wassname/kair_algorithms_draft
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Organize ROS related files (#37)

Browse Source 
* Modify ROS related files

* Remove unused packages
This commit is contained in:
Whi Kwon
2019-03-25 21:32:03 +09:00
committed by GitHub
parent d2769dfa9d
commit 596bd7f289
28 changed files with 64 additions and 3855 deletions
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CMakeLists.txt
+8 -5
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@@ -7,6 +7,7 @@ project(kair_algorithms)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
rospy
@@ -14,12 +15,15 @@ find_package(catkin REQUIRED COMPONENTS
std_msgs
control_msgs
trajectory_msgs
gazebo_msgs
message_generation
tf
)
add_message_files( DIRECTORY msg
FILES
GoalObs.msg
)
# add_message_files( DIRECTORY msg
# FILES
# GoalObs.msg
# )
generate_messages(
@@ -34,7 +38,6 @@ catkin_package(
rospy
message_generation
message_runtime
cv_bridge
)
package.xml
+27
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@@ -6,4 +6,31 @@
</description>
<maintainer email="todo@todo.todo">TODO</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>tf</build_export_depend>
<build_export_depend>control_msgs</build_export_depend>
<build_export_depend>trajectory_msgs</build_export_depend>
<build_export_depend>gazebo_msgs</build_export_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>tf</exec_depend>
<exec_depend>control_msgs</exec_depend>
<exec_depend>trajectory_msgs</exec_depend>
<exec_depend>gazebo_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>message_generation</exec_depend>
<exec_depend>cv_bridge</exec_depend>
</package>
urdf/baxter.urdf
-1558
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File diff suppressed because it is too large Load Diff
urdf/block/model.urdf
Executable
+29
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@@ -0,0 +1,29 @@
<robot name="block">
<link name="block">
<inertial>
<origin xyz="0.025 0.025 0.025" />
<mass value="0.5" />
<!-- (1/12)*mass*(h^2 + d^2) (1/12)*mass*(w^2 + d^2) (1/12)*mass*(w^2 + h^2) -->
<!-- (1/12)*0.5*(0.045^2 + 0.045^2) (1/12)*0.5*(0.045^2 + 0.045^2) (1/12)*0.5*(0.045^2 + 0.045^2) -->
<inertia ixx="0.00016874999" ixy="0.0" ixz="0.0" iyy="0.00016874999" iyz="0.0" izz="0.00016874999" />
</inertial>
<visual>
<origin xyz="0.025 0.025 0.025"/>
<geometry>
<box size="0.045 0.045 0.045" />
</geometry>
</visual>
<collision>
<origin xyz="0.025 0.025 0.025"/>
<geometry>
<box size="0.045 0.045 0.045" />
</geometry>
</collision>
</link>
<gazebo reference="block">
<material>Gazebo/Red</material>
<mu1>1000</mu1>
<mu2>1000</mu2>
</gazebo>
</robot>
urdf/connector_plate/connector_plate.xacro
-44
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@@ -1,44 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rethink_connector_plate">
<xacro:macro name="rethink_connector_plate" params="side gazebo">
<xacro:property name="rethink_connector_plate_length" value="0.0151" scope="global"/>
<link name="${side}_connector_plate_base">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.0" />
<inertia ixx="6.9922E-05" ixy="6.1026E-08" ixz="-1.7042E-06"
iyy="6.8188E-05" iyz="-1.6118E-08" izz="0.00012392" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://intera_tools_description/meshes/connector_plate/connector_plate.STL" />
</geometry>
<material name="black">
<color rgba="0.05 0.05 0.05 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0.0135" rpy="0 0 0" />
<geometry>
<cylinder length="${rethink_connector_plate_length*2.0}" radius="0.04"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</collision>
</link>
<xacro:if value="${gazebo}">
<gazebo reference="${side}_connector_plate_base">
<material>Gazebo/FlatBlack</material>
</gazebo>
</xacro:if>
<link name="${side}_connector_plate_mount" />
<joint name="${side}_connector_plate_mount_joint" type="fixed">
<origin xyz="0 0 ${rethink_connector_plate_length+0.0025}" rpy="0 0 0" />
<parent link="${side}_connector_plate_base" />
<child link="${side}_connector_plate_mount" />
</joint>
</xacro:macro>
</robot>
urdf/controller_box/controller_box.urdf
-32
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@@ -1,32 +0,0 @@
<?xml version="1.0"?>
<robot name="base_collision">
<link name="controller_box">
<collision>
<origin rpy="0 0 0" xyz="-0.325 0 -0.38"/>
<geometry>
<box size="0.22 0.4 0.53"/>
</geometry>
</collision>
</link>
<joint name="controller_box_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<parent link="base" />
<child link="controller_box" />
</joint>
<link name="pedestal_feet">
<collision>
<origin rpy="0 0 0" xyz="-0.1225 0 -0.758"/>
<geometry>
<box size="0.77 0.7 0.31"/>
</geometry>
</collision>
</link>
<joint name="pedestal_feet_fixed" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<parent link="base" />
<child link="pedestal_feet" />
</joint>
</robot>
urdf/electric_gripper/example_end_effector.urdf.xacro
-14
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@@ -1,14 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="right_electric_gripper">
<xacro:include filename="$(find intera_tools_description)/urdf/electric_gripper/rethink_electric_gripper.xacro" />
<xacro:rethink_electric_gripper side="right"
l_finger="standard_narrow"
l_finger_slot="2"
l_finger_tip="basic_hard_tip"
l_finger_grasp="inner"
r_finger="standard_narrow"
r_finger_slot="2"
r_finger_tip="basic_hard_tip"
r_finger_grasp="inner"
use_connector_plate="True"/>
</robot>
urdf/electric_gripper/fingers/basic_hard_tip.xacro
-34
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@@ -1,34 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="basic_hard_tip">
<xacro:macro name="finger_tip_xacro" params="parent_link reflect grasp *joint_origin">
<xacro:property name="g_reflect" value="${reflect}" scope="local"/>
<xacro:if value="${grasp == 'outer'}">
<xacro:property name="g_reflect" value="${-reflect}" scope="local"/>
</xacro:if>
<link name="${parent_link}_tip">
<visual>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 ${-0.0045*g_reflect} -0.015"/>
<geometry>
<box size="0.016 0.0065 0.037"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="${parent_link}_tip_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent_link}"/>
<child link="${parent_link}_tip"/>
</joint>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/basic_soft_tip.xacro
-34
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@@ -1,34 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="basic_soft_tip">
<xacro:macro name="finger_tip_xacro" params="parent_link reflect grasp *joint_origin">
<xacro:property name="g_reflect" value="${reflect}" scope="local"/>
<xacro:if value="${grasp == 'outer'}">
<xacro:property name="g_reflect" value="${-reflect}" scope="local"/>
</xacro:if>
<link name="${parent_link}_tip">
<visual>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 ${-0.0045*g_reflect} -0.015"/>
<geometry>
<box size="0.016 0.007 0.037"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="${parent_link}_tip_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent_link}"/>
<child link="${parent_link}_tip"/>
</joint>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/extended_narrow.xacro
-58
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@@ -1,58 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="extended_narrow">
<xacro:macro name="finger_xacro" params="gripper_side finger_side reflect finger_tip finger_grasp gazebo">
<xacro:property name="finger_length" value="0.1127" scope="global"/>
<xacro:property name="finger_width" value="0.01725" scope="local"/>
<link name="${gripper_side}_gripper_${finger_side}_finger">
<visual>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/extended_narrow.DAE" />
</geometry>
</visual>
<xacro:property name="finger_box_height" value="0.01" scope="local"/>
<xacro:property name="finger_box_width" value="0.0135" scope="local"/>
<xacro:property name="finger_box_length" value="0.0615" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 ${finger_width*reflect} ${finger_box_length}"/>
<geometry>
<box size="${finger_box_height} ${finger_box_width} ${finger_length}"/>
</geometry>
</collision>
<xacro:property name="knuckle_box_height" value="0.01" scope="local"/>
<xacro:property name="knuckle_box_width" value="0.017" scope="local"/>
<xacro:property name="knuckle_box_length" value="${finger_width + 0.03275}" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="${reflect*-0.005} ${-0.003*reflect} 0.0083"/>
<geometry>
<box size="${knuckle_box_height} ${knuckle_box_length} ${knuckle_box_width}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<xacro:if value="${gazebo}">
<gazebo reference="${gripper_side}_gripper_${finger_side}_finger">
<mu1>1000</mu1>
<mu2>1000</mu2>
<fdir1>0.0 0.0 1.0</fdir1>
<kp>1e5</kp>
<kd>1.0</kd>
</gazebo>
</xacro:if>
<xacro:property name="none" value="[none, false, null, empty]" scope="local"/>
<xacro:if value="${finger_tip in none}">
<xacro:property name="finger_tip" value="none" scope="local"/>
</xacro:if>
<xacro:include filename="$(find intera_tools_description)/urdf/electric_gripper/fingers/${finger_tip}.xacro" />
<xacro:finger_tip_xacro parent_link="${gripper_side}_gripper_${finger_side}_finger" reflect="${reflect}" grasp="${finger_grasp}">
<origin rpy="0 0 0" xyz="0.0 ${reflect*finger_width} ${finger_length}"/>
</xacro:finger_tip_xacro>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/extended_wide.xacro
-58
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@@ -1,58 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="wide_extended">
<xacro:macro name="finger_xacro" params="gripper_side finger_side reflect finger_tip finger_grasp gazebo">
<xacro:property name="finger_length" value="0.1127" scope="global"/>
<xacro:property name="finger_width" value="0.05503" scope="local"/>
<link name="${gripper_side}_gripper_${finger_side}_finger">
<visual>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/extended_wide.DAE" />
</geometry>
</visual>
<xacro:property name="finger_box_height" value="0.01" scope="local"/>
<xacro:property name="finger_box_width" value="0.0135" scope="local"/>
<xacro:property name="finger_box_length" value="0.0615" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 ${finger_width*reflect} ${finger_box_length}"/>
<geometry>
<box size="${finger_box_height} ${finger_box_width} ${finger_length}"/>
</geometry>
</collision>
<xacro:property name="knuckle_box_height" value="0.01" scope="local"/>
<xacro:property name="knuckle_box_width" value="0.017" scope="local"/>
<xacro:property name="knuckle_box_length" value="${finger_width + 0.03275}" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="${reflect*-0.005} ${0.016*reflect} 0.0083"/>
<geometry>
<box size="${knuckle_box_height} ${knuckle_box_length} ${knuckle_box_width}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<xacro:if value="${gazebo}">
<gazebo reference="${gripper_side}_gripper_${finger_side}_finger">
<mu1>1000</mu1>
<mu2>1000</mu2>
<fdir1>0.0 0.0 1.0</fdir1>
<kp>1e5</kp>
<kd>1.0</kd>
</gazebo>
</xacro:if>
<xacro:property name="none" value="[none, false, null, empty]" scope="local"/>
<xacro:if value="${finger_tip in none}">
<xacro:property name="finger_tip" value="none" scope="local"/>
</xacro:if>
<xacro:include filename="$(find intera_tools_description)/urdf/electric_gripper/fingers/${finger_tip}.xacro" />
<xacro:finger_tip_xacro parent_link="${gripper_side}_gripper_${finger_side}_finger" reflect="${reflect}" grasp="${finger_grasp}">
<origin rpy="0 0 0" xyz="0.0 ${reflect*finger_width} ${finger_length}"/>
</xacro:finger_tip_xacro>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/half_round_tip.xacro
-34
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@@ -1,34 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="half_round_tip">
<xacro:macro name="finger_tip_xacro" params="parent_link reflect grasp *joint_origin">
<xacro:property name="g_reflect" value="${reflect}" scope="local"/>
<xacro:if value="${grasp == 'outer'}">
<xacro:property name="g_reflect" value="${-reflect}" scope="local"/>
</xacro:if>
<link name="${parent_link}_tip">
<visual>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/half_round_tip.DAE" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 ${-0.0045*g_reflect} -0.015"/>
<geometry>
<cylinder length="0.037" radius="0.008"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="${parent_link}_tip_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent_link}"/>
<child link="${parent_link}_tip"/>
</joint>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/none.xacro
-13
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@@ -1,13 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="none_tip">
<xacro:macro name="finger_tip_xacro" params="parent_link grip reflect *joint_origin">
<link name="${parent_link}_tip">
</link>
<joint name="${parent_link}_tip_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent_link}"/>
<child link="${parent_link}_tip"/>
</joint>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/paddle_tip.xacro
-34
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@@ -1,34 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="paddle_tip">
<xacro:macro name="finger_tip_xacro" params="parent_link reflect grasp *joint_origin">
<xacro:property name="g_reflect" value="${reflect}" scope="local"/>
<xacro:if value="${grasp == 'outer'}">
<xacro:property name="g_reflect" value="${-reflect}" scope="local"/>
</xacro:if>
<link name="${parent_link}_tip">
<visual>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/paddle_tip.DAE" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 ${-0.0045*g_reflect} -0.015"/>
<geometry>
<box size="0.042 0.0065 0.037"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi*(g_reflect+1)/2}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="${parent_link}_tip_joint" type="fixed">
<xacro:insert_block name="joint_origin" />
<parent link="${parent_link}"/>
<child link="${parent_link}_tip"/>
</joint>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/standard_narrow.xacro
-58
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@@ -1,58 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="standard_narrow">
<xacro:macro name="finger_xacro" params="gripper_side finger_side reflect finger_tip finger_grasp gazebo">
<xacro:property name="finger_length" value="0.075" scope="global"/>
<xacro:property name="finger_width" value="0.01725" scope="local"/>
<link name="${gripper_side}_gripper_${finger_side}_finger">
<visual>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/standard_narrow.DAE" />
</geometry>
</visual>
<xacro:property name="finger_box_height" value="0.01" scope="local"/>
<xacro:property name="finger_box_width" value="0.0135" scope="local"/>
<xacro:property name="finger_box_length" value="0.04" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 ${finger_width*reflect} ${finger_box_length}"/>
<geometry>
<box size="${finger_box_height} ${finger_box_width} ${finger_length}"/>
</geometry>
</collision>
<xacro:property name="knuckle_box_height" value="0.01" scope="local"/>
<xacro:property name="knuckle_box_width" value="0.017" scope="local"/>
<xacro:property name="knuckle_box_length" value="${finger_width + 0.03275}" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="${reflect*-0.005} ${-0.003*reflect} 0.0083"/>
<geometry>
<box size="${knuckle_box_height} ${knuckle_box_length} ${knuckle_box_width}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<xacro:if value="${gazebo}">
<gazebo reference="${gripper_side}_gripper_${finger_side}_finger">
<mu1>1000</mu1>
<mu2>1000</mu2>
<fdir1>0.0 0.0 1.0</fdir1>
<kp>1e5</kp>
<kd>1.0</kd>
</gazebo>
</xacro:if>
<xacro:property name="none" value="[none, false, null, empty]" scope="local"/>
<xacro:if value="${finger_tip in none}">
<xacro:property name="finger_tip" value="none" scope="local"/>
</xacro:if>
<xacro:include filename="$(find intera_tools_description)/urdf/electric_gripper/fingers/${finger_tip}.xacro" />
<xacro:finger_tip_xacro parent_link="${gripper_side}_gripper_${finger_side}_finger" reflect="${reflect}" grasp="${finger_grasp}">
<origin rpy="0 0 0" xyz="0.0 ${reflect*finger_width} ${finger_length}"/>
</xacro:finger_tip_xacro>
</xacro:macro>
</robot>
urdf/electric_gripper/fingers/standard_wide.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="standard_wide">
<xacro:macro name="finger_xacro" params="gripper_side finger_side reflect finger_tip finger_grasp gazebo">
<xacro:property name="finger_length" value="0.075" scope="global"/>
<xacro:property name="finger_width" value="0.05503" scope="local"/>
<link name="${gripper_side}_gripper_${finger_side}_finger">
<visual>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/fingers/standard_wide.DAE" />
</geometry>
</visual>
<xacro:property name="finger_box_height" value="0.01" scope="local"/>
<xacro:property name="finger_box_width" value="0.0135" scope="local"/>
<xacro:property name="finger_box_length" value="0.04" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 ${finger_width*reflect} ${finger_box_length}"/>
<geometry>
<box size="${finger_box_height} ${finger_box_width} ${finger_length}"/>
</geometry>
</collision>
<xacro:property name="knuckle_box_height" value="0.01" scope="local"/>
<xacro:property name="knuckle_box_width" value="0.017" scope="local"/>
<xacro:property name="knuckle_box_length" value="${finger_width + 0.03275}" scope="local"/>
<collision>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="${reflect*-0.005} ${0.016*reflect} 0.0083"/>
<geometry>
<box size="${knuckle_box_height} ${knuckle_box_length} ${knuckle_box_width}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${-pi/2*(reflect+1)}" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<xacro:if value="${gazebo}">
<gazebo reference="${gripper_side}_gripper_${finger_side}_finger">
<mu1>1000</mu1>
<mu2>1000</mu2>
<fdir1>0.0 0.0 1.0</fdir1>
<kp>1e5</kp>
<kd>1.0</kd>
</gazebo>
</xacro:if>
<xacro:property name="none" value="[none, false, null, empty]" scope="local"/>
<xacro:if value="${finger_tip in none}">
<xacro:property name="finger_tip" value="none" scope="local"/>
</xacro:if>
<xacro:include filename="$(find intera_tools_description)/urdf/electric_gripper/fingers/${finger_tip}.xacro" />
<xacro:finger_tip_xacro parent_link="${gripper_side}_gripper_${finger_side}_finger" reflect="${reflect}" grasp="${finger_grasp}">
<origin rpy="0 0 0" xyz="0.0 ${reflect*finger_width} ${finger_length}"/>
</xacro:finger_tip_xacro>
</xacro:macro>
</robot>
urdf/electric_gripper/rethink_electric_gripper.xacro
-156
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rethink_electric_gripper">
<xacro:macro name="rethink_electric_gripper" params="side r_finger r_finger_slot r_finger_tip r_finger_grasp l_finger l_finger_slot l_finger_tip l_finger_grasp use_connector_plate gazebo">
<xacro:property name="gripper_side" value="${side}" scope="local"/>
<!-- Base of whole end effector - (Connector Plate + Electric Gripper + Fingers + Tips) -->
<link name="${side}_gripper_base">
<inertial>
<!-- Sum Gripper Mass - for whole end effector, measured from end of plastic cuff -->
<mass value="0.47"/>
<origin rpy="0 0 0" xyz="0.0028 -0.0004 0.0343"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<!-- Electric Gripper Base Link -->
<link name="${side}_electric_gripper_base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/electric_gripper_base.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="${-pi/2} ${pi} 0" xyz="0.004 0.0 0.025"/>
<geometry>
<cylinder length="0.1" radius="0.029"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</collision>
<inertial>
<origin rpy="${-pi/2} ${pi} 0" xyz="0.0 0.0 0.0"/>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<xacro:unless value="${use_connector_plate}">
<xacro:property name="electric_gripper_parent_link" value="${side}_gripper_base" scope="local"/>
<xacro:property name="connector_plate_length" value="0.0" scope="local"/>
</xacro:unless>
<xacro:if value="${use_connector_plate}">
<!-- Connector Plate Joint -->
<joint name="${side}_connector_plate_base_joint" type="fixed">
<origin xyz="0 0 0.0018" rpy="0 0 0" />
<parent link="${side}_gripper_base" />
<child link="${side}_connector_plate_base" />
</joint>
<!-- Connector Plate Link -->
<xacro:include filename="$(find ddpg)/urdf/connector_plate/connector_plate.xacro" />
<xacro:rethink_connector_plate side="${side}" gazebo="${gazebo}"/>
<xacro:property name="electric_gripper_parent_link" value="${side}_connector_plate_mount" scope="local"/>
<xacro:property name="connector_plate_length" value="${rethink_connector_plate_length}" scope="local"/>
</xacro:if>
<!-- Electric Gripper Base joint -->
<joint name="${side}_electric_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${electric_gripper_parent_link}"/>
<child link="${side}_electric_gripper_base"/>
</joint>
<!-- Left finger link -->
<xacro:property name="finger_length" value="0.0" scope="global"/>
<xacro:include filename="$(find ddpg)/urdf/electric_gripper/fingers/${l_finger}.xacro" />
<xacro:finger_xacro gripper_side="${gripper_side}" finger_side="l" reflect="1" finger_tip="${l_finger_tip}" finger_grasp="${l_finger_grasp}" gazebo="${gazebo}"/>
<xacro:property name="tip_finger_length" value="${finger_length}" scope="local"/>
<!-- Right finger link -->
<xacro:include filename="$(find ddpg)/urdf/electric_gripper/fingers/${r_finger}.xacro" />
<xacro:finger_xacro gripper_side="${gripper_side}" finger_side="r" reflect="-1" finger_tip="${r_finger_tip}" finger_grasp="${r_finger_grasp}" gazebo="${gazebo}"/>
<xacro:if value="${finger_length > tip_finger_length}">
<xacro:property name="tip_finger_length" value="${finger_length}" scope="local"/>
</xacro:if>
<!-- Gripper Base Joint -->
<xacro:property name="end_of_arm_offset" value="-0.005" scope="local"/>
<joint name="${side}_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${end_of_arm_offset}"/>
<parent link="${side}_hand"/>
<child link="${side}_gripper_base"/>
</joint>
<!-- Gripper Tip joint -->
<xacro:property name="electric_gripper_base_length" value="0.04552" scope="local"/>
<joint name="${side}_gripper_tip_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${(-1*end_of_arm_offset)+connector_plate_length+electric_gripper_base_length+tip_finger_length}"/>
<parent link="${side}_gripper_base"/>
<child link="${side}_gripper_tip"/>
</joint>
<!-- Electric Gripper Tip link -->
<link name="${side}_gripper_tip">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<!-- Left finger -->
<xacro:property name="l_finger_offset" value="${((l_finger_slot-1)*0.0095) -0.011}" scope="local"/>
<joint name="${gripper_side}_gripper_l_finger_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0.003 ${l_finger_offset} ${electric_gripper_base_length}"/>
<axis xyz="0 1 0"/>
<parent link="${side}_electric_gripper_base"/>
<child link="${gripper_side}_gripper_l_finger"/>
<limit effort="20.0" lower="0.0" upper="0.020833" velocity="5.0"/>
<dynamics damping="100.0" friction="500.0"/>
</joint>
<!-- Right finger -->
<xacro:property name="r_finger_offset" value="${((r_finger_slot-1)*-0.0095) +0.011}" scope="local"/>
<joint name="${gripper_side}_gripper_r_finger_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0.003 ${r_finger_offset} ${electric_gripper_base_length}"/>
<axis xyz="0 1 0"/>
<parent link="${side}_electric_gripper_base"/>
<child link="${gripper_side}_gripper_r_finger"/>
<limit effort="20.0" lower="-0.020833" upper="0.0" velocity="5.0"/>
<mimic joint="${gripper_side}_gripper_l_finger_joint" multiplier="-1.0"/>
<dynamics damping="100.0" friction="500.0"/>
</joint>
<xacro:if value="${gazebo}">
<transmission name="gripper_${side}1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${gripper_side}_gripper_r_finger_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_${gripper_side}1_motor1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="gripper_${side}2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${gripper_side}_gripper_l_finger_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_${gripper_side}1_motor2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="${gripper_side}_gripper_r_finger_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${gripper_side}_gripper_l_finger_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>
urdf/example_end_effector.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="right_electric_gripper">
<xacro:include filename="$(find intera_tools_description)/urdf/electric_gripper/rethink_electric_gripper.xacro" />
<xacro:rethink_electric_gripper side="right"
l_finger="standard_narrow"
l_finger_slot="2"
l_finger_tip="basic_hard_tip"
l_finger_grasp="inner"
r_finger="standard_narrow"
r_finger_slot="2"
r_finger_tip="basic_hard_tip"
r_finger_grasp="inner"
use_connector_plate="True"/>
</robot>
urdf/null_gripper/example_end_effector.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="left_null_gripper">
<xacro:include filename="$(find intera_tools_description)/urdf/null_gripper/null_gripper.xacro" />
<xacro:null_gripper side="left"/>
</robot>
urdf/null_gripper/null_gripper.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="null_gripper">
<xacro:macro name="null_gripper" params="side">
<!-- This is not a URDF, it is a URDF fragment describing a default end effector
to be added to the robot URDF at run time.
-->
<link name="${side}_gripper_base">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="${side}_gripper">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="${side}_gripper_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${side}_hand"/>
<child link="${side}_gripper_base"/>
</joint>
<joint name="${side}_endpoint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${side}_gripper_base"/>
<child link="${side}_gripper"/>
</joint>
</xacro:macro>
</robot>
urdf/pneumatic_gripper/example_end_effector.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="left_pneumatic_gripper">
<xacro:include filename="$(find intera_tools_description)/urdf/electric_gripper/rethink_pneumatic_gripper.xacro" />
<xacro:rethink_pneumatic_gripper side="left"/>
</robot>
urdf/pneumatic_gripper/pneumatic_gripper_base.xacro
-54
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="pneumatic_gripper_base">
<xacro:macro name="pneumatic_gripper_base" params="side">
<xacro:property name="tip_length" value="${0.03 + 0.02}" scope="local"/>
<!-- Base of end effector -->
<link name="${side}_gripper_base">
<visual>
<origin rpy="0 ${pi} ${pi}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/pneumatic_gripper/pneumatic_gripper_base.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="0 ${pi} ${pi}" xyz="0.0 0.0 0.025"/>
<geometry>
<box size="0.044 0.078 0.038" />
<box length="0.08" radius="0.02"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 ${pi} ${pi}" xyz="0.0 0.0 0.0"/>
<mass value="0.1"/>
<inertia ixx="2e-08" ixy="0" ixz="0" iyy="3e-08" iyz="0" izz="2e-08"/>
</inertial>
</link>
<!-- Pneumatic Gripper Base Joint -->
<joint name="${side}_gripper_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<parent link="${side}_hand"/>
<child link="${side}_gripper_base"/>
</joint>
<!-- Pneumatic Gripper Tip joint -->
<joint name="${side}_endpoint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${tip_length}"/>
<parent link="${side}_gripper_base"/>
<child link="${side}_gripper"/>
</joint>
<!-- Pneumatic Gripper Tip link -->
<link name="${side}_gripper">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.0"/>
</inertial>
</link>
</xacro:macro>
</robot>
urdf/pneumatic_gripper/rethink_pneumatic_gripper.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rethink_pneumatic_gripper">
<xacro:macro name="rethink_pneumatic_gripper" params="side">
<xacro:property name="tip_length" value="${0.06 + 0.02}" scope="local"/>
<!-- Base of end effector -->
<link name="${side}_gripper_base">
<visual>
<origin rpy="0 ${pi} ${pi}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/pneumatic_gripper/pneumatic_gripper_w_cup.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="0 ${pi} ${pi}" xyz="0.0 0.0 0.04"/>
<geometry>
<cylinder length="0.08" radius="0.02"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 ${pi} ${pi}" xyz="0.0 0.0 0.0"/>
<mass value="0.3"/>
<inertia ixx="2e-08" ixy="0" ixz="0" iyy="3e-08" iyz="0" izz="2e-08"/>
</inertial>
</link>
<!-- Pneumatic Gripper Base Joint -->
<joint name="${side}_gripper_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<parent link="${side}_hand"/>
<child link="${side}_gripper_base"/>
</joint>
<!-- Pneumatic Gripper Tip joint -->
<joint name="${side}_endpoint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${tip_length}"/>
<parent link="${side}_gripper_base"/>
<child link="${side}_gripper"/>
</joint>
<!-- Pneumatic Gripper Tip link -->
<link name="${side}_gripper">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.0"/>
</inertial>
</link>
</xacro:macro>
</robot>
urdf/rethink_electric_gripper.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rethink_electric_gripper">
<xacro:macro name="rethink_electric_gripper" params="side r_finger r_finger_slot r_finger_tip r_finger_grasp l_finger l_finger_slot l_finger_tip l_finger_grasp use_connector_plate gazebo">
<xacro:property name="gripper_side" value="${side}" scope="local"/>
<!-- Base of whole end effector - (Connector Plate + Electric Gripper + Fingers + Tips) -->
<link name="${side}_gripper_base">
<inertial>
<!-- Sum Gripper Mass - for whole end effector, measured from end of plastic cuff -->
<mass value="0.47"/>
<origin rpy="0 0 0" xyz="0.0028 -0.0004 0.0343"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<!-- Electric Gripper Base Link -->
<link name="${side}_electric_gripper_base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/electric_gripper_base.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="${-pi/2} ${pi} 0" xyz="0.004 0.0 0.025"/>
<geometry>
<cylinder length="0.1" radius="0.029"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</collision>
<inertial>
<origin rpy="${-pi/2} ${pi} 0" xyz="0.0 0.0 0.0"/>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<xacro:unless value="${use_connector_plate}">
<xacro:property name="electric_gripper_parent_link" value="${side}_gripper_base" scope="local"/>
<xacro:property name="connector_plate_length" value="0.0" scope="local"/>
</xacro:unless>
<xacro:if value="${use_connector_plate}">
<!-- Connector Plate Joint -->
<joint name="${side}_connector_plate_base_joint" type="fixed">
<origin xyz="0 0 0.0018" rpy="0 0 0" />
<parent link="${side}_gripper_base" />
<child link="${side}_connector_plate_base" />
</joint>
<!-- Connector Plate Link -->
<xacro:include filename="$(find ddpg)/urdf/connector_plate/connector_plate.xacro" />
<xacro:rethink_connector_plate side="${side}" gazebo="${gazebo}"/>
<xacro:property name="electric_gripper_parent_link" value="${side}_connector_plate_mount" scope="local"/>
<xacro:property name="connector_plate_length" value="${rethink_connector_plate_length}" scope="local"/>
</xacro:if>
<!-- Electric Gripper Base joint -->
<joint name="${side}_electric_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${electric_gripper_parent_link}"/>
<child link="${side}_electric_gripper_base"/>
</joint>
<!-- Left finger link -->
<xacro:property name="finger_length" value="0.0" scope="global"/>
<xacro:include filename="$(find ddpg)/urdf/electric_gripper/fingers/${l_finger}.xacro" />
<xacro:finger_xacro gripper_side="${gripper_side}" finger_side="l" reflect="1" finger_tip="${l_finger_tip}" finger_grasp="${l_finger_grasp}" gazebo="${gazebo}"/>
<xacro:property name="tip_finger_length" value="${finger_length}" scope="local"/>
<!-- Right finger link -->
<xacro:include filename="$(find ddpg)/urdf/electric_gripper/fingers/${r_finger}.xacro" />
<xacro:finger_xacro gripper_side="${gripper_side}" finger_side="r" reflect="-1" finger_tip="${r_finger_tip}" finger_grasp="${r_finger_grasp}" gazebo="${gazebo}"/>
<xacro:if value="${finger_length > tip_finger_length}">
<xacro:property name="tip_finger_length" value="${finger_length}" scope="local"/>
</xacro:if>
<!-- Gripper Base Joint -->
<xacro:property name="end_of_arm_offset" value="-0.005" scope="local"/>
<joint name="${side}_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${end_of_arm_offset}"/>
<parent link="${side}_hand"/>
<child link="${side}_gripper_base"/>
</joint>
<!-- Gripper Tip joint -->
<xacro:property name="electric_gripper_base_length" value="0.04552" scope="local"/>
<joint name="${side}_gripper_tip_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${(-1*end_of_arm_offset)+connector_plate_length+electric_gripper_base_length+tip_finger_length}"/>
<parent link="${side}_gripper_base"/>
<child link="${side}_gripper_tip"/>
</joint>
<!-- Electric Gripper Tip link -->
<link name="${side}_gripper_tip">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<!-- Left finger -->
<xacro:property name="l_finger_offset" value="${((l_finger_slot-1)*0.0095) -0.011}" scope="local"/>
<joint name="${gripper_side}_gripper_l_finger_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0.003 ${l_finger_offset} ${electric_gripper_base_length}"/>
<axis xyz="0 1 0"/>
<parent link="${side}_electric_gripper_base"/>
<child link="${gripper_side}_gripper_l_finger"/>
<limit effort="20.0" lower="0.0" upper="0.020833" velocity="5.0"/>
<dynamics damping="100.0" friction="500.0"/>
</joint>
<!-- Right finger -->
<xacro:property name="r_finger_offset" value="${((r_finger_slot-1)*-0.0095) +0.011}" scope="local"/>
<joint name="${gripper_side}_gripper_r_finger_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0.003 ${r_finger_offset} ${electric_gripper_base_length}"/>
<axis xyz="0 1 0"/>
<parent link="${side}_electric_gripper_base"/>
<child link="${gripper_side}_gripper_r_finger"/>
<limit effort="20.0" lower="-0.020833" upper="0.0" velocity="5.0"/>
<mimic joint="${gripper_side}_gripper_l_finger_joint" multiplier="-1.0"/>
<dynamics damping="100.0" friction="500.0"/>
</joint>
<xacro:if value="${gazebo}">
<transmission name="gripper_${side}1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${gripper_side}_gripper_r_finger_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_${gripper_side}1_motor1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="gripper_${side}2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${gripper_side}_gripper_l_finger_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_${gripper_side}1_motor2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="${gripper_side}_gripper_r_finger_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${gripper_side}_gripper_l_finger_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>
urdf/sawyer.urdf
-530
View File
@@ -1,530 +0,0 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ./urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="sawyer" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
<material name="sawyer_red">
<color rgba=".5 .1 .1 1"/>
</material>
<material name="sawyer_gray">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
<link name="base"/>
<link name="torso">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="pedestal">
<visual>
<origin rpy="1.57079632679 0 -1.57079632679" xyz="0.26 0.345 -0.91488"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/pedestal.DAE"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.30"/>
<geometry>
<cylinder length="0.62" radius="0.18"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="60.86397744"/>
<inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
</inertial>
</link>
<link name="controller_box">
<collision>
<origin rpy="0 0 0" xyz="-0.325 0 -0.38"/>
<geometry>
<box size="0.22 0.4 0.53"/>
</geometry>
</collision>
</link>
<joint name="controller_box_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="controller_box"/>
</joint>
<link name="pedestal_feet">
<collision>
<origin rpy="0 0 0" xyz="-0.1225 0 -0.758"/>
<geometry>
<box size="0.77 0.7 0.31"/>
</geometry>
</collision>
</link>
<joint name="pedestal_feet_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="pedestal_feet"/>
</joint>
<joint name="torso_t0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="torso"/>
</joint>
<joint name="pedestal_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="pedestal"/>
</joint>
<joint name="right_arm_mount" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="right_arm_base_link"/>
</joint>
<link name="right_arm_base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0006241 -2.8025E-05 0.065404"/>
<mass value="2.0687"/>
<inertia ixx="0.0067599" ixy="-4.2024E-05" ixz="-6.1904E-07" iyy="0.0067877" iyz="1.5888E-05" izz="0.0074031"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/base.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.12"/>
<geometry>
<cylinder length="0.24" radius="0.08"/>
</geometry>
</collision>
</link>
<link name="right_l0">
<inertial>
<origin rpy="0 0 0" xyz="0.024366 0.010969 0.14363"/>
<mass value="5.3213"/>
<inertia ixx="0.053314" ixy="0.0047093" ixz="0.011734" iyy="0.057902" iyz="0.0080179" izz="0.023659"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_mp3/l0.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.081 0 0.237"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j0" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<parent link="right_arm_base_link"/>
<child link="right_l0"/>
<axis xyz="0 0 1"/>
<limit effort="80.0" lower="-3.0503" upper="3.0503" velocity="1.74"/>
</joint>
<link name="head">
<inertial>
<origin rpy="0 0 0" xyz="0.0053207 -2.6549E-05 0.1021"/>
<mass value="1.5795"/>
<inertia ixx="0.011833" ixy="-4.4669E-06" ixz="4.9425E-05" iyy="0.0082709" iyz="4.2124E-07" izz="0.0049661"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/head.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<sphere radius="0.18"/>
</geometry>
</collision>
</link>
<joint name="head_pan" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.2965"/>
<parent link="right_l0"/>
<child link="head"/>
<axis xyz="0 0 1"/>
<limit effort="8" lower="-5.1477" upper="0.9559" velocity="1.8"/>
</joint>
<link name="right_torso_itb">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="right_torso_itb" type="fixed">
<origin rpy="0 -1.57079632679 0" xyz="-.055 0 .22"/>
<parent link="right_l0"/>
<child link="right_torso_itb"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l1">
<inertial>
<origin rpy="0 0 0" xyz="-0.0030849 -0.026811 0.092521"/>
<mass value="4.505"/>
<inertia ixx="0.022398" ixy="-0.00023986" ixz="-0.00029362" iyy="0.014613" iyz="-0.0060875" izz="0.017295"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_mp3/l1.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1225"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j1" type="revolute">
<origin rpy="-1.57079632679 1.57079632679 0" xyz="0.081 0.05 0.237"/>
<parent link="right_l0"/>
<child link="right_l1"/>
<axis xyz="0 0 1"/>
<limit effort="80.0" lower="-3.8183" upper="2.2824" velocity="1.328"/>
</joint>
<link name="right_l2">
<inertial>
<origin rpy="0 0 0" xyz="-0.00016232 -0.015346 0.13445"/>
<mass value="1.7251"/>
<inertia ixx="0.025176" ixy="4.3031E-06" ixz="1.4564E-05" iyy="0.024982" iyz="-0.0033928" izz="0.0033798"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l2.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.14"/>
<geometry>
<cylinder length="0.35" radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j2" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.14 0.1425"/>
<parent link="right_l1"/>
<child link="right_l2"/>
<axis xyz="0 0 1"/>
<limit effort="40.0" lower="-3.0514" upper="3.0514" velocity="1.957"/>
</joint>
<link name="right_l3">
<inertial>
<origin rpy="0 0 0" xyz="-0.0046678 -0.028394 -0.083127"/>
<mass value="2.4743"/>
<inertia ixx="0.0099549" ixy="-1.7675E-05" ixz="0.00027521" iyy="0.0064248" iyz="0.0030853" izz="0.0067746"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l3.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.01 -0.12"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j3" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 -0.042 0.26"/>
<parent link="right_l2"/>
<child link="right_l3"/>
<axis xyz="0 0 1"/>
<limit effort="40.0" lower="-3.0514" upper="3.0514" velocity="1.957"/>
</joint>
<link name="right_l4">
<inertial>
<origin rpy="0 0 0" xyz="-0.0027794 0.0076558 0.13273"/>
<mass value="1.0433"/>
<inertia ixx="0.012913" ixy="2.573E-05" ixz="0.00017705" iyy="0.012939" iyz="0.0011152" izz="0.0012405"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l4.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.14"/>
<geometry>
<cylinder length="0.36" radius="0.045"/>
</geometry>
</collision>
</link>
<joint name="right_j4" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.125 -0.1265"/>
<parent link="right_l3"/>
<child link="right_l4"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-2.9842" upper="2.9842" velocity="3.485"/>
</joint>
<link name="right_arm_itb">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="right_arm_itb" type="fixed">
<origin rpy="0 -1.57079632679 0" xyz="-.055 0 .075"/>
<parent link="right_l4"/>
<child link="right_arm_itb"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l5">
<inertial>
<origin rpy="0 0 0" xyz="0.0062067 -0.024291 0.075564"/>
<mass value="1.5343"/>
<inertia ixx="0.0046072" ixy="0.00012002" ixz="5.3065E-05" iyy="0.0028725" iyz="-0.0011886" izz="0.003101"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l5.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.01 0 0.09"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j5" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0.031 0.275"/>
<parent link="right_l4"/>
<child link="right_l5"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-2.9842" upper="2.9842" velocity="3.485"/>
</joint>
<link name="right_hand_camera"/>
<joint name="right_hand_camera" type="fixed">
<origin rpy="0 1.57079632679 0" xyz="0.039552 -0.033 0.0695"/>
<parent link="right_l5"/>
<child link="right_hand_camera"/>
<axis xyz="0 0 0"/>
</joint>
<link name="right_wrist"/>
<joint name="right_wrist" type="fixed">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.10541"/>
<parent link="right_l5"/>
<child link="right_wrist"/>
<axis xyz="0 0 0"/>
</joint>
<link name="right_l6">
<inertial>
<origin rpy="0 0 0" xyz="-8.0726E-06 0.0085838 -0.0049566"/>
<mass value="0.3292"/>
<inertia ixx="0.00031105" ixy="1.4771E-06" ixz="-3.7074E-07" iyy="0.00021549" iyz="-8.4533E-06" izz="0.00035976"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_mp1/l6.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.005"/>
<geometry>
<cylinder length="0.05" radius="0.065"/>
</geometry>
</collision>
</link>
<joint name="right_j6" type="revolute">
<origin rpy="-1.57079632679 -0.17453 3.1416" xyz="0 -0.11 0.1053"/>
<parent link="right_l5"/>
<child link="right_l6"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-4.7104" upper="4.7104" velocity="4.545"/>
</joint>
<link name="right_hand">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
</link>
<joint name="right_hand" type="fixed">
<origin rpy="0 0 1.570796" xyz="0 0 0.0245"/>
<axis xyz="0 0 1"/>
<parent link="right_l6"/>
<child link="right_hand"/>
</joint>
<link name="screen">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.24 0.14 0.002"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="display_joint" type="fixed">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.03 0.0 0.105"/>
<parent link="head"/>
<child link="screen"/>
</joint>
<link name="head_camera"/>
<joint name="head_camera" type="fixed">
<origin rpy="-2.1293 0 -1.57079632679" xyz="0.0228027 0 0.216572"/>
<parent link="head"/>
<child link="head_camera"/>
<axis xyz="0 0 0"/>
</joint>
<!-- added -->
<!-- <link name="controller_box"> -->
<!-- <collision> -->
<!-- <origin rpy="0 0 0" xyz="-0.325 0 -0.38"/> -->
<!-- <geometry> -->
<!-- <box size="0.22 0.4 0.53"/> -->
<!-- </geometry> -->
<!-- </collision> -->
<!-- </link> -->
<!-- <joint name="controller_box_fixed" type="fixed"> -->
<!-- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> -->
<!-- <parent link="base"/> -->
<!-- <child link="controller_box"/> -->
<!-- </joint> -->
<!-- <link name="pedestal_feet"> -->
<!-- <collision> -->
<!-- <origin rpy="0 0 0" xyz="-0.1225 0 -0.758"/> -->
<!-- <geometry> -->
<!-- <box size="0.77 0.7 0.31"/> -->
<!-- </geometry> -->
<!-- </collision> -->
<!-- </link> -->
<!-- <joint name="pedestal_feet_fixed" type="fixed"> -->
<!-- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> -->
<!-- <parent link="base"/> -->
<!-- <child link="pedestal_feet"/> -->
<!-- </joint> -->
<joint name="right_gripper_base" type="fixed">
<child link="right_gripper_base">
</child>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.00500000000000000">
</origin>
<parent link="right_hand">
</parent>
</joint>
<joint name="right_gripper_endpoint" type="fixed">
<child link="right_gripper">
</child>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0500000000000000">
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.2000000000000000"> -->
</origin>
<parent link="right_gripper_base">
</parent>
</joint>
<link name="right_gripper_base">
<collision>
<geometry>
<cylinder length="0.118" radius="0.070">
</cylinder>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.00500000000000000">
</origin>
</collision>
<inertial>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0">
</inertia>
<mass value="0.440000000000000">
</mass>
<origin rpy="0.0 0.0 0.0" xyz="0.00280000000000000 -0.000400000000000000 0.0322000000000000">
</origin>
</inertial>
<visual>
<geometry>
<mesh filename="package://intera_tools_description/meshes/electric_gripper/electric_gripper_w_fingers.DAE" scale="1.0 1.0 1.0">
</mesh>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.00100000000000000">
</origin>
</visual>
</link>
<link name="right_gripper">
<collision>
<geometry>
<box size="0.0100000000000000 0.0100000000000000 0.0100000000000000">
</box>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0">
</origin>
</collision>
<inertial>
<inertia ixx="1.00000000000000e-08" ixy="0.0" ixz="0.0" iyy="1.00000000000000e-08" iyz="0.0" izz="1.00000000000000e-08">
</inertia>
<mass value="0.0">
</mass>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0">
</origin>
</inertial>
<visual>
<geometry>
<box size="0.0150000000000000 0.0150000000000000 0.0150000000000000">
</box>
</geometry>
<material name="darkgrey">
<color rgba="0.200000000000000 0.300000000000000 0.300000000000000 1.0">
</color>
</material>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0">
</origin>
</visual>
</link>
</robot>
urdf/sawyer_base.gazebo.xacro
-258
View File
@@ -1,258 +0,0 @@
<?xml version="1.0" ?>
<robot name="sawyer" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="pedestal" default="true"/>
<xacro:arg name="static" default="true"/>
<!-- ros_control plugin -->
<gazebo>
<plugin name="sawyer_ros_control" filename="libsawyer_gazebo_ros_control.so">
<robotNamespace>/robot</robotNamespace>
<robotSimType>sawyer_gazebo/SawyerRobotHWSim</robotSimType>
<controlPeriod>0.001</controlPeriod>
<eStopTopic>sim_estop</eStopTopic>
</plugin>
</gazebo>
<!-- Gazebo-Specific Link Properties -->
<xacro:if value="$(arg static)">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<xacro:if value="$(arg pedestal)">
<gazebo reference="pedestal">
<material>Gazebo/FlatBlack</material>
</gazebo>
</xacro:if>
<gazebo reference="torso">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="head_pan">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo reference="right_j0">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo reference="right_j1">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo reference="right_j2">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo reference="right_j3">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo reference="right_j4">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo reference="right_j5">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo reference="right_j6">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>true</provideFeedback>
</gazebo>
<joint name="head_camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-pi} ${-pi/2.0} ${-pi/2.0}"/>
<parent link="head_camera"/>
<child link="head_camera_optical"/>
</joint>
<link name="head_camera_optical"/>
<gazebo reference="head_camera_optical">
<sensor name="head_camera" type="camera">
<update_rate>10</update_rate>
<camera name="head_camera">
<horizontal_fov>2.00787026</horizontal_fov>
<image>
<width>1280</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>50</far>
</clip>
<!-- Uncomment to add image Distortion -->
<!-- distortion>
<k1>0.6545419633392568</k1>
<k2>0.012904541485280972</k2>
<k3>-0.012279942338550547</k3>
<p1>-0.00036475699823703154</p1>
<p2>3.334461262764956e-05</p2>
<center>677.8808657338167 382.02964533321426</center>
</distortion -->
</camera>
<!-- Uncomment to visualize image inside Gazebo -->
<!-- visualize>true</visualize -->
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>10</updateRate>
<cameraName>head_camera</cameraName>
<imageTopicName>/io/internal_camera/head_camera/image_raw</imageTopicName>
<cameraInfoTopicName>/io/internal_camera/head_camera/camera_info</cameraInfoTopicName>
<frameName>head_camera</frameName>
<focalLength>407.391526</focalLength>
<!-- Uncomment to add image Distortion params to camera_info topic -->
<!-- distortionK1>0.6545419633392568</distortionK1>
<distortionK2>0.012904541485280972</distortionK2>
<distortionK3>-0.012279942338550547</distortionK3>
<distortionT1>-0.00036475699823703154</distortionT1>
<distortionT2>3.334461262764956e-05</distortionT2>
<Cx>677.8808657338167</Cx>
<Cy>382.02964533321426</Cy -->
</plugin>
</sensor>
</gazebo>
<joint name="right_hand_camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-pi} ${-pi/2.0} ${-pi/2.0}"/>
<parent link="right_hand_camera"/>
<child link="right_hand_camera_optical"/>
</joint>
<link name="right_hand_camera_optical"/>
<gazebo reference="right_hand_camera_optical">
<sensor name="right_hand_camera" type="camera">
<update_rate>10.0</update_rate>
<camera name="right_hand_camera">
<horizontal_fov>1.0992892</horizontal_fov>
<image>
<width>752</width>
<height>480</height>
<format>L8</format>
</image>
<clip>
<near>0.02</near>
<far>10</far>
</clip>
<!-- Uncomment to add image Distortion -->
<!-- distortion>
<k1>-0.442</k1>
<k2>0.273</k2>
<k3>-0.123</k3>
<p1>0.0</p1>
<p2>0.0</p2>
<center>365.734985 237.988998</center>
</distortion -->
</camera>
<!-- Uncomment to visualize image inside Gazebo -->
<!-- visualize>true</visualize -->
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>10.0</updateRate>
<cameraName>right_hand_camera</cameraName>
<imageTopicName>/io/internal_camera/right_hand_camera/image_raw</imageTopicName>
<cameraInfoTopicName>/io/internal_camera/right_hand_camera/camera_info</cameraInfoTopicName>
<frameName>right_hand_camera</frameName>
<focalLength>613.760435</focalLength>
<!-- Uncomment to add image Distortion params to camera_info topic -->
<!-- distortionK1>-0.442</distortionK1>
<distortionK2>0.273</distortionK2>
<distortionK3>-0.123</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<Cx>365.734985</Cx>
<Cy>237.988998</Cy -->
</plugin>
</sensor>
</gazebo>
<gazebo reference="screen">
<visual>
<plugin name="screen_video_controller" filename="libgazebo_ros_video.so">
<height>600</height>
<width>1024</width>
<topicName>/robot/head_display</topicName>
<robotNamespace>/robot</robotNamespace>
</plugin>
</visual>
</gazebo>
<!-- Transmissions -->
<!-- Right Arm -->
<transmission name="right_tran0">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_j0">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor0">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_j1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_j2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_j3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_j4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_j5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_j6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Head -->
<transmission name="head0">
<type>transmission_interface/SimpleTransmission</type>
<joint name="head_pan">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="head_motor0">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
urdf/sawyer_base.urdf.xacro
-534
View File
@@ -1,534 +0,0 @@
<?xml version="1.0" ?>
<robot name="sawyer" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="gazebo" default="false"/>
<xacro:arg name="pedestal" default="true"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
<material name="sawyer_red">
<color rgba=".5 .1 .1 1"/>
</material>
<material name="sawyer_gray">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
<link name="base"/>
<link name="torso">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</xacro:unless>
</link>
<xacro:if value="$(arg pedestal)">
<link name="pedestal">
<visual>
<origin rpy="1.57079632679 0 -1.57079632679" xyz="0.26 0.345 -0.91488"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/pedestal.DAE"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.02 0 -0.29"/>
<geometry>
<cylinder length="0.62" radius="0.18"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.5"/>
<mass value="60.86397744"/>
<inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
</inertial>
</link>
<link name="controller_box">
<collision>
<origin rpy="0 0 0" xyz="-0.325 0 -0.38"/>
<geometry>
<box size="0.22 0.4 0.53"/>
</geometry>
</collision>
</link>
<joint name="controller_box_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="controller_box"/>
</joint>
<link name="pedestal_feet">
<collision>
<origin rpy="0 0 0" xyz="-0.1225 0 -0.758"/>
<geometry>
<box size="0.77 0.7 0.31"/>
</geometry>
</collision>
</link>
<joint name="pedestal_feet_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="pedestal_feet"/>
</joint>
<joint name="pedestal_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="pedestal"/>
</joint>
</xacro:if>
<joint name="right_arm_mount" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="right_arm_base_link"/>
</joint>
<joint name="torso_t0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="torso"/>
</joint>
<link name="right_arm_base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0006241 -2.8025E-05 0.065404"/>
<mass value="2.0687"/>
<inertia ixx="0.0067599" ixy="-4.2024E-05" ixz="-6.1904E-07" iyy="0.0067877" iyz="1.5888E-05" izz="0.0074031"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/base.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.12"/>
<geometry>
<cylinder length="0.24" radius="0.08"/>
</geometry>
</collision>
</link>
<link name="right_l0">
<inertial>
<origin rpy="0 0 0" xyz="0.024366 0.010969 0.14363"/>
<mass value="5.3213"/>
<inertia ixx="0.053314" ixy="0.0047093" ixz="0.011734" iyy="0.057902" iyz="0.0080179" izz="0.023659"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_mp3/l0.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.08 0 0.23"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j0" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<parent link="right_arm_base_link"/>
<child link="right_l0"/>
<axis xyz="0 0 1"/>
<limit effort="80.0" lower="-3.0503" upper="3.0503" velocity="1.74"/>
<xacro:if value="$(arg gazebo)">
<dynamics damping="10.0" friction="5.0"/>
</xacro:if>
</joint>
<link name="head">
<inertial>
<origin rpy="0 0 0" xyz="0.0053207 -2.6549E-05 0.1021"/>
<mass value="1.5795"/>
<inertia ixx="0.011833" ixy="-4.4669E-06" ixz="4.9425E-05" iyy="0.0082709" iyz="4.2124E-07" izz="0.0049661"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/head.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<sphere radius="0.18"/>
</geometry>
</collision>
</link>
<joint name="head_pan" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.2965"/>
<parent link="right_l0"/>
<child link="head"/>
<axis xyz="0 0 1"/>
<limit effort="8" lower="-5.0952" upper="0.9064" velocity="1.8"/>
<xacro:if value="$(arg gazebo)">
<dynamics damping="1.0" friction="0.5"/>
</xacro:if>
</joint>
<link name="right_torso_itb">
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</xacro:unless>
</link>
<joint name="right_torso_itb" type="fixed">
<origin rpy="0 -1.57079632679 0" xyz="-.055 0 .22"/>
<parent link="right_l0"/>
<child link="right_torso_itb"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l1">
<inertial>
<origin rpy="0 0 0" xyz="-0.0030849 -0.026811 0.092521"/>
<mass value="4.505"/>
<inertia ixx="0.022398" ixy="-0.00023986" ixz="-0.00029362" iyy="0.014613" iyz="-0.0060875" izz="0.017295"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_mp3/l1.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1225"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j1" type="revolute">
<origin rpy="-1.57079632679 1.57079632679 0" xyz="0.081 0.05 0.237"/>
<parent link="right_l0"/>
<child link="right_l1"/>
<axis xyz="0 0 1"/>
<limit effort="80.0" lower="-3.8095" upper="2.2736" velocity="1.328"/>
<xacro:if value="$(arg gazebo)">
<dynamics damping="5.0" friction="2.0"/>
</xacro:if>
</joint>
<link name="right_l2">
<inertial>
<origin rpy="0 0 0" xyz="-0.00016044 -0.014967 0.13582"/>
<mass value="1.745"/>
<inertia ixx="0.025506" ixy="4.4101E-06" ixz="1.4955E-05" iyy="0.0253" iyz="-0.0033204" izz="0.0034179"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l2.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<cylinder length="0.34" radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j2" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.14 0.1425"/>
<parent link="right_l1"/>
<child link="right_l2"/>
<axis xyz="0 0 1"/>
<limit effort="40.0" lower="-3.0426" upper="3.0426" velocity="1.957"/>
<xacro:if value="$(arg gazebo)">
<dynamics damping="5.0" friction="2.0"/>
</xacro:if>
</joint>
<link name="right_l3">
<inertial>
<origin rpy="0 0 0" xyz="-0.0048135 -0.0281 -0.084154"/>
<mass value="2.5097"/>
<inertia ixx="0.01016" ixy="-9.7452E-06" ixz="0.00026624" iyy="0.0065685" iyz="0.0030316" izz="0.0069078"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l3.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.01 -0.12"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j3" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 -0.042 0.26"/>
<parent link="right_l2"/>
<child link="right_l3"/>
<axis xyz="0 0 1"/>
<limit effort="40.0" lower="-3.0439" upper="3.0439" velocity="1.957"/>
<xacro:if value="$(arg gazebo)">
<dynamics damping="1.0" friction="0.5"/>
</xacro:if>
</joint>
<link name="right_l4">
<inertial>
<origin rpy="0 0 0" xyz="-0.0018844 0.0069001 0.1341"/>
<mass value="1.1136"/>
<inertia ixx="0.013557" ixy="1.8109E-05" ixz="0.00013523" iyy="0.013555" iyz="0.0010561" izz="0.0013658"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l4.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.11"/>
<geometry>
<cylinder length="0.30" radius="0.045"/>
</geometry>
</collision>
</link>
<joint name="right_j4" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.125 -0.1265"/>
<parent link="right_l3"/>
<child link="right_l4"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-2.9761" upper="2.9761" velocity="3.485"/>
<xacro:if value="$(arg gazebo)">
<dynamics damping="2.0" friction="1.0"/>
</xacro:if>
</joint>
<link name="right_arm_itb">
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</xacro:unless>
</link>
<joint name="right_arm_itb" type="fixed">
<origin rpy="0 -1.57079632679 0" xyz="-.055 0 .075"/>
<parent link="right_l4"/>
<child link="right_arm_itb"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l5">
<inertial>
<origin rpy="0 0 0" xyz="0.0061133 -0.023697 0.076416"/>
<mass value="1.5625"/>
<inertia ixx="0.0047328" ixy="0.00011526" ixz="4.6269E-05" iyy="0.0029676" iyz="-0.0011557" izz="0.0031762"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_pv/l5.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j5" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0.031 0.275"/>
<parent link="right_l4"/>
<child link="right_l5"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-2.9761" upper="2.9761" velocity="3.485"/>
<xacro:if value="$(arg gazebo)">
<dynamics damping="1.0" friction="0.5"/>
</xacro:if>
</joint>
<link name="right_hand_camera"/>
<joint name="right_hand_camera" type="fixed">
<origin rpy="0 1.57079632679 0" xyz="0.039552 -0.033 0.0695"/>
<parent link="right_l5"/>
<child link="right_hand_camera"/>
<axis xyz="0 0 0"/>
</joint>
<link name="right_wrist"/>
<joint name="right_wrist" type="fixed">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.10541"/>
<parent link="right_l5"/>
<child link="right_wrist"/>
<axis xyz="0 0 0"/>
</joint>
<link name="right_l6">
<inertial>
<origin rpy="0 0 0" xyz="-8.0726E-06 0.0085838 -0.0049566"/>
<mass value="0.3292"/>
<inertia ixx="0.00031105" ixy="1.4771E-06" ixz="-3.7074E-07" iyy="0.00021549" iyz="-8.4533E-06" izz="0.00035976"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sawyer_description/meshes/sawyer_mp1/l6.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.015 -0.01"/>
<geometry>
<cylinder length="0.05" radius="0.055"/>
</geometry>
</collision>
</link>
<joint name="right_j6" type="revolute">
<origin rpy="-1.57079632679 -0.17453 3.1416" xyz="0 -0.11 0.1053"/>
<parent link="right_l5"/>
<child link="right_l6"/>
<axis xyz="0 0 1"/>
<xacro:if value="$(arg gazebo)">
<limit effort="9.0" lower="-3.14" upper="3.14" velocity="4.545"/>
<dynamics damping="1.0" friction="0.5"/>
</xacro:if>
<xacro:unless value="$(arg gazebo)">
<limit effort="9.0" lower="-4.7124" upper="4.7124" velocity="4.545"/>
</xacro:unless>
</joint>
<link name="right_hand">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<geometry>
<cylinder length="0.03" radius="0.035"/>
</geometry>
</collision>
<xacro:if value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="0 0.1 0"/>
<mass value="0.01"/>
<inertia ixx="0.01" ixy="0.01" ixz="0.01" iyy="0.01" iyz="0.01" izz="0.01"/>
</inertial>
</xacro:if>
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
</xacro:unless>
</link>
<joint name="right_hand" type="fixed">
<origin rpy="0 0 1.570796" xyz="0 0 0.0245"/>
<axis xyz="0 0 1"/>
<parent link="right_l6"/>
<child link="right_hand"/>
</joint>
<link name="right_l1_2">
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
</xacro:unless>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.035"/>
<geometry>
<cylinder length="0.14" radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j1_2" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_l1"/>
<child link="right_l1_2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l2_2">
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
</xacro:unless>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.26"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j2_2" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_l2"/>
<child link="right_l2_2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l4_2">
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
</xacro:unless>
<collision>
<origin rpy="0 0 0" xyz="0 0.01 0.26"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j4_2" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_l4"/>
<child link="right_l4_2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="screen">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.24 0.14 0.002"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
</collision>
<xacro:unless value="$(arg gazebo)">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</xacro:unless>
</link>
<joint name="display_joint" type="fixed">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.03 0.0 0.105"/>
<parent link="head"/>
<child link="screen"/>
</joint>
<link name="head_camera"/>
<joint name="head_camera" type="fixed">
<origin rpy="-2.1293 0 -1.57079632679" xyz="0.0228027 0 0.216572"/>
<parent link="head"/>
<child link="head_camera"/>
<axis xyz="0 0 0"/>
</joint>
</robot>
urdf/sawyer_electric_gripper.urdf.xacro
-23
View File
@@ -1,23 +0,0 @@
<?xml version="1.0" ?>
<robot name="end_effector" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="gazebo" default="true"/>
<xacro:if value="$(arg gazebo)">
<xacro:property name="gazebo_tag" value="true" scope="local"/>
</xacro:if>
<xacro:unless value="$(arg gazebo)">
<xacro:property name="gazebo_tag" value="true" scope="local"/>
</xacro:unless>
<xacro:include filename="$(find ddpg)/urdf/electric_gripper/rethink_electric_gripper.xacro" />
<xacro:rethink_electric_gripper side="right"
gazebo="${gazebo_tag}"
use_connector_plate="true"
l_finger="standard_narrow"
l_finger_slot="2"
l_finger_tip="basic_soft_tip"
l_finger_grasp="inner"
r_finger="standard_narrow"
r_finger_slot="2"
r_finger_tip="basic_soft_tip"
r_finger_grasp="inner"/>
</robot>