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841 lines
20 KiB
841 lines
20 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_main">
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<xacro:property name="M_PI" value="3.1415926535897931" />
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<xacro:property name="joint_damping" value="21.75"/>
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<xacro:property name="joint_friction" value="10.48"/>
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<xacro:property name="joint_spring_stiffness" value="0"/>
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<xacro:property name="joint_spring_reference" value="0"/>
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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="-0.109461304328163 -0.000741018909047708 0.0914915269429946"
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rpy="0 0 0" />
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<mass
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value="1.0723782659782" />
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<inertia
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ixx="0.00310580907710135"
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ixy="1.5182848191076E-06"
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ixz="0.00041690466732394"
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iyy="0.00433798719991832"
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iyz="1.33487716258445E-05"
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izz="0.0037204727467362" />
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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/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="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/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="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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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_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="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_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="continuous">
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<origin
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xyz="-0.00300000000000034 -0.15765 0.0508000000000004"
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rpy="-1.57079632679489 -1.11022302462516E-16 7.28583859910277E-17" />
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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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<dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
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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="1.2555462092223E-07 -3.54748938502514E-07 -0.0239581106165035"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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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_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="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_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="continuous">
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<origin
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xyz="-0.00300000000001899 0.15765 0.0507999999999994"
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rpy="-1.5707963267949 3.16227047920818E-31 7.88745438253713E-16" />
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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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<dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
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</joint>
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<link name="caster_link">
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<collision>
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<geometry>
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<sphere radius="0.032"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<surface>
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<friction>
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<ode>
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<mu>0</mu>
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<mu2>0</mu2>
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<slip1>1.0</slip1>
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<slip2>1.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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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/omni_wheel_m.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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<inertial>
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<mass value="0.01" />
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<origin xyz="0 0 0" />
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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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</link>
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<joint name="caster_joint" type="fixed">
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<parent link="base_link"/>
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<child link="caster_link"/>
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<origin xyz="-0.245 0.0 0.032" rpy="${-M_PI/2} 0 0"/>
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<axis xyz="0 0 1" />
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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="0.00755818572975822 0.773971284176834 0.00647313086620024"
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rpy="0 0 0" />
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<mass
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value="0.749143203376401" />
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<inertia
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ixx="0.0709854511954588"
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ixy="-0.00433428742758457"
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ixz="-0.000186110788697573"
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iyy="0.000437922053342648"
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iyz="-0.00288788257713431"
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izz="0.071104808501661" />
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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_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="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_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="-0.07 0.134999999999998 0.0284000000000001"
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rpy="1.5707963267949 0 0.00925318926571245" />
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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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|
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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="-0.0547636346252869 0.0380939689802074 0.00933159404448308"
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rpy="0 0 0" />
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<mass
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value="0.444820831236007" />
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<inertia
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ixx="0.000567192946271367"
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ixy="-0.00024607534789508"
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ixz="-0.000128108442260574"
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iyy="0.00127108364478659"
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iyz="7.61916855070339E-06"
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izz="0.00137296635099006" />
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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_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="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_lift.STL" />
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</geometry>
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</collision>
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</link>
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|
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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="-0.0369217062323472 0.165471199999996 -0.000341653286793524"
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rpy="-1.57079632679552 1.5615431375292 -6.2942004366467E-13" />
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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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|
<!-- for now: hand copied range_m: from lift: from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
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<!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
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<!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
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<limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
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</joint>
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|
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<link
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name="link_arm_l4">
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<inertial>
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<origin
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xyz="-1.61247276464493E-06 1.54715589201215E-06 -0.0953252706040035"
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rpy="0 0 0" />
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<mass
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value="0.0676525455789735" />
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<inertia
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ixx="0.000122002023066796"
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ixy="7.29593356230121E-13"
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ixz="9.63170353371061E-09"
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iyy="0.000122002023127152"
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iyz="-9.24154949889042E-09"
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izz="1.46043439809638E-12" />
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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_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="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_arm_l4.STL" />
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</geometry>
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</collision>
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</link>
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|
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<joint
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name="joint_arm_l4"
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type="fixed">
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<origin
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xyz="-0.25471 0 0"
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rpy="1.5708 -3.1019E-16 -1.5708" />
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<parent
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link="link_lift" />
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<child
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link="link_arm_l4" />
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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_arm_l3">
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|
<inertial>
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|
<origin
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|
xyz="-3.34873468621488E-07 4.7411336306924E-07 -0.0974069598289041"
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rpy="0 0 0" />
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<mass
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value="0.0626921047058405" />
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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_arm_l3.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_arm_l3.STL" />
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|
</geometry>
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|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_arm_l3"
|
|
type="prismatic">
|
|
<origin
|
|
xyz="0 0 0.013"
|
|
rpy="3.5742E-16 3.2123E-16 -2.4565E-16" />
|
|
<parent
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|
link="link_arm_l4" />
|
|
<child
|
|
link="link_arm_l3" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<!-- 0.13 = 0.52/4-->
|
|
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_arm_l2">
|
|
<inertial>
|
|
<origin
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|
xyz="-3.31043560508615E-07 3.13422303999111E-07 -0.097255883541891"
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rpy="0 0 0" />
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<mass
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value="0.0569074368576238" />
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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>
|
|
<mesh
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|
filename="package://stretch_description/meshes/link_arm_l2.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_arm_l2.STL" />
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|
</geometry>
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|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_arm_l2"
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|
type="prismatic">
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|
<origin
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|
xyz="0 0 0.013"
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|
rpy="2.91385731014123E-16 4.44300759504684E-17 3.25691080516352E-16" />
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|
<parent
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|
link="link_arm_l3" />
|
|
<child
|
|
link="link_arm_l2" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<!-- 0.13 = 0.52/4-->
|
|
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_arm_l1">
|
|
<inertial>
|
|
<origin
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|
xyz="-3.36876635420591E-07 3.05876091066803E-07 -0.0969117032232756"
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|
rpy="0 0 0" />
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|
<mass
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value="0.0511763619538321" />
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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"
|
|
iyz="0"
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|
izz="0.001" />
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|
</inertial>
|
|
<visual>
|
|
<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/meshes/link_arm_l1.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>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_arm_l1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_arm_l1"
|
|
type="prismatic">
|
|
<origin
|
|
xyz="0 0 0.013"
|
|
rpy="7.41596560408007E-17 1.33876788296791E-16 -2.44545873596083E-16" />
|
|
<parent
|
|
link="link_arm_l2" />
|
|
<child
|
|
link="link_arm_l1" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<!-- 0.13 = 0.52/4-->
|
|
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_arm_l0">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0230715049668191 -0.00195115833662818 -0.0360646347160285"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.101241250325294" />
|
|
<inertia
|
|
ixx="0.001"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.001"
|
|
iyz="0"
|
|
izz="0.001" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_arm_l0.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_arm_l0.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_arm_l0"
|
|
type="prismatic">
|
|
<origin
|
|
xyz="0 0 -0.0137499999999938"
|
|
rpy="-3.05317390622457E-16 -4.23236224076729E-16 -2.68425135229209E-17" />
|
|
<parent
|
|
link="link_arm_l1" />
|
|
<child
|
|
link="link_arm_l0" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<!-- 0.13 = 0.52/4-->
|
|
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_wrist_yaw">
|
|
<inertial>
|
|
<origin
|
|
xyz="-8.02795716750571E-06 1.93811447768422E-05 0.018946700595851"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0405398981326229" />
|
|
<inertia
|
|
ixx="0.001"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.001"
|
|
iyz="0"
|
|
izz="0.001" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_wrist_yaw"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.083 -0.03075 0"
|
|
rpy="1.5708 4.2595E-14 2.6415E-15" />
|
|
<parent
|
|
link="link_arm_l0" />
|
|
<child
|
|
link="link_wrist_yaw" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<!--
|
|
stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
|
|
using 4.0
|
|
stowed to back ~100 deg: 100 / 180 x 3.14159 = 1.7453
|
|
using -1.75
|
|
-->
|
|
<limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_head">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0372933550588956 0.045509432985552 0.0281136801213409"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.129454717596498" />
|
|
<inertia
|
|
ixx="0.001"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.001"
|
|
iyz="0"
|
|
izz="0.001" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_head.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_head.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_head"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 1.33 0"
|
|
rpy="1.5708 -1.5615 3.1416" />
|
|
<parent
|
|
link="link_mast" />
|
|
<child
|
|
link="link_head" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link
|
|
name="link_head_pan">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00116200255310878 0.0130365621706306 0.00137629842298681"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.035858341182617" />
|
|
<inertia
|
|
ixx="0.001"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.001"
|
|
iyz="0"
|
|
izz="0.001" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_head_pan.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_head_pan.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_head_pan"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.135 0.0731 -0.003"
|
|
rpy="-6.4986E-15 -6.068E-24 1.5708" />
|
|
<parent
|
|
link="link_head" />
|
|
<child
|
|
link="link_head_pan" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<!-- unconstrained range for now -->
|
|
<limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_head_tilt">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00920211049011871 -0.0279724762416447 0.0306580436227023"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0701242408063442" />
|
|
<inertia
|
|
ixx="0.001"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0.001"
|
|
iyz="0"
|
|
izz="0.001" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_head_tilt.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_head_tilt.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_head_tilt"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0013 0.027507 -0.053311"
|
|
rpy="1.5708 6.068E-24 -2.5165E-15" />
|
|
<parent
|
|
link="link_head_pan" />
|
|
<child
|
|
link="link_head_tilt" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<!-- unconstrained range for now -->
|
|
<limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
|
|
</joint>
|
|
|
|
</robot>
|