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302 lines
7.3 KiB
302 lines
7.3 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper">
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<xacro:property name="scale_finger_length" value="0.9" />
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<link
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name="link_gripper">
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<inertial>
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<origin
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xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
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rpy="0 0 0" />
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<mass
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value="0.101902711393094" />
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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.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_gripper.STL" />
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</geometry>
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</collision>
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</link>
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<!-- rpy="3.1416 0 1.5708" -->
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<!-- rpy="0.0 0 1.5708" -->
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<joint
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name="joint_gripper"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="3.14159 0 -1.5708" />
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<parent
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link="link_wrist_yaw" />
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<child
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link="link_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_left">
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<inertial>
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<origin
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xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
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rpy="0 0 0" />
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<mass
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value="0.0476207785199474" />
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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_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
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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="-0.047231 -0.010151 -0.04679"
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rpy="2.1762E-15 0.5236 3.1416" />
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<parent
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link="link_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="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
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rpy="0 0 0" />
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<mass
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value="0.00382159917455729" />
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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>
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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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</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="${scale_finger_length * 0.19011} 0.014912 0"
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rpy="-1.5708 -4.774E-15 -2.5545" />
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<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_gripper_finger_right">
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<inertial>
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<origin
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xyz="-0.0945047483510099 -0.0124301080924345 0"
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rpy="0 0 0" />
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<mass
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value="0.0476207785199481" />
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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" scale="${scale_finger_length} 1.0 1.0"/>
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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_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
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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="-0.047231 0.010049 -0.04679"
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rpy="3.1416 -0.5236 1.2943E-15" />
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<parent
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link="link_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="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
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rpy="0 0 0" />
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<mass
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value="0.00382160037319545" />
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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="${scale_finger_length * -0.19011} -0.014912 0"
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rpy="-1.5708 -2.0539E-15 0.58705" />
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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_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">
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<origin
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xyz="-0.205478 0 -0.138154"
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rpy="0 0 3.141579" />
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<parent
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link="link_gripper" />
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<child
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link="link_grasp_center" />
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</joint>
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</robot>
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