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215 lines
4.8 KiB
215 lines
4.8 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_teleop_kit">
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<link
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name="link_gripper_teleop_mount">
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<inertial>
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<origin
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xyz="3.8266E-05 -0.0044089 0.014934"
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rpy="0 0 0" />
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<mass
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value="0.032535" />
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<inertia
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ixx="1.0206E-05"
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ixy="7.894E-09"
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ixz="-8.5844E-11"
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iyy="7.437E-06"
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iyz="-2.9587E-06"
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izz="2.8384E-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_gripper_teleop_mount.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_teleop_mount.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_teleop_mount"
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type="fixed">
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<origin
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xyz="-0.10807 0 -0.069789"
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rpy="-0.5236 -4.3792E-15 1.5708" />
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<parent
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link="link_gripper" />
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<child
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link="link_gripper_teleop_mount" />
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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_teleop_camera">
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<inertial>
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<origin
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xyz="0.0040022 5.9321E-05 -0.00011952"
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rpy="0 0 0" />
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<mass
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value="0.0056257" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description/meshes/link_gripper_teleop_camera.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="0.25098 0.25098 0.25098 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_teleop_camera.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_teleop_camera"
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type="fixed">
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<origin
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xyz="0 0.0025 0.029"
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rpy="1.8934E-15 5.5511E-17 1.5708" />
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<parent
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link="link_gripper_teleop_mount" />
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<child
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link="link_gripper_teleop_camera" />
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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_head_teleop_mount">
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<inertial>
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<origin
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xyz="0.032675 0.036403 -0.0035184"
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rpy="0 0 0" />
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<mass
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value="0.072645" />
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<inertia
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ixx="9.371E-05"
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ixy="-3.7238E-05"
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ixz="1.2184E-05"
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iyy="2.7972E-05"
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iyz="2.6994E-05"
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izz="9.9358E-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_head_teleop_mount.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_head_teleop_mount.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_head_teleop_mount"
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type="fixed">
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<origin
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xyz="0.079 0.0731 0.052"
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rpy="0 0 0" />
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<parent
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link="link_head" />
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<child
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link="link_head_teleop_mount" />
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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_head_teleop_camera">
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<inertial>
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<origin
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xyz="0.0040022 5.9321E-05 -0.00011952"
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rpy="0 0 0" />
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<mass
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value="0.0056257" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://stretch_description/meshes/link_head_teleop_camera.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="0.25098 0.25098 0.25098 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_head_teleop_camera.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_head_teleop_camera"
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type="fixed">
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<origin
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xyz="0.055997 0.088091 -0.0245"
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rpy="${-M_PI/2} ${M_PI/2} 0" />
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<parent
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link="link_head_teleop_mount" />
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<child
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link="link_head_teleop_camera" />
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<axis
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xyz="0 0 0" />
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</joint>
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</robot>
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