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Adding the missing stretch dex wrist xacro

pull/42/merge
Mohamed Fazil 1 year ago
parent
e7ba967505
commit
a11bcd8925
1 changed files with 451 additions and 0 deletions
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      stretch_description/urdf/stretch_dex_wrist.xacro

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stretch_description/urdf/stretch_dex_wrist.xacro View File

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dex_wrist">
<xacro:property name="scale_finger_length" value="0.9" />
<link
name="link_wrist_yaw_bottom">
<inertial>
<origin
xyz="-0.012839101377342 -0.0382787718640742 -0.0228400332263617"
rpy="0 0 0" />
<mass
value="0.0988906816399982" />
<inertia
ixx="2.60067866573596E-05"
ixy="-6.73176267521354E-06"
ixz="-2.43476436723672E-06"
iyy="5.99482946819923E-06"
iyz="-3.39642410492401E-06"
izz="2.56907114334732E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_wrist_yaw_bottom.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_wrist_yaw_bottom.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_yaw_bottom"
type="fixed">
<origin
xyz="0 0 0"
rpy="-3.14159265358979 1.13367999021379E-14 1.57079632679489" />
<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="-0.00310609611067142 -0.0150777141465843 0.0204734587925901"
rpy="0 0 0" />
<mass
value="0.0701267146295583" />
<inertia
ixx="2.55965614980905E-06"
ixy="-1.47551515167608E-06"
ixz="-6.31436085977252E-08"
iyy="3.43968637386282E-06"
iyz="-4.17813567208843E-07"
izz="4.53568668211393E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_wrist_pitch.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_wrist_pitch.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_pitch"
type="revolute">
<origin
xyz="0 -0.0195500000000002 -0.0247499999999984"
rpy="1.5707963267949 -8.12895570882604E-15 -3.14159265358979" />
<parent
link="link_wrist_yaw_bottom" />
<child
link="link_wrist_pitch" />
<axis
xyz="0 0 -1" />
<limit effort="100" lower="-1.57" upper="0.56" velocity="1.0"/>
</joint>
<link
name="link_wrist_roll">
<inertial>
<origin
xyz="9.63118473862323E-15 -6.38378239159465E-15 0.00768048802649798"
rpy="0 0 0" />
<mass
value="0.00585666394358811" />
<inertia
ixx="2.55965614980905E-06"
ixy="-1.47551515167608E-06"
ixz="-6.31436085977252E-08"
iyy="3.43968637386282E-06"
iyz="-4.17813567208843E-07"
izz="4.53568668211393E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_wrist_roll.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_wrist_roll.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_roll"
type="revolute">
<origin
xyz="-0.0188587444076125 -0.0239999999998942 0.01955"
rpy="3.14159265358979 1.5707963267949 0" />
<parent
link="link_wrist_pitch" />
<child
link="link_wrist_roll" />
<axis
xyz="0 0 1" />
<limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
</joint>
<link
name="link_straight_gripper">
<inertial>
<origin
xyz="0.00150764845432383 -0.00711581846201287 0.0399737901417758"
rpy="0 0 0" />
<mass
value="0.0496384234458284" />
<inertia
ixx="5.61461154156397E-06"
ixy="8.29518962984231E-07"
ixz="-2.41382921888194E-06"
iyy="1.11504692003467E-05"
iyz="9.76174898123369E-07"
izz="6.63803357903882E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_straight_gripper.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_straight_gripper.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_straight_gripper"
type="fixed">
<origin
xyz="0 0 0.0155"
rpy="3.54987407349455E-30 3.24021254484265E-20 -3.14159265358979" />
<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="-0.094981 -0.0080152 -2.2204E-16"
rpy="0 0 0" />
<mass
value="0.047621" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_right.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_finger_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
xyz="-0.018599 0.003 0.033689"
rpy="1.5708 1.5708 0" />
<parent
link="link_straight_gripper" />
<child
link="link_gripper_finger_right" />
<axis
xyz="0 0 1" />
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="2.83785970833783E-08 6.75131661687089E-09 0.00812578923434215"
rpy="0 0 0" />
<mass
value="0.00382160881468841" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
<origin
xyz="-0.190596948563868 -0.015 0"
rpy="-1.57079632679483 -3.43320051448326E-14 0.540456056432235" />
<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="0.0949811095686165 -0.00801522758203194 1.38777878078145E-15"
rpy="0 0 0" />
<mass
value="0.0476207785199479" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="3.141592653589793 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_left.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="1.5707963267948966 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_left.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_left"
type="revolute">
<origin
xyz="0.018599 0.003 0.033689"
rpy="1.5708 -1.5708 0" />
<parent
link="link_straight_gripper" />
<child
link="link_gripper_finger_left" />
<axis
xyz="0 0 -1" />
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link
name="link_gripper_fingertip_left">
<inertial>
<origin
xyz="-2.59496317767116E-08 -6.65612598371723E-09 0.00812579036862837"
rpy="0 0 0" />
<mass
value="0.00382160686584851" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_left"
type="fixed">
<origin
xyz="0.190596948563868 -0.015 0"
rpy="1.57079632679496 4.51275387511463E-14 2.60113659715756" />
<parent
link="link_gripper_finger_left" />
<child
link="link_gripper_fingertip_left" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_grasp_center">
</link>
<joint
name="joint_grasp_center"
type="fixed">
<origin
xyz="0 0 0.23"
rpy="-1.5707963267949 -1.5707963267949 0" />
<parent
link="link_straight_gripper" />
<child
link="link_grasp_center" />
</joint>
</robot>

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