="0 0 0" />
</joint>
</robot>

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