|
<?xml version="1.0" ?> |
|
<robot name="fetch"> |
|
<link name="base_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" /> |
|
<mass value="70.1294" /> |
|
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/base_link.dae" /> |
|
</geometry> |
|
<material name="mat0"> |
|
<color rgba="0.356 0.361 0.376 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0.4" /> |
|
<geometry> |
|
|
|
<cylinder length="0.8" radius="0.3"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="r_wheel_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<mass value="4.3542" /> |
|
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/r_wheel_link.STL" /> |
|
</geometry> |
|
<material name="mat1"> |
|
<color rgba="0.086 0.506 0.767 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/r_wheel_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="r_wheel_joint" type="continuous"> |
|
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.055325" /> |
|
<parent link="base_link" /> |
|
<child link="r_wheel_link" /> |
|
<axis xyz="0 1 0" /> |
|
<limit effort="8.85" velocity="17.4" /></joint> |
|
<link name="l_wheel_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<mass value="4.3542" /> |
|
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/l_wheel_link.STL" /> |
|
</geometry> |
|
<material name="mat2"> |
|
<color rgba="0.086 0.506 0.767 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/l_wheel_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="l_wheel_joint" type="continuous"> |
|
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.055325" /> |
|
<parent link="base_link" /> |
|
<child link="l_wheel_link" /> |
|
<axis xyz="0 1 0" /> |
|
<limit effort="8.85" velocity="17.4" /></joint> |
|
<link name="shoulder_pan_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0.0927 -0.0056 0.0564" /> |
|
<mass value="2.5587" /> |
|
<inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/shoulder_pan_link.dae" /> |
|
</geometry> |
|
<material name="6"> |
|
<color rgba="1 1 1 1" /> |
|
</material> |
|
</visual> |
|
</link> |
|
<joint name="shoulder_pan_joint" type="revolute"> |
|
<origin rpy="0 0 0" xyz="0.119525 0 0.84858" /> |
|
<parent link="base_link" /> |
|
<child link="shoulder_pan_link" /> |
|
<axis xyz="0 0 1" /> |
|
<dynamics damping="1.0" /> |
|
<limit effort="33.82" lower="-1.6056" upper="1.6056" velocity="1.256" /> |
|
</joint> |
|
<link name="shoulder_lift_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0.1432 0.0072 -0.0001" /> |
|
<mass value="0.6615" /> |
|
<inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/shoulder_lift_link.dae" /> |
|
</geometry> |
|
<material name="7"> |
|
<color rgba="0.086 0.506 0.767 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/shoulder_lift_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="shoulder_lift_joint" type="revolute"> |
|
<origin rpy="0 0 0" xyz="0.117 0 0.0599999999999999" /> |
|
<parent link="shoulder_pan_link" /> |
|
<child link="shoulder_lift_link" /> |
|
<axis xyz="0 1 0" /> |
|
<dynamics damping="1.0" /> |
|
<limit effort="131.76" lower="-1.221" upper="1.518" velocity="1.454" /> |
|
</joint> |
|
<link name="upperarm_roll_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0.1165 0.0014 0.0000" /> |
|
<mass value="2.3311" /> |
|
<inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/upperarm_roll_link.dae" /> |
|
</geometry> |
|
<material name="8"> |
|
<color rgba="1 1 1 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/upperarm_roll_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="upperarm_roll_joint" type="continuous"> |
|
<origin rpy="0 0 0" xyz="0.219 0 0" /> |
|
<parent link="shoulder_lift_link" /> |
|
<child link="upperarm_roll_link" /> |
|
<axis xyz="1 0 0" /> |
|
<dynamics damping="5.0" /> |
|
<limit effort="76.94" velocity="1.571" /> |
|
</joint> |
|
<link name="elbow_flex_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0.1279 0.0073 0.0000" /> |
|
<mass value="0.1299" /> |
|
<inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/elbow_flex_link.dae" /> |
|
</geometry> |
|
<material name="9"> |
|
<color rgba="0.086 0.506 0.767 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/elbow_flex_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="elbow_flex_joint" type="revolute"> |
|
<origin rpy="0 0 0" xyz="0.133 0 0" /> |
|
<parent link="upperarm_roll_link" /> |
|
<child link="elbow_flex_link" /> |
|
<axis xyz="0 1 0" /> |
|
<dynamics damping="1.0" /> |
|
<limit effort="66.18" lower="-2.251" upper="2.251" velocity="1.521" /> |
|
</joint> |
|
<link name="forearm_roll_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0.1097 -0.0266 0.0000" /> |
|
<mass value="0.6563" /> |
|
<inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/forearm_roll_link.dae" /> |
|
</geometry> |
|
<material name="10"> |
|
<color rgba="1 1 1 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/forearm_roll_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="forearm_roll_joint" type="continuous"> |
|
<origin rpy="0 0 0" xyz="0.197 0 0" /> |
|
<parent link="elbow_flex_link" /> |
|
<child link="forearm_roll_link" /> |
|
<axis xyz="1 0 0" /> |
|
<dynamics damping="5.0" /> |
|
<limit effort="29.35" velocity="1.571" /> |
|
</joint> |
|
<link name="wrist_flex_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0.0882 0.0009 -0.0001" /> |
|
<mass value="0.725" /> |
|
<inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/wrist_flex_link.dae" /> |
|
</geometry> |
|
<material name="11"> |
|
<color rgba="0.086 0.506 0.767 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/wrist_flex_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="wrist_flex_joint" type="revolute"> |
|
<origin rpy="0 0 0" xyz="0.1245 0 0" /> |
|
<parent link="forearm_roll_link" /> |
|
<child link="wrist_flex_link" /> |
|
<axis xyz="0 1 0" /> |
|
<dynamics damping="1.0" /> |
|
<limit effort="25.7" lower="-2.16" upper="2.16" velocity="2.268" /> |
|
</joint> |
|
<link name="wrist_roll_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="0.0095 0.0004 -0.0002" /> |
|
<mass value="0.1354" /> |
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/wrist_roll_link.dae" /> |
|
</geometry> |
|
<material name="12"> |
|
<color rgba="1 1 1 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/wrist_roll_link_collision.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="wrist_roll_joint" type="continuous"> |
|
<origin rpy="0 0 0" xyz="0.1385 0 0" /> |
|
<parent link="wrist_flex_link" /> |
|
<child link="wrist_roll_link" /> |
|
<axis xyz="1 0 0" /> |
|
<limit effort="7.36" velocity="2.268" /> |
|
<dynamics damping="5.0" /> |
|
</joint> |
|
<link name="gripper_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="-0.0900 -0.0001 -0.0017" /> |
|
<mass value="0.5175" /> |
|
<inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/gripper_link.dae" /> |
|
</geometry> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/gripper_link.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="gripper_axis" type="fixed"> |
|
<origin rpy="0 0 0" xyz="0.16645 0 0" /> |
|
<parent link="wrist_roll_link" /> |
|
<child link="gripper_link" /> |
|
<axis xyz="0 1 0" /> |
|
</joint> |
|
<link name="r_gripper_finger_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="-0.01 0 0" /> |
|
<mass value="0.0798" /> |
|
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 0.101425 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/r_gripper_finger_link.STL" /> |
|
</geometry> |
|
<material name="13"> |
|
<color rgba="0.356 0.361 0.376 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 0.101425 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/r_gripper_finger_link.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="r_gripper_finger_joint" type="prismatic"> |
|
<origin rpy="0 0 0" xyz="0 0.015425 0" /> |
|
<parent link="gripper_link" /> |
|
<child link="r_gripper_finger_link" /> |
|
<axis xyz="0 1 0" /> |
|
<limit effort="60" lower="0.0" upper="0.05" velocity="0.05" /><dynamics damping="100.0" /></joint> |
|
<link name="l_gripper_finger_link"> |
|
<inertial> |
|
<origin rpy="0 0 0" xyz="-0.01 0 0" /> |
|
<mass value="0.0798" /> |
|
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> |
|
</inertial> |
|
<visual> |
|
<origin rpy="0 0 0" xyz="0 -0.101425 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/l_gripper_finger_link.STL" /> |
|
</geometry> |
|
<material name="14"> |
|
<color rgba="0.356 0.361 0.376 1" /> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="0 0 0" xyz="0 -0.101425 0" /> |
|
<geometry> |
|
<mesh filename="../meshes/l_gripper_finger_link.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="l_gripper_finger_joint" type="prismatic"> |
|
<origin rpy="0 0 0" xyz="0 -0.015425 0" /> |
|
<parent link="gripper_link" /> |
|
<child link="l_gripper_finger_link" /> |
|
<axis xyz="0 -1 0" /> |
|
<limit effort="60" lower="0.0" upper="0.05" velocity="0.05" /><dynamics damping="100.0" /></joint> |
|
</robot> |
|
|
