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451 lines
12 KiB
451 lines
12 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dex_wrist">
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<xacro:property name="scale_finger_length" value="0.9" />
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<link
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name="link_wrist_yaw_bottom">
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<inertial>
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<origin
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xyz="-0.012839101377342 -0.0382787718640742 -0.0228400332263617"
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rpy="0 0 0" />
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<mass
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value="0.0988906816399982" />
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<inertia
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ixx="2.60067866573596E-05"
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ixy="-6.73176267521354E-06"
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ixz="-2.43476436723672E-06"
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iyy="5.99482946819923E-06"
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iyz="-3.39642410492401E-06"
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izz="2.56907114334732E-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/meshes/link_wrist_yaw_bottom.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="0.792156862745098 0.819607843137255 0.933333333333333 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/meshes/link_wrist_yaw_bottom.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_wrist_yaw_bottom"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="-3.14159265358979 1.13367999021379E-14 1.57079632679489" />
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<parent
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link="link_wrist_yaw" />
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<child
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link="link_wrist_yaw_bottom" />
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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_wrist_pitch">
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<inertial>
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<origin
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xyz="-0.00310609611067142 -0.0150777141465843 0.0204734587925901"
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rpy="0 0 0" />
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<mass
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value="0.0701267146295583" />
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<inertia
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ixx="2.55965614980905E-06"
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ixy="-1.47551515167608E-06"
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ixz="-6.31436085977252E-08"
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iyy="3.43968637386282E-06"
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iyz="-4.17813567208843E-07"
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izz="4.53568668211393E-06" />
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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/meshes/link_wrist_pitch.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="0.792156862745098 0.819607843137255 0.933333333333333 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/meshes/link_wrist_pitch.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_wrist_pitch"
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type="revolute">
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<origin
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xyz="0 -0.0195500000000002 -0.0247499999999984"
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rpy="1.5707963267949 -8.12895570882604E-15 -3.14159265358979" />
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<parent
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link="link_wrist_yaw_bottom" />
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<child
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link="link_wrist_pitch" />
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<axis
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xyz="0 0 -1" />
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<limit effort="100" lower="-1.57" upper="0.56" velocity="1.0"/>
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</joint>
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<link
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name="link_wrist_roll">
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<inertial>
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<origin
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xyz="9.63118473862323E-15 -6.38378239159465E-15 0.00768048802649798"
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rpy="0 0 0" />
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<mass
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value="0.00585666394358811" />
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<inertia
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ixx="2.55965614980905E-06"
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ixy="-1.47551515167608E-06"
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ixz="-6.31436085977252E-08"
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iyy="3.43968637386282E-06"
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iyz="-4.17813567208843E-07"
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izz="4.53568668211393E-06" />
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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/meshes/link_wrist_roll.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="0.792156862745098 0.819607843137255 0.933333333333333 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/meshes/link_wrist_roll.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_wrist_roll"
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type="revolute">
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<origin
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xyz="-0.0188587444076125 -0.0239999999998942 0.01955"
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rpy="3.14159265358979 1.5707963267949 0" />
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<parent
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link="link_wrist_pitch" />
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<child
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link="link_wrist_roll" />
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<axis
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xyz="0 0 1" />
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<limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
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</joint>
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<link
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name="link_straight_gripper">
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<inertial>
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<origin
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xyz="0.00150764845432383 -0.00711581846201287 0.0399737901417758"
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rpy="0 0 0" />
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<mass
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value="0.0496384234458284" />
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<inertia
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ixx="5.61461154156397E-06"
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ixy="8.29518962984231E-07"
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ixz="-2.41382921888194E-06"
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iyy="1.11504692003467E-05"
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iyz="9.76174898123369E-07"
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izz="6.63803357903882E-06" />
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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/meshes/link_straight_gripper.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="0.792156862745098 0.819607843137255 0.933333333333333 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/meshes/link_straight_gripper.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_straight_gripper"
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type="fixed">
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<origin
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xyz="0 0 0.0155"
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rpy="3.54987407349455E-30 3.24021254484265E-20 -3.14159265358979" />
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<parent
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link="link_wrist_roll" />
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<child
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link="link_straight_gripper" />
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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_gripper_finger_right">
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<inertial>
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<origin
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xyz="-0.094981 -0.0080152 -2.2204E-16"
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rpy="0 0 0" />
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<mass
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value="0.047621" />
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<inertia
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ixx="0.001"
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ixy="0"
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ixz="0"
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iyy="0.001"
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iyz="0"
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izz="0.001" />
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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/meshes/link_gripper_finger_right.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="0.79216 0.81961 0.93333 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/meshes/link_gripper_finger_right.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_gripper_finger_right"
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type="revolute">
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<origin
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xyz="-0.018599 0.003 0.033689"
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rpy="1.5708 1.5708 0" />
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<parent
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link="link_straight_gripper" />
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<child
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link="link_gripper_finger_right" />
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<axis
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xyz="0 0 1" />
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<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
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</joint>
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<link
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name="link_gripper_fingertip_right">
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<inertial>
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<origin
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xyz="2.83785970833783E-08 6.75131661687089E-09 0.00812578923434215"
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rpy="0 0 0" />
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<mass
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value="0.00382160881468841" />
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<inertia
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ixx="0.001"
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ixy="0"
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ixz="0"
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iyy="0.001"
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iyz="0"
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izz="0.001" />
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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/meshes/link_gripper_fingertip_right.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="0.250980392156863 0.250980392156863 0.250980392156863 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/meshes/link_gripper_fingertip_right.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_gripper_fingertip_right"
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type="fixed">
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<origin
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xyz="-0.190596948563868 -0.015 0"
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rpy="-1.57079632679483 -3.43320051448326E-14 0.540456056432235" />
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<parent
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link="link_gripper_finger_right" />
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<child
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link="link_gripper_fingertip_right" />
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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_gripper_finger_left">
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<inertial>
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<origin
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xyz="0.0949811095686165 -0.00801522758203194 1.38777878078145E-15"
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rpy="0 0 0" />
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<mass
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value="0.0476207785199479" />
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<inertia
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ixx="0.001"
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ixy="0"
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ixz="0"
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iyy="0.001"
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iyz="0"
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izz="0.001" />
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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="3.141592653589793 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description/meshes/link_gripper_finger_left.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="0.792156862745098 0.819607843137255 0.933333333333333 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="1.5707963267948966 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description/meshes/link_gripper_finger_left.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_gripper_finger_left"
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type="revolute">
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<origin
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xyz="0.018599 0.003 0.033689"
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rpy="1.5708 -1.5708 0" />
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<parent
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link="link_straight_gripper" />
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<child
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link="link_gripper_finger_left" />
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<axis
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xyz="0 0 -1" />
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<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
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</joint>
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<link
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name="link_gripper_fingertip_left">
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<inertial>
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<origin
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xyz="-2.59496317767116E-08 -6.65612598371723E-09 0.00812579036862837"
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rpy="0 0 0" />
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<mass
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value="0.00382160686584851" />
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<inertia
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ixx="0.001"
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ixy="0"
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ixz="0"
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iyy="0.001"
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iyz="0"
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izz="0.001" />
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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/meshes/link_gripper_fingertip_left.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="0.250980392156863 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<collision>
|
|
<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/meshes/link_gripper_fingertip_left.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_gripper_fingertip_left"
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type="fixed">
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<origin
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|
xyz="0.190596948563868 -0.015 0"
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|
rpy="1.57079632679496 4.51275387511463E-14 2.60113659715756" />
|
|
<parent
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link="link_gripper_finger_left" />
|
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<child
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link="link_gripper_fingertip_left" />
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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_grasp_center">
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</link>
|
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|
|
<joint
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name="joint_grasp_center"
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|
type="fixed">
|
|
<origin
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|
xyz="0 0 0.23"
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|
rpy="-1.5707963267949 -1.5707963267949 0" />
|
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<parent
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link="link_straight_gripper" />
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<child
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link="link_grasp_center" />
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</joint>
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|
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</robot>
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