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stretch_ros
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new mass data ready and tested

pull/110/head
Julian Mehu 9 months ago
parent
3a2d875a53
commit
fc31b28889
51 changed files with 4825 additions and 752 deletions
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  1. +7
    -7
      stretch_description/batch/mitski/urdf/stretch_base_imu.xacro
  2. +15
    -0
      stretch_description/batch/mitski/urdf/stretch_description_dex.xacro
  3. +15
    -0
      stretch_description/batch/mitski/urdf/stretch_description_standard.xacro
  4. +451
    -0
      stretch_description/batch/mitski/urdf/stretch_dex_wrist.xacro
  5. +31
    -30
      stretch_description/batch/mitski/urdf/stretch_gripper.xacro
  6. +26
    -26
      stretch_description/batch/mitski/urdf/stretch_gripper_with_puller.xacro
  7. +8
    -8
      stretch_description/batch/mitski/urdf/stretch_laser_range_finder.xacro
  8. +95
    -95
      stretch_description/batch/mitski/urdf/stretch_main.xacro
  9. +8
    -8
      stretch_description/batch/mitski/urdf/stretch_respeaker.xacro
  10. +7
    -7
      stretch_description/batch/nina/urdf/stretch_base_imu.xacro
  11. +15
    -0
      stretch_description/batch/nina/urdf/stretch_description_dex.xacro
  12. +15
    -0
      stretch_description/batch/nina/urdf/stretch_description_standard.xacro
  13. +451
    -0
      stretch_description/batch/nina/urdf/stretch_dex_wrist.xacro
  14. +31
    -30
      stretch_description/batch/nina/urdf/stretch_gripper.xacro
  15. +26
    -26
      stretch_description/batch/nina/urdf/stretch_gripper_with_puller.xacro
  16. +8
    -8
      stretch_description/batch/nina/urdf/stretch_laser_range_finder.xacro
  17. +95
    -95
      stretch_description/batch/nina/urdf/stretch_main.xacro
  18. +8
    -8
      stretch_description/batch/nina/urdf/stretch_respeaker.xacro
  19. +7
    -7
      stretch_description/batch/otis/urdf/stretch_base_imu.xacro
  20. +15
    -0
      stretch_description/batch/otis/urdf/stretch_description_dex.xacro
  21. +15
    -0
      stretch_description/batch/otis/urdf/stretch_description_standard.xacro
  22. +451
    -0
      stretch_description/batch/otis/urdf/stretch_dex_wrist.xacro
  23. +31
    -30
      stretch_description/batch/otis/urdf/stretch_gripper.xacro
  24. +26
    -26
      stretch_description/batch/otis/urdf/stretch_gripper_with_puller.xacro
  25. +8
    -8
      stretch_description/batch/otis/urdf/stretch_laser_range_finder.xacro
  26. +95
    -95
      stretch_description/batch/otis/urdf/stretch_main.xacro
  27. +8
    -8
      stretch_description/batch/otis/urdf/stretch_respeaker.xacro
  28. +283
    -0
      stretch_description/urdf/cad_to_urdf/stretch_aruco.xacro
  29. +61
    -0
      stretch_description/urdf/cad_to_urdf/stretch_base_imu.xacro
  30. +23
    -0
      stretch_description/urdf/cad_to_urdf/stretch_d435i.xacro
  31. +18
    -0
      stretch_description/urdf/cad_to_urdf/stretch_description.xacro
  32. +0
    -0
      stretch_description/urdf/cad_to_urdf/stretch_description_S2.SLDASM.urdf
  33. +0
    -0
      stretch_description/urdf/cad_to_urdf/stretch_description_S2_DexWrist.SLDASM.urdf
  34. +0
    -0
      stretch_description/urdf/cad_to_urdf/stretch_description_S2_gripper.SLDASM.urdf
  35. +15
    -0
      stretch_description/urdf/cad_to_urdf/stretch_description_dex.xacro
  36. +15
    -0
      stretch_description/urdf/cad_to_urdf/stretch_description_standard.xacro
  37. +451
    -0
      stretch_description/urdf/cad_to_urdf/stretch_dex_wrist.xacro
  38. +133
    -0
      stretch_description/urdf/cad_to_urdf/stretch_dry_erase_marker.xacro
  39. +303
    -0
      stretch_description/urdf/cad_to_urdf/stretch_gripper.xacro
  40. +359
    -0
      stretch_description/urdf/cad_to_urdf/stretch_gripper_with_puller.xacro
  41. +59
    -0
      stretch_description/urdf/cad_to_urdf/stretch_laser_range_finder.xacro
  42. +841
    -0
      stretch_description/urdf/cad_to_urdf/stretch_main.xacro
  43. +62
    -0
      stretch_description/urdf/cad_to_urdf/stretch_respeaker.xacro
  44. +7
    -7
      stretch_description/urdf/stretch_base_imu.xacro
  45. +5
    -2
      stretch_description/urdf/stretch_description.xacro
  46. +54
    -54
      stretch_description/urdf/stretch_dex_wrist.xacro
  47. +31
    -30
      stretch_description/urdf/stretch_gripper.xacro
  48. +26
    -26
      stretch_description/urdf/stretch_gripper_with_puller.xacro
  49. +8
    -8
      stretch_description/urdf/stretch_laser_range_finder.xacro
  50. +95
    -95
      stretch_description/urdf/stretch_main.xacro
  51. +8
    -8
      stretch_description/urdf/stretch_respeaker.xacro

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

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

+ 15
- 0
stretch_description/batch/mitski/urdf/stretch_description_dex.xacro View File

@ -0,0 +1,15 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
<xacro:include filename="stretch_dex_wrist.xacro" />
<!--<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_respeaker.xacro" />
</robot>

+ 15
- 0
stretch_description/batch/mitski/urdf/stretch_description_standard.xacro View File

@ -0,0 +1,15 @@
<?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>

+ 451
- 0
stretch_description/batch/mitski/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="-0.012462 -0.032314 -0.021973"
rpy="0 0 0" />
<mass
value="0.24284" />
<inertia
ixx="0.000194"
ixy="3.4E-05"
ixz="7E-06"
iyy="0.000107"
iyz="2E-05"
izz="0.000229" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="-0.006752 -0.01567 0.021672"
rpy="0 0 0" />
<mass
value="0.208129" />
<inertia
ixx="8.5E-05"
ixy="1.6E-05"
ixz="5E-06"
iyy="8.4E-05"
iyz="4E-06"
izz="0.000105" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="6E-05 -3.1E-05 0.006242"
rpy="0 0 0" />
<mass
value="0.01528" />
<inertia
ixx="1E-06"
ixy="0"
ixz="0"
iyy="9.5E-07"
iyz="0"
izz="1.39E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.002409 -0.011138 0.028861"
rpy="0 0 0" />
<mass
value="0.147853" />
<inertia
ixx="9.5E-07"
ixy="-4E-06"
ixz="-1E-06"
iyy="0.000119"
iyz="6E-06"
izz="5.9E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000213"
iyz="0"
izz="0.000223" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000214"
iyz="0"
izz="0.000224" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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>

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

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

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stretch_description/batch/nina/urdf/stretch_description_dex.xacro View File

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stretch_description/batch/nina/urdf/stretch_description_standard.xacro View File

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stretch_description/batch/nina/urdf/stretch_dex_wrist.xacro View File

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<?xml version="1.0"?>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_straight_gripper.STL" />
</geometry>
</collision>
</link>
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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">
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rpy="0 0 0" />
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<visual>
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rpy="0 0 0" />
<geometry>
<mesh
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</geometry>
<material
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<collision>
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xyz="0 0 0"
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<mesh
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</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
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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">
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<mesh
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</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
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<child
link="link_gripper_fingertip_right" />
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</joint>
<link
name="link_gripper_finger_left">
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xyz="0.094071 0.011377 0"
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name="joint_gripper_finger_left"
type="revolute">
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<parent
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<child
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<axis
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<link
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rpy="0 0 0" />
<geometry>
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</collision>
</link>
<joint
name="joint_gripper_fingertip_left"
type="fixed">
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<parent
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<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>
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+ 31
- 30
stretch_description/batch/nina/urdf/stretch_gripper.xacro View File

@ -4,20 +4,21 @@
<xacro:property name="scale_finger_length" value="0.9" />
<link
name="link_gripper">
name="link_gripper">
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<visual>
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@ -64,17 +65,17 @@
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<visual>
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@ -120,17 +121,17 @@
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@ -175,17 +176,17 @@
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<visual>
<origin
@ -231,17 +232,17 @@
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+ 26
- 26
stretch_description/batch/nina/urdf/stretch_gripper_with_puller.xacro View File

@ -7,17 +7,17 @@
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+ 8
- 8
stretch_description/batch/nina/urdf/stretch_laser_range_finder.xacro View File

@ -5,17 +5,17 @@
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+ 95
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stretch_description/batch/nina/urdf/stretch_main.xacro View File

@ -10,17 +10,17 @@
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iyy="3.2E-05"
iyz="-1.5E-05"
izz="2.2E-05" />
</inertial>
<visual>
<origin
@ -785,17 +785,17 @@
name="link_head_tilt">
<inertial>
<origin
xyz="0.00704566394917504 -0.0212256210929691 0.0302058990060359"
xyz="0.003907 -0.02418 0.030154"
rpy="0 0 0" />
<mass
value="0.090217113313934" />
value="0.283548" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
ixx="0.000316"
ixy="-6E-06"
ixz="1E-06"
iyy="0.000143"
iyz="-2E-06"
izz="0.00031" />
</inertial>
<visual>
<origin

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

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

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

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

+ 15
- 0
stretch_description/batch/otis/urdf/stretch_description_dex.xacro View File

@ -0,0 +1,15 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
<xacro:include filename="stretch_dex_wrist.xacro" />
<!--<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_respeaker.xacro" />
</robot>

+ 15
- 0
stretch_description/batch/otis/urdf/stretch_description_standard.xacro View File

@ -0,0 +1,15 @@
<?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>

+ 451
- 0
stretch_description/batch/otis/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="-0.012462 -0.032314 -0.021973"
rpy="0 0 0" />
<mass
value="0.24284" />
<inertia
ixx="0.000194"
ixy="3.4E-05"
ixz="7E-06"
iyy="0.000107"
iyz="2E-05"
izz="0.000229" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="-0.006752 -0.01567 0.021672"
rpy="0 0 0" />
<mass
value="0.208129" />
<inertia
ixx="8.5E-05"
ixy="1.6E-05"
ixz="5E-06"
iyy="8.4E-05"
iyz="4E-06"
izz="0.000105" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="6E-05 -3.1E-05 0.006242"
rpy="0 0 0" />
<mass
value="0.01528" />
<inertia
ixx="1E-06"
ixy="0"
ixz="0"
iyy="9.5E-07"
iyz="0"
izz="1.39E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.002409 -0.011138 0.028861"
rpy="0 0 0" />
<mass
value="0.147853" />
<inertia
ixx="9.5E-07"
ixy="-4E-06"
ixz="-1E-06"
iyy="0.000119"
iyz="6E-06"
izz="5.9E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000213"
iyz="0"
izz="0.000223" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000214"
iyz="0"
izz="0.000224" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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>

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

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

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

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

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

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

+ 95
- 95
stretch_description/batch/otis/urdf/stretch_main.xacro View File

@ -10,17 +10,17 @@
name="base_link">
<inertial>
<origin
xyz="-0.11587 0.0019426 0.093621"
xyz="-0.087526 -0.001626 0.081009"
rpy="0 0 0" />
<mass
value="1.1912" />
value="17.384389" />
<inertia
ixx="0.0034667"
ixy="-5.0568E-06"
ixz="0.00042861"
iyy="0.0052744"
iyz="-5.766E-05"
izz="0.0047945" />
ixx="0.160002"
ixy="0.006758"
ixz="0.004621"
iyy="0.138068"
iyz="0.002208"
izz="0.228992" />
</inertial>
<visual>
<origin
@ -51,17 +51,17 @@
name="link_right_wheel">
<inertial>
<origin
xyz="1.1719E-11 2.0783E-11 0.037544"
xyz="0 0 0.02765"
rpy="0 0 0" />
<mass
value="0.0042721" />
value="0.20773" />
<inertia
ixx="0.001"
ixx="5.4E-05"
ixy="0"
ixz="0"
iyy="0.001"
iyy="5.4E-05"
iyz="0"
izz="0.001" />
izz="5.1E-05" />
</inertial>
<visual>
<origin
@ -107,17 +107,17 @@
name="link_left_wheel">
<inertial>
<origin
xyz="-2.0783E-11 -1.1719E-11 -0.037544"
xyz="0 0 -0.02765"
rpy="0 0 0" />
<mass
value="0.0042721" />
value="0.20773" />
<inertia
ixx="0.001"
ixx="5.4E-05"
ixy="0"
ixz="0"
iyy="0.001"
iyy="5.4E-05"
iyz="0"
izz="0.001" />
izz="5.1E-05" />
</inertial>
<visual>
<origin
@ -214,17 +214,17 @@
name="link_mast">
<inertial>
<origin
xyz="2.0817E-17 0.7075 -2.7756E-17"
xyz="0.000337 0.722201 0.002652"
rpy="0 0 0" />
<mass
value="1.8285" />
value="1.764017" />
<inertia
ixx="0.0709854511954588"
ixy="-0.00433428742758457"
ixz="-0.000186110788697573"
iyy="0.000437922053342648"
iyz="-0.00288788257713431"
izz="0.071104808501661" />
ixx="0.291286"
ixy="0.004149"
ixz="-0.000174"
iyy="0.001226"
iyz="0.000354"
izz="0.291429" />
</inertial>
<visual>
<origin
@ -269,17 +269,17 @@
name="link_lift">
<inertial>
<origin
xyz="-0.031727 0.038403 0.013361"
xyz="-0.020369 0.03438 0.02236"
rpy="0 0 0" />
<mass
value="0.27218" />
value="1.987167" />
<inertia
ixx="0.00052571"
ixy="0.00014899"
ixz="-1.9258E-05"
iyy="0.00030679"
iyz="-6.2451E-06"
izz="0.00037324" />
ixx="0.006518"
ixy="-0.001539"
ixz="0.000371"
iyy="0.004464"
iyz="0.000392"
izz="0.008092" />
</inertial>
<visual>
<origin
@ -328,17 +328,17 @@
name="link_arm_l4">
<inertial>
<origin
xyz="-1.0146E-06 -1.9719E-05 -0.094738"
xyz="-0.000168 -0.000254 -0.125235"
rpy="0 0 0" />
<mass
value="0.068095" />
value="0.235626" />
<inertia
ixx="0.0001256"
ixy="-5.6914E-12"
ixz="6.0647E-09"
iyy="0.0001256"
iyz="1.1787E-07"
izz="1.1091E-10" />
ixx="0.001518"
ixy="-1E-06"
ixz="3E-06"
iyy="0.001519"
iyz="3E-06"
izz="0.000176" />
</inertial>
<visual>
<origin
@ -383,17 +383,17 @@
name="link_arm_l3">
<inertial>
<origin
xyz="-5.13853606326845E-07 -1.99844969271112E-05 -0.0971104963726614"
xyz="-1E-06 -0.000146 -0.11908"
rpy="0 0 0" />
<mass
value="0.0628927381893134" />
value="0.146817" />
<inertia
ixx="0.001"
ixx="0.001081"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
iyy="0.001081"
iyz="-1E-06"
izz="7.7E-05" />
</inertial>
<visual>
<origin
@ -440,17 +440,17 @@
name="link_arm_l2">
<inertial>
<origin
xyz="-5.17421949435687E-07 -2.02045301450349E-05 -0.0968815475684904"
xyz="0 -7.1E-05 -0.115635"
rpy="0 0 0" />
<mass
value="0.0571386353275368" />
value="0.130565" />
<inertia
ixx="0.001"
ixx="0.000943"
ixy="0"
ixz="0"
iyy="0.001"
iyy="0.000943"
iyz="0"
izz="0.001" />
izz="5.7E-05" />
</inertial>
<visual>
<origin
@ -497,17 +497,17 @@
name="link_arm_l1">
<inertial>
<origin
xyz="-5.257E-07 -2.0482E-05 -0.096543"
xyz="-1E-06 -0.000121 -0.113457"
rpy="0 0 0" />
<mass
value="0.051382" />
value="0.113658" />
<inertia
ixx="0.001"
ixx="0.0008"
ixy="0"
ixz="0"
iyy="0.001"
iyy="0.0008"
iyz="0"
izz="0.001" />
izz="4E-05" />
</inertial>
<visual>
<origin
@ -554,17 +554,17 @@
name="link_arm_l0">
<inertial>
<origin
xyz="0.0270582141286185 -0.00189876414654466 -0.0377809018481181"
xyz="0.033681 -0.000847 -0.031723"
rpy="0 0 0" />
<mass
value="0.085003260946398" />
value="0.427734" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
ixx="0.001689"
ixy="-2.8E-05"
ixz="0.000483"
iyy="0.002107"
iyz="-1.1E-05"
izz="0.000571" />
</inertial>
<visual>
<origin
@ -611,17 +611,17 @@
name="link_wrist_yaw">
<inertial>
<origin
xyz="2.20122392535771E-11 2.9317167880849E-05 -0.018966592644729"
xyz="0 -3.9E-05 -0.016495"
rpy="0 0 0" />
<mass
value="0.0404746907425003" />
value="0.054422" />
<inertia
ixx="0.001"
ixx="9E-06"
ixy="0"
ixz="0"
iyy="0.001"
iyy="9E-06"
iyz="0"
izz="0.001" />
izz="7E-06" />
</inertial>
<visual>
<origin
@ -673,17 +673,17 @@
name="link_head">
<inertial>
<origin
xyz="0.0406850995527703 0.0396956343318414 0.0226500246461012"
xyz="0.047462 0.04451 0.016376"
rpy="0 0 0" />
<mass
value="0.133027236718691" />
value="0.681871" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
ixx="0.001023"
ixy="0.000641"
ixz="6.6E-05"
iyy="0.002097"
iyz="6.5E-05"
izz="0.00281" />
</inertial>
<visual>
<origin
@ -728,17 +728,17 @@
name="link_head_pan">
<inertial>
<origin
xyz="-0.000326562615178591 0.00850012613776489 0.000130487222982367"
xyz="-0.000422 0.013934 -0.0161"
rpy="0 0 0" />
<mass
value="0.0273764496535409" />
value="0.062462" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
ixx="4.1E-05"
ixy="-1E-06"
ixz="1E-06"
iyy="3.2E-05"
iyz="-1.5E-05"
izz="2.2E-05" />
</inertial>
<visual>
<origin
@ -785,17 +785,17 @@
name="link_head_tilt">
<inertial>
<origin
xyz="0.00704566394917504 -0.0212256210929691 0.0302058990060359"
xyz="0.003907 -0.02418 0.030154"
rpy="0 0 0" />
<mass
value="0.090217113313934" />
value="0.283548" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
ixx="0.000316"
ixy="-6E-06"
ixz="1E-06"
iyy="0.000143"
iyz="-2E-06"
izz="0.00031" />
</inertial>
<visual>
<origin

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

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

+ 283
- 0
stretch_description/urdf/cad_to_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>

+ 61
- 0
stretch_description/urdf/cad_to_urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.00092" />
<inertia
ixx="3E-08"
ixy="0"
ixz="0"
iyy="5E-08"
iyz="0"
izz="8E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

+ 23
- 0
stretch_description/urdf/cad_to_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>

+ 18
- 0
stretch_description/urdf/cad_to_urdf/stretch_description.xacro View File

@ -0,0 +1,18 @@
<?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>

stretch_description/urdf/stretch_description_S2.SLDASM.urdf → stretch_description/urdf/cad_to_urdf/stretch_description_S2.SLDASM.urdf View File


stretch_description/urdf/stretch_description_S2_DexWrist.SLDASM.urdf → stretch_description/urdf/cad_to_urdf/stretch_description_S2_DexWrist.SLDASM.urdf View File


stretch_description/urdf/stretch_description_S2_gripper.SLDASM.urdf → stretch_description/urdf/cad_to_urdf/stretch_description_S2_gripper.SLDASM.urdf View File


+ 15
- 0
stretch_description/urdf/cad_to_urdf/stretch_description_dex.xacro View File

@ -0,0 +1,15 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
<xacro:include filename="stretch_dex_wrist.xacro" />
<!--<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_respeaker.xacro" />
</robot>

+ 15
- 0
stretch_description/urdf/cad_to_urdf/stretch_description_standard.xacro View File

@ -0,0 +1,15 @@
<?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>

+ 451
- 0
stretch_description/urdf/cad_to_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="-0.012462 -0.032314 -0.021973"
rpy="0 0 0" />
<mass
value="0.24284" />
<inertia
ixx="0.000194"
ixy="3.4E-05"
ixz="7E-06"
iyy="0.000107"
iyz="2E-05"
izz="0.000229" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="-0.006752 -0.01567 0.021672"
rpy="0 0 0" />
<mass
value="0.208129" />
<inertia
ixx="8.5E-05"
ixy="1.6E-05"
ixz="5E-06"
iyy="8.4E-05"
iyz="4E-06"
izz="0.000105" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="6E-05 -3.1E-05 0.006242"
rpy="0 0 0" />
<mass
value="0.01528" />
<inertia
ixx="1E-06"
ixy="0"
ixz="0"
iyy="9.5E-07"
iyz="0"
izz="1.39E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.002409 -0.011138 0.028861"
rpy="0 0 0" />
<mass
value="0.147853" />
<inertia
ixx="9.5E-07"
ixy="-4E-06"
ixz="-1E-06"
iyy="0.000119"
iyz="6E-06"
izz="5.9E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000213"
iyz="0"
izz="0.000223" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000214"
iyz="0"
izz="0.000224" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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>

+ 133
- 0
stretch_description/urdf/cad_to_urdf/stretch_dry_erase_marker.xacro View File

@ -0,0 +1,133 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dry_erase_marker">
<xacro:property name="scale_finger_length" value="0.9" />
<link
name="link_dry_erase_holder">
<inertial>
<origin
xyz="-0.00033908527678797 -4.72017042119077E-09 0.0177808576938317"
rpy="0 0 0" />
<mass
value="0.0347079059161226" />
<inertia
ixx="7.67214948728222E-06"
ixy="-8.06855261037992E-08"
ixz="1.26219371489433E-07"
iyy="7.63827740251564E-06"
iyz="9.35838075307735E-08"
izz="1.65327256645883E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_dry_erase_holder.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_dry_erase_holder.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_dry_erase_holder"
type="fixed">
<origin
xyz="0 0 -0.038"
rpy="-3.1416 -2.5445E-16 4.71238898038469" />
<parent
link="link_wrist_yaw" />
<child
link="link_dry_erase_holder" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_dry_erase_marker">
<inertial>
<origin
xyz="0.108173292344959 -2.76023830181327E-08 -0.000137755476015355"
rpy="0 0 0" />
<mass
value="0.00715580304305244" />
<inertia
ixx="3.95174478409412E-08"
ixy="2.65904489437298E-17"
ixz="1.33089367561534E-13"
iyy="3.95174462639471E-08"
iyz="-7.8953462362072E-12"
izz="1.57789054873579E-15" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_dry_erase_marker.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_dry_erase_marker.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_dry_erase_marker"
type="fixed">
<origin
xyz="-0.081029 0 0.025418"
rpy="-4.8183E-17 -2.5445E-16 -2.1228E-28" />
<parent
link="link_dry_erase_holder" />
<child
link="link_dry_erase_marker" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link_dry_erase_tip">
</link>
<joint
name="joint_dry_erase_tip"
type="fixed">
<origin
xyz="0.005 0 0"
rpy="0 0 1.5707963267948966" />
<parent
link="link_dry_erase_marker" />
<child
link="link_dry_erase_tip" />
</joint>
</robot>

+ 303
- 0
stretch_description/urdf/cad_to_urdf/stretch_gripper.xacro View File

@ -0,0 +1,303 @@
<?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">
name="link_gripper">
<inertial>
<origin
xyz="-0.013687 0.015548 -0.035364"
rpy="0 0 0" />
<mass
value="0.175929" />
<inertia
ixx="0.000124"
ixy="3.7E-05"
ixz="5.7E-05"
iyy="0.000217"
iyz="1.1E-05"
izz="0.000221" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000214"
iyz="0"
izz="0.000224" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="${scale_finger_length * 0.19011} 0.014912 0"
rpy="-1.5708 -4.774E-15 -2.5545" />
<parent
link="link_gripper_finger_left" />
<child
link="link_gripper_fingertip_left" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000213"
iyz="0"
izz="0.000223" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${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="${scale_finger_length} 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
xyz="-0.047231 0.010049 -0.04679"
rpy="3.1416 -0.5236 1.2943E-15" />
<parent
link="link_gripper" />
<child
link="link_gripper_finger_right" />
<axis
xyz="0 0 1" />
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
<origin
xyz="${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>

+ 359
- 0
stretch_description/urdf/cad_to_urdf/stretch_gripper_with_puller.xacro View File

@ -0,0 +1,359 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper_with_puller">
<xacro:property name="scale_finger_length" value="0.9" />
<link
name="link_gripper">
<inertial>
<origin
xyz="-0.013687 0.015548 -0.035364"
rpy="0 0 0" />
<mass
value="0.175929" />
<inertia
ixx="0.000124"
ixy="3.7E-05"
ixz="5.7E-05"
iyy="0.000217"
iyz="1.1E-05"
izz="0.000221" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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_puller">
<inertial>
<origin
xyz="-7.28171145880641E-08 -0.00602531629961259 -7.69536139810789E-08"
rpy="0 0 0" />
<mass
value="0.00292784355893436" />
<inertia
ixx="1.09317111513898E-07"
ixy="-9.31929125413026E-13"
ixz="-3.36065188387015E-16"
iyy="1.10835075609816E-15"
iyz="1.43669784789342E-12"
izz="1.09317110675672E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_puller.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_puller.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_puller"
type="fixed">
<origin
xyz="0 0.07265 -0.0335"
rpy="4.2817E-15 1.1582E-14 -3.0531E-15" />
<parent
link="link_gripper" />
<child
link="link_puller" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_left">
<inertial>
<origin
xyz="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000214"
iyz="0"
izz="0.000224" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="${scale_finger_length * 0.19011} 0.014912 0"
rpy="-1.5708 -4.774E-15 -2.5545" />
<parent
link="link_gripper_finger_left" />
<child
link="link_gripper_fingertip_left" />
<axis
xyz="0 0 0" />
</joint>
<link
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.06" />
<inertia
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.000213"
iyz="0"
izz="0.000223" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${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="${scale_finger_length} 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint
name="joint_gripper_finger_right"
type="revolute">
<origin
xyz="-0.047231 0.010049 -0.04679"
rpy="3.1416 -0.5236 1.2943E-15" />
<parent
link="link_gripper" />
<child
link="link_gripper_finger_right" />
<axis
xyz="0 0 1" />
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.003822" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="1E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_gripper_fingertip_right"
type="fixed">
<origin
xyz="${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_description/urdf/cad_to_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="0.011979 -0.000523 -0.01998"
rpy="0 0 0" />
<mass
value="0.216007" />
<inertia
ixx="9.5E-05"
ixy="2E-06"
ixz="-1.9E-05"
iyy="0.000184"
iyz="-1E-06"
izz="0.000216" />
</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_description/urdf/cad_to_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="-0.087526 -0.001626 0.081009"
rpy="0 0 0" />
<mass
value="17.384389" />
<inertia
ixx="0.160002"
ixy="0.006758"
ixz="0.004621"
iyy="0.138068"
iyz="0.002208"
izz="0.228992" />
</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="0 0 0.02765"
rpy="0 0 0" />
<mass
value="0.20773" />
<inertia
ixx="5.4E-05"
ixy="0"
ixz="0"
iyy="5.4E-05"
iyz="0"
izz="5.1E-05" />
</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="0 0 -0.02765"
rpy="0 0 0" />
<mass
value="0.20773" />
<inertia
ixx="5.4E-05"
ixy="0"
ixz="0"
iyy="5.4E-05"
iyz="0"
izz="5.1E-05" />
</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="0.000337 0.722201 0.002652"
rpy="0 0 0" />
<mass
value="1.764017" />
<inertia
ixx="0.291286"
ixy="0.004149"
ixz="-0.000174"
iyy="0.001226"
iyz="0.000354"
izz="0.291429" />
</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="-0.020369 0.03438 0.02236"
rpy="0 0 0" />
<mass
value="1.987167" />
<inertia
ixx="0.006518"
ixy="-0.001539"
ixz="0.000371"
iyy="0.004464"
iyz="0.000392"
izz="0.008092" />
</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="-0.000168 -0.000254 -0.125235"
rpy="0 0 0" />
<mass
value="0.235626" />
<inertia
ixx="0.001518"
ixy="-1E-06"
ixz="3E-06"
iyy="0.001519"
iyz="3E-06"
izz="0.000176" />
</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="-1E-06 -0.000146 -0.11908"
rpy="0 0 0" />
<mass
value="0.146817" />
<inertia
ixx="0.001081"
ixy="0"
ixz="0"
iyy="0.001081"
iyz="-1E-06"
izz="7.7E-05" />
</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="0 -7.1E-05 -0.115635"
rpy="0 0 0" />
<mass
value="0.130565" />
<inertia
ixx="0.000943"
ixy="0"
ixz="0"
iyy="0.000943"
iyz="0"
izz="5.7E-05" />
</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="-1E-06 -0.000121 -0.113457"
rpy="0 0 0" />
<mass
value="0.113658" />
<inertia
ixx="0.0008"
ixy="0"
ixz="0"
iyy="0.0008"
iyz="0"
izz="4E-05" />
</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="0.033681 -0.000847 -0.031723"
rpy="0 0 0" />
<mass
value="0.427734" />
<inertia
ixx="0.001689"
ixy="-2.8E-05"
ixz="0.000483"
iyy="0.002107"
iyz="-1.1E-05"
izz="0.000571" />
</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="0 -3.9E-05 -0.016495"
rpy="0 0 0" />
<mass
value="0.054422" />
<inertia
ixx="9E-06"
ixy="0"
ixz="0"
iyy="9E-06"
iyz="0"
izz="7E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/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="0.047462 0.04451 0.016376"
rpy="0 0 0" />
<mass
value="0.681871" />
<inertia
ixx="0.001023"
ixy="0.000641"
ixz="6.6E-05"
iyy="0.002097"
iyz="6.5E-05"
izz="0.00281" />
</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="-0.000422 0.013934 -0.0161"
rpy="0 0 0" />
<mass
value="0.062462" />
<inertia
ixx="4.1E-05"
ixy="-1E-06"
ixz="1E-06"
iyy="3.2E-05"
iyz="-1.5E-05"
izz="2.2E-05" />
</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="0.003907 -0.02418 0.030154"
rpy="0 0 0" />
<mass
value="0.283548" />
<inertia
ixx="0.000316"
ixy="-6E-06"
ixz="1E-06"
iyy="0.000143"
iyz="-2E-06"
izz="0.00031" />
</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_description/urdf/cad_to_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="-0.001594 -0.001282 -0.008098"
rpy="0 0 0" />
<mass
value="0.025175" />
<inertia
ixx="1E-05"
ixy="2E-06"
ixz="1E-06"
iyy="1.2E-05"
iyz="0"
izz="1.5E-05" />
</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>

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

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

+ 5
- 2
stretch_description/urdf/stretch_description.xacro View File

@ -4,7 +4,7 @@
<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" />
@ -12,4 +12,7 @@
<xacro:include filename="stretch_base_imu.xacro" />
<xacro:include filename="stretch_respeaker.xacro" />
</robot>
</robot>

+ 54
- 54
stretch_description/urdf/stretch_dex_wrist.xacro View File

@ -7,17 +7,17 @@
name="link_wrist_yaw_bottom">
<inertial>
<origin
xyz="-0.012839101377342 -0.0382787718640742 -0.0228400332263617"
xyz="-0.012462 -0.032314 -0.021973"
rpy="0 0 0" />
<mass
value="0.0988906816399982" />
value="0.24284" />
<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" />
ixx="0.000194"
ixy="3.4E-05"
ixz="7E-06"
iyy="0.000107"
iyz="2E-05"
izz="0.000229" />
</inertial>
<visual>
<origin
@ -60,17 +60,17 @@
name="link_wrist_pitch">
<inertial>
<origin
xyz="-0.00310609611067142 -0.0150777141465843 0.0204734587925901"
xyz="-0.006752 -0.01567 0.021672"
rpy="0 0 0" />
<mass
value="0.0701267146295583" />
value="0.208129" />
<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" />
ixx="8.5E-05"
ixy="1.6E-05"
ixz="5E-06"
iyy="8.4E-05"
iyz="4E-06"
izz="0.000105" />
</inertial>
<visual>
<origin
@ -114,17 +114,17 @@
name="link_wrist_roll">
<inertial>
<origin
xyz="9.63118473862323E-15 -6.38378239159465E-15 0.00768048802649798"
xyz="6E-05 -3.1E-05 0.006242"
rpy="0 0 0" />
<mass
value="0.00585666394358811" />
value="0.01528" />
<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" />
ixx="1E-06"
ixy="0"
ixz="0"
iyy="9.5E-07"
iyz="0"
izz="1.39E-06" />
</inertial>
<visual>
<origin
@ -168,17 +168,17 @@
name="link_straight_gripper">
<inertial>
<origin
xyz="0.00150764845432383 -0.00711581846201287 0.0399737901417758"
xyz="0.002409 -0.011138 0.028861"
rpy="0 0 0" />
<mass
value="0.0496384234458284" />
value="0.147853" />
<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" />
ixx="9.5E-07"
ixy="-4E-06"
ixz="-1E-06"
iyy="0.000119"
iyz="6E-06"
izz="5.9E-05" />
</inertial>
<visual>
<origin
@ -221,17 +221,17 @@
name="link_gripper_finger_right">
<inertial>
<origin
xyz="-0.094981 -0.0080152 -2.2204E-16"
xyz="-0.093921 -0.011351 0"
rpy="0 0 0" />
<mass
value="0.047621" />
value="0.06" />
<inertia
ixx="0.001"
ixy="0"
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.001"
iyy="0.000213"
iyz="0"
izz="0.001" />
izz="0.000223" />
</inertial>
<visual>
<origin
@ -275,17 +275,17 @@
name="link_gripper_fingertip_right">
<inertial>
<origin
xyz="2.83785970833783E-08 6.75131661687089E-09 0.00812578923434215"
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.00382160881468841" />
value="0.003822" />
<inertia
ixx="0.001"
ixx="0"
ixy="0"
ixz="0"
iyy="0.001"
iyy="0"
iyz="0"
izz="0.001" />
izz="1E-06" />
</inertial>
<visual>
<origin
@ -328,17 +328,17 @@
name="link_gripper_finger_left">
<inertial>
<origin
xyz="0.0949811095686165 -0.00801522758203194 1.38777878078145E-15"
xyz="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.0476207785199479" />
value="0.06" />
<inertia
ixx="0.001"
ixy="0"
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0.001"
iyy="0.000214"
iyz="0"
izz="0.001" />
izz="0.000224" />
</inertial>
<visual>
<origin
@ -382,17 +382,17 @@
name="link_gripper_fingertip_left">
<inertial>
<origin
xyz="-2.59496317767116E-08 -6.65612598371723E-09 0.00812579036862837"
xyz="0 0 0.008126"
rpy="0 0 0" />
<mass
value="0.00382160686584851" />
value="0.003822" />
<inertia
ixx="0.001"
ixx="0"
ixy="0"
ixz="0"
iyy="0.001"
iyy="0"
iyz="0"
izz="0.001" />
izz="1E-06" />
</inertial>
<visual>
<origin

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

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

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

@ -7,17 +7,17 @@
name="link_gripper">
<inertial>
<origin
xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
xyz="-0.013687 0.015548 -0.035364"
rpy="0 0 0" />
<mass
value="0.101902711393094" />
value="0.175929" />
<inertia
ixx="2.79241618017607E-05"
ixy="-1.10819247449605E-05"
ixz="-1.50343284036654E-05"
iyy="3.67945130513069E-05"
iyz="-4.33280448535579E-06"
izz="4.14524691955231E-05" />
ixx="0.000124"
ixy="3.7E-05"
ixz="5.7E-05"
iyy="0.000217"
iyz="1.1E-05"
izz="0.000221" />
</inertial>
<visual>
<origin
@ -118,17 +118,17 @@
name="link_gripper_finger_left">
<inertial>
<origin
xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
xyz="0.094071 0.011377 0"
rpy="0 0 0" />
<mass
value="0.0476207785199474" />
value="0.06" />
<inertia
ixx="0"
ixy="0"
ixx="1.1E-05"
ixy="3.6E-05"
ixz="0"
iyy="0"
iyy="0.000214"
iyz="0"
izz="0" />
izz="0.000224" />
</inertial>
<visual>
<origin
@ -174,17 +174,17 @@
name="link_gripper_fingertip_left">
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<origin
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stretch_description/urdf/stretch_laser_range_finder.xacro View File

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stretch_description/urdf/stretch_respeaker.xacro View File

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