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1263 lines
26 KiB
1263 lines
26 KiB
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="stretch_description_S2.SLDASM">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="-0.087526 -0.001626 0.081009"
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rpy="0 0 0" />
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<mass
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value="17.384389" />
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<inertia
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ixx="0.160002"
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ixy="0.006758"
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ixz="0.004621"
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iyy="0.138068"
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iyz="0.002208"
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izz="0.228992" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="link_right_wheel">
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<inertial>
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<origin
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xyz="0 0 0.02765"
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rpy="0 0 0" />
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<mass
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value="0.20773" />
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<inertia
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ixx="5.4E-05"
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ixy="0"
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ixz="0"
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iyy="5.4E-05"
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iyz="0"
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izz="5.1E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_right_wheel.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_right_wheel.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint_right_wheel"
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type="revolute">
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<origin
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xyz="0 -0.17035 0.0508"
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rpy="-1.570796327 0 0" />
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<parent
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link="base_link" />
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<child
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link="link_right_wheel" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="0"
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upper="0"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="link_left_wheel">
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<inertial>
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<origin
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xyz="0 0 -0.02765"
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rpy="0 0 0" />
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<mass
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value="0.20773" />
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<inertia
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ixx="5.4E-05"
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ixy="0"
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ixz="0"
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iyy="5.4E-05"
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iyz="0"
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izz="5.1E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_left_wheel.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_left_wheel.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint_left_wheel"
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type="revolute">
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<origin
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xyz="0 0.17035 0.0508"
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rpy="-1.570796327 0 0" />
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<parent
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link="base_link" />
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<child
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link="link_left_wheel" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="0"
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upper="0"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="link_aruco_right_base">
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<inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<mass
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value="0.000917" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_right_base.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_right_base.STL" />
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</geometry>
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</collision>
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</link>
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<joint
|
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name="joint_aruco_right_base"
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type="fixed">
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<origin
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xyz="-0.001502848 -0.1304972 0.1598472"
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rpy="0 0 -1.570796327" />
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<parent
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link="base_link" />
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<child
|
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link="link_aruco_right_base" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
|
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name="link_aruco_left_base">
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|
<inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<mass
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value="0.000917" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_left_base.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_left_base.STL" />
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</geometry>
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</collision>
|
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</link>
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<joint
|
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name="joint_aruco_left_base"
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type="fixed">
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<origin
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xyz="-0.001502848 0.1304972 0.1598472"
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rpy="0 0 -1.570796327" />
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<parent
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link="base_link" />
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<child
|
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link="link_aruco_left_base" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
|
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name="laser">
|
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<inertial>
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<origin
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xyz="0.011979 -0.000523 -0.01998"
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rpy="0 0 0" />
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<mass
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value="0.216007" />
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<inertia
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ixx="9.5E-05"
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ixy="2E-06"
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ixz="-1.9E-05"
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iyy="0.000184"
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iyz="-1E-06"
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izz="0.000216" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/laser.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/laser.STL" />
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</geometry>
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</collision>
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</link>
|
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<joint
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name="joint_laser"
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type="fixed">
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<origin
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xyz="0.003999952 0 0.1664"
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rpy="0 0 3.141592654" />
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<parent
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link="base_link" />
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<child
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link="laser" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="link_mast">
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<inertial>
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<origin
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xyz="0.000337 0.722201 0.002652"
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rpy="0 0 0" />
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<mass
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value="1.764017" />
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<inertia
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ixx="0.291286"
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ixy="0.004149"
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ixz="-0.000174"
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iyy="0.001226"
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iyz="0.000354"
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izz="0.291429" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_mast.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_mast.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint_mast"
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type="fixed">
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<origin
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xyz="-0.067 0.135 0.0284"
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rpy="1.570796327 0 0" />
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<parent
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link="base_link" />
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<child
|
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link="link_mast" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="link_lift">
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<inertial>
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<origin
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xyz="-0.020369 0.03438 0.02236"
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rpy="0 0 0" />
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<mass
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value="1.987167" />
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<inertia
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ixx="0.006518"
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ixy="-0.001539"
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ixz="0.000371"
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iyy="0.004464"
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iyz="0.000392"
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izz="0.008092" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_lift.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_lift.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint_lift"
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type="prismatic">
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<origin
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xyz="-0.037385437 0.1665972 0"
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rpy="1.570796327 1.570796327 0" />
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<parent
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link="link_mast" />
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<child
|
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link="link_lift" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="0"
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upper="1.1"
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effort="1"
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velocity="1" />
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</joint>
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<link
|
|
name="link_aruco_shoulder">
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<inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<mass
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value="0.000917" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_shoulder.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
|
|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
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<geometry>
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|
<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_shoulder.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_aruco_shoulder"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.013376888 0.055391903 0.086390827"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="link_lift" />
|
|
<child
|
|
link="link_aruco_shoulder" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="link_arm_l4">
|
|
<inertial>
|
|
<origin
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|
xyz="-0.000168 -0.000254 -0.125235"
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rpy="0 0 0" />
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<mass
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value="0.235626" />
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|
<inertia
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|
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"
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|
rpy="0 0 0" />
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|
<geometry>
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|
<mesh
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|
filename="package://stretch_description_S2.SLDASM/meshes/link_arm_l4.STL" />
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</geometry>
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|
<material
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|
name="">
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|
<color
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|
rgba="1 1 1 1" />
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|
</material>
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|
</visual>
|
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<collision>
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|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
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|
filename="package://stretch_description_S2.SLDASM/meshes/link_arm_l4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_arm_l4"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.2547027 0 0"
|
|
rpy="1.570796327 0 -1.570796327" />
|
|
<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"
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|
rpy="0 0 0" />
|
|
<mass
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|
value="0.146817" />
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|
<inertia
|
|
ixx="0.001081"
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|
ixy="0"
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|
ixz="0"
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|
iyy="0.001081"
|
|
iyz="-1E-06"
|
|
izz="7.7E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
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<geometry>
|
|
<mesh
|
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filename="package://stretch_description_S2.SLDASM/meshes/link_arm_l3.STL" />
|
|
</geometry>
|
|
<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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|
</visual>
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|
<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
|
<mesh
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filename="package://stretch_description_S2.SLDASM/meshes/link_arm_l3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_arm_l3"
|
|
type="prismatic">
|
|
<origin
|
|
xyz="0 0 0.013"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="link_arm_l4" />
|
|
<child
|
|
link="link_arm_l3" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1"
|
|
effort="1"
|
|
velocity="1" />
|
|
</joint>
|
|
<link
|
|
name="link_arm_l2">
|
|
<inertial>
|
|
<origin
|
|
xyz="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_S2.SLDASM/meshes/link_arm_l2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_arm_l2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_arm_l2"
|
|
type="prismatic">
|
|
<origin
|
|
xyz="0 0 0.013"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="link_arm_l3" />
|
|
<child
|
|
link="link_arm_l2" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1"
|
|
effort="1"
|
|
velocity="1" />
|
|
</joint>
|
|
<link
|
|
name="link_arm_l1">
|
|
<inertial>
|
|
<origin
|
|
xyz="-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_S2.SLDASM/meshes/link_arm_l1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_arm_l1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_arm_l1"
|
|
type="prismatic">
|
|
<origin
|
|
xyz="0 0 0.013"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="link_arm_l2" />
|
|
<child
|
|
link="link_arm_l1" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1"
|
|
effort="1"
|
|
velocity="1" />
|
|
</joint>
|
|
<link
|
|
name="link_arm_l0">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.033681 -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_S2.SLDASM/meshes/link_arm_l0.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_arm_l0.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_arm_l0"
|
|
type="prismatic">
|
|
<origin
|
|
xyz="0 0 -0.01375"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="link_arm_l1" />
|
|
<child
|
|
link="link_arm_l0" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1"
|
|
effort="1"
|
|
velocity="1" />
|
|
</joint>
|
|
<link
|
|
name="link_aruco_top_wrist">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0.000229 0" />
|
|
<mass
|
|
value="0.000917" />
|
|
<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_S2.SLDASM/meshes/link_aruco_top_wrist.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_top_wrist.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_aruco_top_wrist"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.04725 0.029285 0"
|
|
rpy="1.570796327 0 3.141592654" />
|
|
<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="0 0 0"
|
|
rpy="0 0.000229 0" />
|
|
<mass
|
|
value="0.000917" />
|
|
<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_S2.SLDASM/meshes/link_aruco_inner_wrist.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_aruco_inner_wrist.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_aruco_inner_wrist"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.04725 -0.0119 -0.02725"
|
|
rpy="3.141592654 0 3.141592654" />
|
|
<parent
|
|
link="link_arm_l0" />
|
|
<child
|
|
link="link_aruco_inner_wrist" />
|
|
<axis
|
|
xyz="0 0 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_S2.SLDASM/meshes/link_wrist_yaw.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_wrist_yaw.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_wrist_yaw"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.083 -0.03075 0"
|
|
rpy="-1.570796327 0 3.141592654" />
|
|
<parent
|
|
link="link_arm_l0" />
|
|
<child
|
|
link="link_wrist_yaw" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="3.1416"
|
|
effort="1"
|
|
velocity="1" />
|
|
</joint>
|
|
<link
|
|
name="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_S2.SLDASM/meshes/respeaker_base.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/respeaker_base.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_respeaker_base"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 1.372364089 0.003030659"
|
|
rpy="-1.570796327 -0.698131701 0" />
|
|
<parent
|
|
link="link_mast" />
|
|
<child
|
|
link="respeaker_base" />
|
|
<axis
|
|
xyz="0 0 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_S2.SLDASM/meshes/link_head.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_head.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_head"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 1.33 0"
|
|
rpy="1.5708 -1.5708 0" />
|
|
<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_S2.SLDASM/meshes/link_head_pan.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_head_pan.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_head_pan"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.135 0.0731 -0.0031962"
|
|
rpy="0 0 1.5708" />
|
|
<parent
|
|
link="link_head" />
|
|
<child
|
|
link="link_head_pan" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1"
|
|
effort="1"
|
|
velocity="1" />
|
|
</joint>
|
|
<link
|
|
name="link_head_tilt">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.003907 -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_S2.SLDASM/meshes/link_head_tilt.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_head_tilt.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_head_tilt"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0013 0.0277625 -0.053310792"
|
|
rpy="1.570796327 0 0" />
|
|
<parent
|
|
link="link_head_pan" />
|
|
<child
|
|
link="link_head_tilt" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="3.1416"
|
|
effort="1"
|
|
velocity="1" />
|
|
</joint>
|
|
<link
|
|
name="link_camera">
|
|
<inertial>
|
|
<origin
|
|
xyz="-2E-06 -0.024182 -0.011778"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.072" />
|
|
<inertia
|
|
ixx="4.7E-05"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="7E-06"
|
|
iyz="0"
|
|
izz="4.7E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_camera.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/link_camera.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_camera"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.02025 -0.03425 0.0317625"
|
|
rpy="3.141592654 1.570796327 0" />
|
|
<parent
|
|
link="link_head_tilt" />
|
|
<child
|
|
link="link_camera" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
<link
|
|
name="base_imu">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.003003 0.001498 -0.001931"
|
|
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_S2.SLDASM/meshes/base_imu.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description_S2.SLDASM/meshes/base_imu.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_base_imu"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.128380258 0.003159225 0.147398695"
|
|
rpy="-3.141592654 0 -1.570794351" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="base_imu" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
</robot>
|