mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
728 lines
30 KiB
XML
728 lines
30 KiB
XML
<?xml version="1.0" ?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
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<xacro:property name="width" value=".2" />
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<link name="base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
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</geometry>
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<origin xyz="0 0 0 " rpy=" 0 0 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
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</geometry>
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<origin xyz="0 0 0 " rpy=" 0 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
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</geometry>
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<origin xyz="0 0 -0.0035 " rpy="0 0 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
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</geometry>
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<origin xyz="0 0 -0.0035 " rpy=" 0 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
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</geometry>
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<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
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</geometry>
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<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
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</geometry>
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<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
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</geometry>
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<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint4">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
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</geometry>
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<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
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</geometry>
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<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint5">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
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</geometry>
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<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
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</geometry>
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<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint6">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
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</geometry>
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<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
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</geometry>
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<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="tool1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
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</geometry>
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<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
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</geometry>
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<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="tool2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
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</geometry>
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<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
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</geometry>
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<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<!-- <link name="gripper_base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
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</geometry>
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<origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
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</geometry>
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<origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="gripper_left1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
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</geometry>
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<origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
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</geometry>
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<origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
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</collision>
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</link>
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<link name="gripper_left2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
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</geometry>
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<origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
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</geometry>
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<origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
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</collision>
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</link>
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<link name="gripper_left3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
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</geometry>
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<origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
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</geometry>
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<origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
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</collision>
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</link> -->
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<!-- <link name="gripper_right1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
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</geometry>
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<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
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</geometry>
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<origin xyz="-0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="gripper_right2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
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</geometry>
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<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
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</geometry>
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<origin xyz="-0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="gripper_right3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
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</geometry>
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<origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
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</geometry>
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<origin xyz="-0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link> -->
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<link name="gripper_base">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
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</geometry>
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<origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
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</geometry>
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<origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="gripper_left1">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
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</geometry>
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<origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
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</geometry>
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<origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="gripper_left2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
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</geometry>
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<origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
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</geometry>
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<origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
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</collision>
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<inertial>
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|
<mass value="0.1" />
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|
<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="gripper_left3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
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</geometry>
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<origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
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<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
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</visual>
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<collision>
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|
<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
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</geometry>
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<origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
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</collision>
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|
<inertial>
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|
<mass value="0.1" />
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|
<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="gripper_right1">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
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</geometry>
|
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<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
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</geometry>
|
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<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
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</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
|
|
</link>
|
|
<link name="gripper_right2">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
|
|
</geometry>
|
|
<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
|
|
</geometry>
|
|
<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="gripper_right3">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
|
|
</geometry>
|
|
<origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="joint1_to_base" type="revolute">
|
|
<axis xyz="0 0 -1" />
|
|
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
|
<parent link="base" />
|
|
<child link="joint1" />
|
|
<origin xyz="0 0 0.16034" rpy="0 0 0" />
|
|
</joint>
|
|
<joint name="joint2_to_joint1" type="revolute">
|
|
<axis xyz="0 0 -1" />
|
|
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
|
<parent link="joint1" />
|
|
<child link="joint2" />
|
|
<origin xyz="0 0.06 0.038" rpy="1.5707 0 3.14159" />
|
|
</joint>
|
|
<joint name="joint3_to_joint2" type="revolute">
|
|
<axis xyz=" 0 0 -1" />
|
|
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
|
<parent link="joint2" />
|
|
<child link="joint3" />
|
|
<origin xyz="0 0.2685 0 " rpy="0 0 0" />
|
|
</joint>
|
|
<joint name="joint4_to_joint3" type="revolute">
|
|
<axis xyz=" 0 0 -1" />
|
|
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
|
<parent link="joint3" />
|
|
<child link="joint4" />
|
|
<origin xyz="0 0.2663 0 " rpy="0 0 0" />
|
|
</joint>
|
|
<joint name="joint5_to_joint4" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
|
|
<parent link="joint4" />
|
|
<child link="joint5" />
|
|
<origin xyz="0 0.055 0.039" rpy="1.5707 -1.5707 0" />
|
|
</joint>
|
|
<joint name="joint6_to_joint5" type="revolute">
|
|
<axis xyz="1 0 0" />
|
|
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
|
|
<parent link="joint5" />
|
|
<child link="joint6" />
|
|
<origin xyz="0 0.04 -0.0385" rpy="-1.5707 0 1.5706 " />
|
|
</joint>
|
|
<joint name="joint6output_to_tool1" type="revolute">
|
|
<axis xyz="0 1 0" />
|
|
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
|
<parent link="joint6" />
|
|
<child link="tool1" />
|
|
<origin xyz="0.0079 0.0 0.0" rpy="1.5708 -1.5706 3.14159" />
|
|
</joint>
|
|
<joint name="tool1_to_tool2" type="fixed">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
|
<parent link="tool1" />
|
|
<child link="tool2" />
|
|
<origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
|
|
</joint>
|
|
<joint name="tool2_to_gripper_base" type="fixed">
|
|
<axis xyz="0 0 -1" />
|
|
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
|
<parent link="tool2" />
|
|
<child link="gripper_base" />
|
|
<origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" />
|
|
</joint>
|
|
<!-- <joint name="gripper_controller" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_left3" />
|
|
<origin xyz="-0.014 -0.016 0.06" rpy="0 -1.5706 0" />
|
|
</joint>
|
|
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
|
<axis xyz="-1 0 0" />
|
|
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_left2" />
|
|
<origin xyz="-0.01 -0.03 0.118" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
|
</joint>
|
|
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
|
<parent link="gripper_left3" />
|
|
<child link="gripper_left1" />
|
|
<origin xyz="0.033 -0.051 -0.009" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
|
</joint> -->
|
|
<!-- <joint name="gripper_base_to_gripper_right3" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_right3" />
|
|
<origin xyz="0.018 0.016 0" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
|
</joint>
|
|
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_right2" />
|
|
<origin xyz="0.046 -0.01 0" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
|
</joint>
|
|
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
|
<parent link="gripper_right3" />
|
|
<child link="gripper_right1" />
|
|
<origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
|
</joint> -->
|
|
<joint name="gripper_controller" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_left3" />
|
|
<origin xyz="-0.018 0.016 0" rpy="0 0 0" />
|
|
</joint>
|
|
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_left2" />
|
|
<origin xyz="-0.05 -0.01 0" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
|
</joint>
|
|
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
|
<parent link="gripper_left3" />
|
|
<child link="gripper_left1" />
|
|
<origin xyz="-0.0356 0.051 -0.018" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
|
</joint>
|
|
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_right3" />
|
|
<origin xyz="0.018 0.016 0" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
|
</joint>
|
|
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
|
|
<parent link="gripper_base" />
|
|
<child link="gripper_right2" />
|
|
<origin xyz="0.046 -0.01 0" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
|
</joint>
|
|
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
|
<parent link="gripper_right3" />
|
|
<child link="gripper_right1" />
|
|
<origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
|
|
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
|
</joint>
|
|
<transmission name="trans_joint1_to_base">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint1_to_base">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint1_to_base_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint2_to_joint1">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint2_to_joint1">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint2_to_joint1_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint3_to_joint2">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint3_to_joint2">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint3_to_joint2_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint4_to_joint3">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint4_to_joint3">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint4_to_joint3_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint5_to_joint4">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint5_to_joint4">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint5_to_joint4_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint6_to_joint5">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint6_to_joint5">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint6_to_joint5_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint6output_to_tool1">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint6output_to_tool1">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint6output_to_tool1_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_gripper_controller">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="gripper_controller">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="gripper_controller_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_gripper_base_to_gripper_left2">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="gripper_base_to_gripper_left2">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="gripper_base_to_gripper_left2_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_gripper_left3_to_gripper_left1">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="gripper_left3_to_gripper_left1">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="gripper_left3_to_gripper_left1_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_gripper_base_to_gripper_right3">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="gripper_base_to_gripper_right3">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="gripper_base_to_gripper_right3_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_gripper_base_to_gripper_right2">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="gripper_base_to_gripper_right2">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="gripper_base_to_gripper_right2_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_gripper_right3_to_gripper_right1">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="gripper_right3_to_gripper_right1">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="gripper_right3_to_gripper_right1_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<gazebo>
|
|
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
|
<robotNamespace>/</robotNamespace>
|
|
</plugin>
|
|
</gazebo>
|
|
</robot>
|