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Instability in gazebo from non-gazebo tuned xacros (#122) 

* Revert xacros and point to gazebo copy

* Change gazebo keyboard teleop shebang to py3
feature/gazebo_teleop_kit_dex_wrist
Binit Shah 1 year ago
committed by GitHub
parent
3b6b62c326
commit
f4aec9b4f8
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 2034 additions and 13 deletions
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  1. +1
    -1
      stretch_gazebo/nodes/keyboard_teleop_gazebo
  2. +283
    -0
      stretch_gazebo/urdf/stretch_aruco.xacro
  3. +23
    -0
      stretch_gazebo/urdf/stretch_d435i.xacro
  4. +451
    -0
      stretch_gazebo/urdf/stretch_dex_wrist.xacro
  5. +6
    -6
      stretch_gazebo/urdf/stretch_gazebo_dex_wrist.urdf.xacro
  6. +6
    -6
      stretch_gazebo/urdf/stretch_gazebo_standard_gripper.urdf.xacro
  7. +302
    -0
      stretch_gazebo/urdf/stretch_gripper.xacro
  8. +59
    -0
      stretch_gazebo/urdf/stretch_laser_range_finder.xacro
  9. +841
    -0
      stretch_gazebo/urdf/stretch_main.xacro
  10. +62
    -0
      stretch_gazebo/urdf/stretch_respeaker.xacro

+ 1
- 1
stretch_gazebo/nodes/keyboard_teleop_gazebo View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
from __future__ import print_function from __future__ import print_function
import math import math

+ 283
- 0
stretch_gazebo/urdf/stretch_aruco.xacro View File

@ -0,0 +1,283 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_aruco">
<link
name="link_aruco_right_base">
<inertial>
<origin
xyz="1.3878E-17 0 -0.000125"
rpy="0 0 0" />
<mass
value="3.59999999990368E-06" />
<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_aruco_right_base.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_aruco_right_base.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_aruco_right_base"
type="fixed">
<origin
xyz="-0.0015028 -0.1304972 0.1597482"
rpy="0 0 -1.5707963267949" />
<parent
link="base_link" />
<child
link="link_aruco_right_base" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_aruco_left_base">
<inertial>
<origin
xyz="2.7756E-17 0 -0.000125"
rpy="0 0 0" />
<mass
value="3.59999999990368E-06" />
<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_aruco_left_base.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_aruco_left_base.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_aruco_left_base"
type="fixed">
<origin
xyz="-0.00500000000000014 0.1304972 0.1597482"
rpy="0 0 -1.5707963267949" />
<parent
link="base_link" />
<child
link="link_aruco_left_base" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_aruco_shoulder">
<inertial>
<origin
xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
rpy="0 0 0" />
<mass
value="0" />
<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_aruco_shoulder.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_aruco_shoulder.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_aruco_shoulder"
type="fixed">
<origin
xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"
rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" />
<parent
link="link_lift" />
<child
link="link_aruco_shoulder" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_aruco_top_wrist">
<inertial>
<origin
xyz="-1.3531E-15 -3.4972E-15 -0.000125"
rpy="0 0 0" />
<mass
value="0" />
<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_aruco_top_wrist.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_aruco_top_wrist.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_aruco_top_wrist"
type="fixed">
<origin
xyz="0.0472500000000019 0.0292850000000015 0"
rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" />
<parent
link="link_arm_l0" />
<child
link="link_aruco_top_wrist" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_aruco_inner_wrist">
<inertial>
<origin
xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"
rpy="0 0 0" />
<mass
value="0" />
<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_aruco_inner_wrist.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_aruco_inner_wrist.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_aruco_inner_wrist"
type="fixed">
<origin
xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"
rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" />
<parent
link="link_arm_l0" />
<child
link="link_aruco_inner_wrist" />
<axis
xyz="0 0 0" />
</joint>
</robot>

+ 23
- 0
stretch_gazebo/urdf/stretch_d435i.xacro View File

@ -0,0 +1,23 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_d435i">
<xacro:arg name="use_nominal_extrinsics" default="true"/>
<xacro:arg name="add_plug" default="false"/>
<xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
<!-- xyz = "
depth (- recessed into head / + protruding from front)
up and down (- down / + up)
sideways (- right / + left)
" -->
<xacro:sensor_d435i parent="link_head_tilt" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<origin
xyz="0.03 -0.0122 0.0182"
rpy="0.0 0.0 0.0" />
</xacro:sensor_d435i>
</robot>

+ 451
- 0
stretch_gazebo/urdf/stretch_dex_wrist.xacro View File

@ -0,0 +1,451 @@
<?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>

+ 6
- 6
stretch_gazebo/urdf/stretch_gazebo_dex_wrist.urdf.xacro View File

@ -3,12 +3,12 @@
<xacro:arg name="gpu_lidar" default="false" /> <xacro:arg name="gpu_lidar" default="false" />
<xacro:arg name="visualize_lidar" default="false" /> <xacro:arg name="visualize_lidar" default="false" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_main.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_aruco.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_d435i.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_laser_range_finder.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_respeaker.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_dex_wrist.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_main.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_aruco.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_d435i.xacro" />
<xacro:include filename="$(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_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">

+ 6
- 6
stretch_gazebo/urdf/stretch_gazebo_standard_gripper.urdf.xacro View File

@ -3,12 +3,12 @@
<xacro:arg name="gpu_lidar" default="false" /> <xacro:arg name="gpu_lidar" default="false" />
<xacro:arg name="visualize_lidar" default="false" /> <xacro:arg name="visualize_lidar" default="false" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_main.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_aruco.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_d435i.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_laser_range_finder.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_respeaker.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_gripper.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_main.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_aruco.xacro" />
<xacro:include filename="$(find stretch_gazebo)/urdf/stretch_d435i.xacro" />
<xacro:include filename="$(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_gripper.xacro" />
<gazebo> <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">

+ 302
- 0
stretch_gazebo/urdf/stretch_gripper.xacro View File

@ -0,0 +1,302 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper">
<xacro:property name="scale_finger_length" value="0.9" />
<link
name="link_gripper">
<inertial>
<origin
xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
rpy="0 0 0" />
<mass
value="0.101902711393094" />
<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.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_gripper.STL" />
</geometry>
</collision>
</link>
<!-- rpy="3.1416 0 1.5708" -->
<!-- rpy="0.0 0 1.5708" -->
<joint
name="joint_gripper"
type="fixed">
<origin
xyz="0 0 0"
rpy="3.14159 0 -1.5708" />
<parent
link="link_wrist_yaw" />
<child
link="link_gripper" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_left">
<inertial>
<origin
xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
rpy="0 0 0" />
<mass
value="0.0476207785199474" />
<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_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_left"
type="revolute">
<origin
xyz="-0.047231 -0.010151 -0.04679"
rpy="2.1762E-15 0.5236 3.1416" />
<parent
link="link_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="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
rpy="0 0 0" />
<mass
value="0.00382159917455729" />
<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="${scale_finger_length * 0.19011} 0.014912 0"
rpy="-1.5708 -4.774E-15 -2.5545" />
<parent
link="link_gripper_finger_left" />
<child
link="link_gripper_fingertip_left" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.0945047483510099 -0.0124301080924345 0"
rpy="0 0 0" />
<mass
value="0.0476207785199481" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
</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_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
xyz="-0.047231 0.010049 -0.04679"
rpy="3.1416 -0.5236 1.2943E-15" />
<parent
link="link_gripper" />
<child
link="link_gripper_finger_right" />
<axis
xyz="0 0 1" />
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
rpy="0 0 0" />
<mass
value="0.00382160037319545" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
<origin
xyz="${scale_finger_length * -0.19011} -0.014912 0"
rpy="-1.5708 -2.0539E-15 0.58705" />
<parent
link="link_gripper_finger_right" />
<child
link="link_gripper_fingertip_right" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_grasp_center">
</link>
<joint
name="joint_grasp_center"
type="fixed">
<origin
xyz="-0.205478 0 -0.138154"
rpy="0 0 3.141579" />
<parent
link="link_gripper" />
<child
link="link_grasp_center" />
</joint>
</robot>

+ 59
- 0
stretch_gazebo/urdf/stretch_laser_range_finder.xacro View File

@ -0,0 +1,59 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_laser_range_finder">
<link
name="laser">
<inertial>
<origin
xyz="0 0 -0.000755956127492408"
rpy="0 0 0" />
<mass
value="0.0749979022894495" />
<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/laser.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/laser.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_laser"
type="fixed">
<origin
xyz="0.004 0 0.1664"
rpy="0 0 3.1416" />
<parent
link="base_link" />
<child
link="laser" />
<axis
xyz="0 0 0" />
</joint>
</robot>

+ 841
- 0
stretch_gazebo/urdf/stretch_main.xacro View File

@ -0,0 +1,841 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_main">
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:property name="joint_damping" value="21.75"/>
<xacro:property name="joint_friction" value="10.48"/>
<xacro:property name="joint_spring_stiffness" value="0"/>
<xacro:property name="joint_spring_reference" value="0"/>
<link
name="base_link">
<inertial>
<origin
xyz="-0.11587 0.0019426 0.093621"
rpy="0 0 0" />
<mass
value="1.1912" />
<inertia
ixx="0.0034667"
ixy="-5.0568E-06"
ixz="0.00042861"
iyy="0.0052744"
iyz="-5.766E-05"
izz="0.0047945" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_link.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/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_right_wheel">
<inertial>
<origin
xyz="1.1719E-11 2.0783E-11 0.037544"
rpy="0 0 0" />
<mass
value="0.0042721" />
<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_right_wheel.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_right_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_right_wheel"
type="continuous">
<origin
xyz="0 -0.17035 0.0508"
rpy="-1.5708 1.2717E-16 4.8006E-17" />
<parent
link="base_link" />
<child
link="link_right_wheel" />
<axis
xyz="0 0 1" />
<dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
</joint>
<link
name="link_left_wheel">
<inertial>
<origin
xyz="-2.0783E-11 -1.1719E-11 -0.037544"
rpy="0 0 0" />
<mass
value="0.0042721" />
<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_left_wheel.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_left_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_left_wheel"
type="continuous">
<origin
xyz="0 0.17035 0.0508"
rpy="-1.5708 2.6317E-16 -8.2057E-19" />
<parent
link="base_link" />
<child
link="link_left_wheel" />
<axis
xyz="0 0 1" />
<dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
</joint>
<link name="caster_link">
<collision>
<geometry>
<sphere radius="0.032"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/omni_wheel_m.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
</link>
<joint name="caster_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_link"/>
<origin xyz="-0.245 0.0 0.032" rpy="${-M_PI/2} 0 0"/>
<axis xyz="0 0 1" />
</joint>
<link
name="link_mast">
<inertial>
<origin
xyz="2.0817E-17 0.7075 -2.7756E-17"
rpy="0 0 0" />
<mass
value="1.8285" />
<inertia
ixx="0.0709854511954588"
ixy="-0.00433428742758457"
ixz="-0.000186110788697573"
iyy="0.000437922053342648"
iyz="-0.00288788257713431"
izz="0.071104808501661" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_mast.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_mast.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_mast"
type="fixed">
<origin
xyz="-0.067 0.135 0.0284"
rpy="1.5708 0 4.8006E-17" />
<parent
link="base_link" />
<child
link="link_mast" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_lift">
<inertial>
<origin
xyz="-0.031727 0.038403 0.013361"
rpy="0 0 0" />
<mass
value="0.27218" />
<inertia
ixx="0.00052571"
ixy="0.00014899"
ixz="-1.9258E-05"
iyy="0.00030679"
iyz="-6.2451E-06"
izz="0.00037324" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_lift.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_lift.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_lift"
type="prismatic">
<origin
xyz="-0.037385 0.1666 0"
rpy="-1.5708 1.5708 0" />
<parent
link="link_mast" />
<child
link="link_lift" />
<axis
xyz="0 0 1" />
<!-- 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"/>-->
<!-- 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"/>
</joint>
<link
name="link_arm_l4">
<inertial>
<origin
xyz="-1.0146E-06 -1.9719E-05 -0.094738"
rpy="0 0 0" />
<mass
value="0.068095" />
<inertia
ixx="0.0001256"
ixy="-5.6914E-12"
ixz="6.0647E-09"
iyy="0.0001256"
iyz="1.1787E-07"
izz="1.1091E-10" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_arm_l4.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_arm_l4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l4"
type="fixed">
<origin
xyz="-0.2547 0 0"
rpy="1.5708 2.4721E-15 -1.5708" />
<parent
link="link_lift" />
<child
link="link_arm_l4" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_arm_l3">
<inertial>
<origin
xyz="-5.13853606326845E-07 -1.99844969271112E-05 -0.0971104963726614"
rpy="0 0 0" />
<mass
value="0.0628927381893134" />
<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_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/meshes/link_arm_l3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l3"
type="prismatic">
<origin
xyz="0 0 0.013"
rpy="7.68831233799385E-30 2.36716479416092E-30 2.29652732251143E-17" />
<parent
link="link_arm_l4" />
<child
link="link_arm_l3" />
<axis
xyz="0 0 1" />
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link
name="link_arm_l2">
<inertial>
<origin
xyz="-5.17421949435687E-07 -2.02045301450349E-05 -0.0968815475684904"
rpy="0 0 0" />
<mass
value="0.0571386353275368" />
<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_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/meshes/link_arm_l2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l2"
type="prismatic">
<origin
xyz="0 0 0.013"
rpy="0 1.57655765344625E-30 -1.66533453693773E-16" />
<parent
link="link_arm_l3" />
<child
link="link_arm_l2" />
<axis
xyz="0 0 1" />
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link
name="link_arm_l1">
<inertial>
<origin
xyz="-5.257E-07 -2.0482E-05 -0.096543"
rpy="0 0 0" />
<mass
value="0.051382" />
<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_arm_l1.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_arm_l1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l1"
type="prismatic">
<origin
xyz="0 0 0.0129999999999981"
rpy="-7.63746778746202E-30 -7.88860905221012E-31 1.11022302462516E-16" />
<parent
link="link_arm_l2" />
<child
link="link_arm_l1" />
<axis
xyz="0 0 1" />
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link
name="link_arm_l0">
<inertial>
<origin
xyz="0.0270582141286185 -0.00189876414654466 -0.0377809018481181"
rpy="0 0 0" />
<mass
value="0.085003260946398" />
<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_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/meshes/link_arm_l0.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_arm_l0"
type="prismatic">
<origin
xyz="0 0 -0.0137499999991968"
rpy="7.63746778746202E-30 -3.80121128864402E-15 2.62707547767438E-15" />
<parent
link="link_arm_l1" />
<child
link="link_arm_l0" />
<axis
xyz="0 0 1" />
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link
name="link_wrist_yaw">
<inertial>
<origin
xyz="2.20122392535771E-11 2.9317167880849E-05 -0.018966592644729"
rpy="0 0 0" />
<mass
value="0.0404746907425003" />
<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_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/meshes/link_wrist_yaw.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wrist_yaw"
type="revolute">
<origin
xyz="0.0830000000000654 -0.0307500000000129 0"
rpy="1.5708 4.2595E-14 2.6415E-15"/>
<parent
link="link_arm_l0" />
<child
link="link_wrist_yaw" />
<axis
xyz="0 0 -1" />
<!--
stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
using 4.0
stowed to back ~100 deg: 100 / 180 x 3.14159 = 1.7453
using -1.75
-->
<limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
</joint>
<link
name="link_head">
<inertial>
<origin
xyz="0.0406850995527703 0.0396956343318414 0.0226500246461012"
rpy="0 0 0" />
<mass
value="0.133027236718691" />
<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_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/meshes/link_head.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_head"
type="fixed">
<origin
xyz="0 1.33 0"
rpy="1.5707963267949 -1.5707963267949 3.1416" />
<parent
link="link_mast" />
<child
link="link_head" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_head_pan">
<inertial>
<origin
xyz="-0.000326562615178591 0.00850012613776489 0.000130487222982367"
rpy="0 0 0" />
<mass
value="0.0273764496535409" />
<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_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/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" />
<!-- unconstrained range for now -->
<limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
</joint>
<link
name="link_head_tilt">
<inertial>
<origin
xyz="0.00704566394917504 -0.0212256210929691 0.0302058990060359"
rpy="0 0 0" />
<mass
value="0.090217113313934" />
<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_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/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 3.36459255518345E-15 -8.42914893687103E-17" />
<parent
link="link_head_pan" />
<child
link="link_head_tilt" />
<axis
xyz="0 0 1" />
<!-- unconstrained range for now -->
<limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
</joint>
</robot>

+ 62
- 0
stretch_gazebo/urdf/stretch_respeaker.xacro View File

@ -0,0 +1,62 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">
<link
name="respeaker_base">
<inertial>
<origin
xyz="-0.003809 -0.0023075 -0.012854"
rpy="0 0 0" />
<mass
value="0.015643" />
<inertia
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>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/respeaker_base.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/respeaker_base.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_respeaker"
type="fixed">
<origin
xyz="0 1.37236408874452 0.00303065898329655"
rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" />
<parent
link="link_mast" />
<child
link="respeaker_base" />
<axis
xyz="0 0 0" />
</joint>
</robot>

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