You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
359 lines
8.7 KiB
359 lines
8.7 KiB
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper_with_puller">
|
|
|
|
<xacro:property name="scale_finger_length" value="0.9" />
|
|
|
|
<link
|
|
name="link_gripper">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.101902711393094" />
|
|
<inertia
|
|
ixx="2.79241618017607E-05"
|
|
ixy="-1.10819247449605E-05"
|
|
ixz="-1.50343284036654E-05"
|
|
iyy="3.67945130513069E-05"
|
|
iyz="-4.33280448535579E-06"
|
|
izz="4.14524691955231E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<!-- rpy="3.1416 0 1.5708" -->
|
|
<!-- rpy="0.0 0 1.5708" -->
|
|
<joint
|
|
name="joint_gripper"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="3.14159 0 -1.5708" />
|
|
<parent
|
|
link="link_wrist_yaw" />
|
|
<child
|
|
link="link_gripper" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link
|
|
name="link_puller">
|
|
<inertial>
|
|
<origin
|
|
xyz="-7.28171145880641E-08 -0.00602531629961259 -7.69536139810789E-08"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00292784355893436" />
|
|
<inertia
|
|
ixx="1.09317111513898E-07"
|
|
ixy="-9.31929125413026E-13"
|
|
ixz="-3.36065188387015E-16"
|
|
iyy="1.10835075609816E-15"
|
|
iyz="1.43669784789342E-12"
|
|
izz="1.09317110675672E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_puller.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_puller.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="joint_puller"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0.07265 -0.0335"
|
|
rpy="4.2817E-15 1.1582E-14 -3.0531E-15" />
|
|
<parent
|
|
link="link_gripper" />
|
|
<child
|
|
link="link_puller" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link
|
|
name="link_gripper_finger_left">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0476207785199474" />
|
|
<inertia
|
|
ixx="0"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0"
|
|
iyz="0"
|
|
izz="0" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_gripper_finger_left"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.047231 -0.010151 -0.04679"
|
|
rpy="2.1762E-15 0.5236 3.1416" />
|
|
<parent
|
|
link="link_gripper" />
|
|
<child
|
|
link="link_gripper_finger_left" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_gripper_fingertip_left">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00382159917455729" />
|
|
<inertia
|
|
ixx="0"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0"
|
|
iyz="0"
|
|
izz="0" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_gripper_fingertip_left"
|
|
type="fixed">
|
|
<origin
|
|
xyz="${scale_finger_length * 0.19011} 0.014912 0"
|
|
rpy="-1.5708 -4.774E-15 -2.5545" />
|
|
<parent
|
|
link="link_gripper_finger_left" />
|
|
<child
|
|
link="link_gripper_fingertip_left" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link
|
|
name="link_gripper_finger_right">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.0945047483510099 -0.0124301080924345 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0476207785199481" />
|
|
<inertia
|
|
ixx="0"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0"
|
|
iyz="0"
|
|
izz="0" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_gripper_finger_right"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.047231 0.010049 -0.04679"
|
|
rpy="3.1416 -0.5236 1.2943E-15" />
|
|
<parent
|
|
link="link_gripper" />
|
|
<child
|
|
link="link_gripper_finger_right" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
|
|
</joint>
|
|
|
|
<link
|
|
name="link_gripper_fingertip_right">
|
|
<inertial>
|
|
<origin
|
|
xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00382160037319545" />
|
|
<inertia
|
|
ixx="0"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0"
|
|
iyz="0"
|
|
izz="0" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_gripper_fingertip_right"
|
|
type="fixed">
|
|
<origin
|
|
xyz="${scale_finger_length * -0.19011} -0.014912 0"
|
|
rpy="-1.5708 -2.0539E-15 0.58705" />
|
|
<parent
|
|
link="link_gripper_finger_right" />
|
|
<child
|
|
link="link_gripper_fingertip_right" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
|
|
<link
|
|
name="link_grasp_center">
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_grasp_center"
|
|
type="fixed">
|
|
<origin
|
|
xyz="-0.205478 0 -0.138154"
|
|
rpy="0 0 3.141579" />
|
|
<parent
|
|
link="link_gripper" />
|
|
<child
|
|
link="link_grasp_center" />
|
|
</joint>
|
|
|
|
</robot>
|
|
|
|
|
|
|