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Initial add S2 body collision mesh

features/collision_mesh
aedsinger 1 year ago
parent
bd8c72f16e
commit
b4e213fdb3
14 changed files with 683 additions and 0 deletions
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      stretch_description/collision/urdf/stretch_description_S3_collision.csv
  14. +670
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      stretch_description/collision/urdf/stretch_description_S3_collision.urdf

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stretch_description/collision/urdf/stretch_description_S3_collision.csv View File

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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,-0.11400004837072,0.000500000000002998,0.0804985999999998,0,0,0,17.8942374283071,0.213061120009461,-2.10678538191478E-17,4.68125202565575E-18,0.19615284074807,-6.45475890002455E-17,0.331910561578368,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/base_link.STL,,link_base-1,origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
link_mast,2.77555756156289E-17,0.7075,-2.77555756156289E-17,0,0,0,1.8678067708306,0.257240348204921,-1.10228377351677E-18,-3.10682858140655E-20,0.000452490549048072,2.55168464362254E-18,0.257240348204921,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_mast.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_mast.STL,,link_mast-1,origin_mast,Axis_joint_mast,joint_mast,fixed,-0.0669999999989439,0.135000000000006,0.0283999999999986,1.5707963267949,0,0,base_link,0,0,0,,,,,,,,,,,,
link_lift,-0.0495999999999985,0.0391055571636557,0.0263204136207454,0,0,0,4.73654413512218,0.0265523544770934,4.3603911959983E-18,1.9452653164428E-17,0.0172864951059097,-2.69087210511415E-17,0.0323494072137015,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_lift.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_lift.STL,,link_lift-1,origin_lift,axis_lift,joint_lift,prismatic,-0.0373854368624716,0.166597200000001,0,1.5707963267949,1.5707963267949,0,link_mast,0,0,-1,1,1,0,1.1,,,,,,,,
link_arm_l4,1.31145094783847E-15,1.38777878078145E-15,-0.111250000000003,0,0,0,0.78638230625,0.00347584599997702,5.42895268456038E-20,1.88755031660467E-19,0.00347584599997702,5.45500739372154E-20,0.000463218825155857,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l4.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l4.STL,,link_arm_l4-1,origin_link_arm_l4,Axis_joint_arm_l4,joint_arm_l4,fixed,-0.254702700000004,0,0,1.5707963267949,0,-1.5707963267949,link_lift,0,0,0,,,,,,,,,,,,
link_arm_l3,1.29583843655467E-15,1.36002320516582E-15,-0.113250000000003,0,0,0,0.69140540625,0.00313176760151709,1.37421883375393E-21,1.2417568515994E-19,0.00313176760151709,-5.62600837089042E-20,0.000351759702569336,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l3.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l3.STL,,link_arm_l3-1,origin_link_arm_l3,axis_arm_telescoping,joint_arm_l3,prismatic,0,0,0.013,0,0,0,link_arm_l4,0,0,-1,1,1,0,1,,,,,,,,
link_arm_l2,1.3235940121703E-15,1.38777878078145E-15,-0.113250000000003,0,0,0,0.597240296250001,0.00268454896994585,-2.20304947481381E-20,1.65250429579797E-20,0.00268454896994585,-2.43635469477148E-20,0.000262469441843111,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l2.STL,,link_arm_l2-1,origin_link_arm_l2,axis_arm_telescoping,joint_arm_l2,prismatic,0,0,0.013,0,0,0,link_arm_l3,0,0,-1,1,1,0,1,,,,,,,,
link_arm_l1,1.33573707650214E-15,1.33226762955019E-15,-0.113250000000002,0,0,0,0.50781809625,0.0022658958771701,1.02241667596953E-20,1.18035557554568E-20,0.0022658958771701,5.09058387024662E-20,0.000189756599616611,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l1.STL,,link_arm_l1-1,origin_link_arm_l1,axis_arm_telescoping,joint_arm_l1,prismatic,0,0,0.0129999999999981,0,0,0,link_arm_l2,0,0,-1,1,1,0,1,,,,,,,,
link_arm_l0,0.0306371125003669,-0.000255002893144701,-0.0332543343274891,0,0,0,0.541496991463441,0.00200001508428477,1.70041718844323E-06,-0.000535096318028993,0.00258685232494381,4.4537849056297E-06,0.000836410819689304,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l0.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_arm_l0.STL,,link_arm_l0-1,origin_link_arm_l0,axis_arm_telescoping,joint_arm_l0,prismatic,0,0,-0.0137499999991968,0,0,0,link_arm_l1,0,0,-1,1,1,0,1,,,,,,,,
link_wrist_yaw,-1.29063426612674E-15,4.19109191795997E-15,-0.0190000000000012,0,0,0,0.0923399999999999,1.803708E-05,8.90347399579394E-22,3.88874985447859E-21,1.803708E-05,-1.78677337138613E-21,1.3851E-05,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_wrist_yaw.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_wrist_yaw.STL,,link_wrist_yaw-1,origin_wrist_yaw,axis_wrist_yaw,joint_wrist_yaw,revolute,0.0830000000000654,-0.0307500000000129,0,-1.5707963267949,0,3.14159265358978,link_arm_l0,0,0,-1,1,1,0,3.1416,,,,,,,,
link_head,0.0611392022099394,0.0287000000193147,0.0255640887445199,0,0,0,1.33572254312489,0.00229139640231229,-5.99325419161402E-19,-3.26749734422614E-19,0.00443291287224681,4.76482985670774E-20,0.00612696524845671,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_head.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_head.STL,,link_head-1,origin_head,Axis_joint_head,joint_head,fixed,0,1.33,0,1.5707963267949,-1.5707963267949,0,link_mast,0,0,0,,,,,,,,,,,,
link_head_pan,2.77555756156289E-17,0.00801031176389815,-0.0135000000000001,0,0,0,0.296560230345136,0.000380277119700896,9.92854868294564E-21,2.54377581086815E-20,0.000338301082766222,1.79656578255297E-20,0.000142065114676175,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_head_pan.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_head_pan.STL,,link_head_pan-1,origin_head_pan,axis_head_pan,joint_head_pan,revolute,0.135,0.0731000000000001,-0.00319621125547975,0,0,1.5707963267949,link_head,0,0,-1,1,1,0,1,,,,,,,,
link_head_tilt,0.0108465972636136,-0.022972712336035,0.0318092059684025,0,0,0,0.530742044146659,0.000835699277225503,1.38912684335748E-17,3.62079586230494E-06,0.000386462475100045,2.62299828937405E-19,0.000863980911720213,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_head_tilt.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://stretch_description_S3_collision/meshes/link_head_tilt.STL,,link_head_tilt-1,origin_head_tilt,axis_head_tilt,joint_head_tilt,revolute,-0.00130000001785262,0.0277624999926072,-0.0533107920897029,1.5707963267949,0,0,link_head_pan,0,0,-1,1,1,0,3.1416,,,,,,,,

+ 670
- 0
stretch_description/collision/urdf/stretch_description_S3_collision.urdf View File

@ -0,0 +1,670 @@
<?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_S3_collision">
<link
name="base_link">
<inertial>
<origin
xyz="-0.11400004837072 0.000500000000002998 0.0804985999999998"
rpy="0 0 0" />
<mass
value="17.8942374283071" />
<inertia
ixx="0.213061120009461"
ixy="-2.10678538191478E-17"
ixz="4.68125202565575E-18"
iyy="0.19615284074807"
iyz="-6.45475890002455E-17"
izz="0.331910561578368" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/base_link.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_S3_collision/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_mast">
<inertial>
<origin
xyz="2.77555756156289E-17 0.7075 -2.77555756156289E-17"
rpy="0 0 0" />
<mass
value="1.8678067708306" />
<inertia
ixx="0.257240348204921"
ixy="-1.10228377351677E-18"
ixz="-3.10682858140655E-20"
iyy="0.000452490549048072"
iyz="2.55168464362254E-18"
izz="0.257240348204921" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_mast.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_S3_collision/meshes/link_mast.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_mast"
type="fixed">
<origin
xyz="-0.0669999999989439 0.135000000000006 0.0283999999999986"
rpy="1.5707963267949 0 0" />
<parent
link="base_link" />
<child
link="link_mast" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_lift">
<inertial>
<origin
xyz="-0.0495999999999985 0.0391055571636557 0.0263204136207454"
rpy="0 0 0" />
<mass
value="4.73654413512218" />
<inertia
ixx="0.0265523544770934"
ixy="4.3603911959983E-18"
ixz="1.9452653164428E-17"
iyy="0.0172864951059097"
iyz="-2.69087210511415E-17"
izz="0.0323494072137015" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_lift.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_S3_collision/meshes/link_lift.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_lift"
type="prismatic">
<origin
xyz="-0.0373854368624716 0.166597200000001 0"
rpy="1.5707963267949 1.5707963267949 0" />
<parent
link="link_mast" />
<child
link="link_lift" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="1.1"
effort="1"
velocity="1" />
</joint>
<link
name="link_arm_l4">
<inertial>
<origin
xyz="1.31145094783847E-15 1.38777878078145E-15 -0.111250000000003"
rpy="0 0 0" />
<mass
value="0.78638230625" />
<inertia
ixx="0.00347584599997702"
ixy="5.42895268456038E-20"
ixz="1.88755031660467E-19"
iyy="0.00347584599997702"
iyz="5.45500739372154E-20"
izz="0.000463218825155857" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_arm_l4.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_S3_collision/meshes/link_arm_l4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l4"
type="fixed">
<origin
xyz="-0.254702700000004 0 0"
rpy="1.5707963267949 0 -1.5707963267949" />
<parent
link="link_lift" />
<child
link="link_arm_l4" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_arm_l3">
<inertial>
<origin
xyz="1.29583843655467E-15 1.36002320516582E-15 -0.113250000000003"
rpy="0 0 0" />
<mass
value="0.69140540625" />
<inertia
ixx="0.00313176760151709"
ixy="1.37421883375393E-21"
ixz="1.2417568515994E-19"
iyy="0.00313176760151709"
iyz="-5.62600837089042E-20"
izz="0.000351759702569336" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_arm_l3.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_S3_collision/meshes/link_arm_l3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l3"
type="prismatic">
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<parent
link="link_arm_l4" />
<child
link="link_arm_l3" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="1"
effort="1"
velocity="1" />
</joint>
<link
name="link_arm_l2">
<inertial>
<origin
xyz="1.3235940121703E-15 1.38777878078145E-15 -0.113250000000003"
rpy="0 0 0" />
<mass
value="0.597240296250001" />
<inertia
ixx="0.00268454896994585"
ixy="-2.20304947481381E-20"
ixz="1.65250429579797E-20"
iyy="0.00268454896994585"
iyz="-2.43635469477148E-20"
izz="0.000262469441843111" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_arm_l2.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_S3_collision/meshes/link_arm_l2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l2"
type="prismatic">
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<parent
link="link_arm_l3" />
<child
link="link_arm_l2" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="1"
effort="1"
velocity="1" />
</joint>
<link
name="link_arm_l1">
<inertial>
<origin
xyz="1.33573707650214E-15 1.33226762955019E-15 -0.113250000000002"
rpy="0 0 0" />
<mass
value="0.50781809625" />
<inertia
ixx="0.0022658958771701"
ixy="1.02241667596953E-20"
ixz="1.18035557554568E-20"
iyy="0.0022658958771701"
iyz="5.09058387024662E-20"
izz="0.000189756599616611" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_arm_l1.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_S3_collision/meshes/link_arm_l1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l1"
type="prismatic">
<origin
xyz="0 0 0.0129999999999981"
rpy="0 0 0" />
<parent
link="link_arm_l2" />
<child
link="link_arm_l1" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="1"
effort="1"
velocity="1" />
</joint>
<link
name="link_arm_l0">
<inertial>
<origin
xyz="0.0306371125003669 -0.000255002893144701 -0.0332543343274891"
rpy="0 0 0" />
<mass
value="0.541496991463441" />
<inertia
ixx="0.00200001508428477"
ixy="1.70041718844323E-06"
ixz="-0.000535096318028993"
iyy="0.00258685232494381"
iyz="4.4537849056297E-06"
izz="0.000836410819689304" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_arm_l0.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_S3_collision/meshes/link_arm_l0.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l0"
type="prismatic">
<origin
xyz="0 0 -0.0137499999991968"
rpy="0 0 0" />
<parent
link="link_arm_l1" />
<child
link="link_arm_l0" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="1"
effort="1"
velocity="1" />
</joint>
<link
name="link_wrist_yaw">
<inertial>
<origin
xyz="-1.29063426612674E-15 4.19109191795997E-15 -0.0190000000000012"
rpy="0 0 0" />
<mass
value="0.0923399999999999" />
<inertia
ixx="1.803708E-05"
ixy="8.90347399579394E-22"
ixz="3.88874985447859E-21"
iyy="1.803708E-05"
iyz="-1.78677337138613E-21"
izz="1.3851E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_wrist_yaw.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_wrist_yaw.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_yaw"
type="revolute">
<origin
xyz="0.0830000000000654 -0.0307500000000129 0"
rpy="-1.5707963267949 0 3.14159265358978" />
<parent
link="link_arm_l0" />
<child
link="link_wrist_yaw" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="3.1416"
effort="1"
velocity="1" />
</joint>
<link
name="link_head">
<inertial>
<origin
xyz="0.0611392022099394 0.0287000000193147 0.0255640887445199"
rpy="0 0 0" />
<mass
value="1.33572254312489" />
<inertia
ixx="0.00229139640231229"
ixy="-5.99325419161402E-19"
ixz="-3.26749734422614E-19"
iyy="0.00443291287224681"
iyz="4.76482985670774E-20"
izz="0.00612696524845671" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_head.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_S3_collision/meshes/link_head.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head"
type="fixed">
<origin
xyz="0 1.33 0"
rpy="1.5707963267949 -1.5707963267949 0" />
<parent
link="link_mast" />
<child
link="link_head" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_pan">
<inertial>
<origin
xyz="2.77555756156289E-17 0.00801031176389815 -0.0135000000000001"
rpy="0 0 0" />
<mass
value="0.296560230345136" />
<inertia
ixx="0.000380277119700896"
ixy="9.92854868294564E-21"
ixz="2.54377581086815E-20"
iyy="0.000338301082766222"
iyz="1.79656578255297E-20"
izz="0.000142065114676175" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_head_pan.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_S3_collision/meshes/link_head_pan.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_pan"
type="revolute">
<origin
xyz="0.135 0.0731000000000001 -0.00319621125547975"
rpy="0 0 1.5707963267949" />
<parent
link="link_head" />
<child
link="link_head_pan" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="1"
effort="1"
velocity="1" />
</joint>
<link
name="link_head_tilt">
<inertial>
<origin
xyz="0.0108465972636136 -0.022972712336035 0.0318092059684025"
rpy="0 0 0" />
<mass
value="0.530742044146659" />
<inertia
ixx="0.000835699277225503"
ixy="1.38912684335748E-17"
ixz="3.62079586230494E-06"
iyy="0.000386462475100045"
iyz="2.62299828937405E-19"
izz="0.000863980911720213" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description_S3_collision/meshes/link_head_tilt.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_S3_collision/meshes/link_head_tilt.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head_tilt"
type="revolute">
<origin
xyz="-0.00130000001785262 0.0277624999926072 -0.0533107920897029"
rpy="1.5707963267949 0 0" />
<parent
link="link_head_pan" />
<child
link="link_head_tilt" />
<axis
xyz="0 0 -1" />
<limit
lower="0"
upper="3.1416"
effort="1"
velocity="1" />
</joint>
</robot>

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