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robotiq_140.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/erle/ros2_mara_ws/src/robotiq_modular_gripper/robotiq_140_gripper_description/urdf/robotiq_140_hros_support.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="robotiq_gripper" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="robotiq_arg2f_base_link">
<inertial>
<origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
<mass value="0.22652"/>
<inertia ixx="0.00020005" ixy="0" ixz="0" iyy="0.00017832" iyz="0" izz="0.00013478"/>
</inertial>
<visual>
<origin rpy="0 0 1.57" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 1.57" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_arg2f_base_link">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="left_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.00853198276973456"/>
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.dae"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.dae"/>
</geometry>
</collision>
</link>
<gazebo reference="left_outer_knuckle">
<material>Gazebo/Grey</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="right_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.00853198276973456"/>
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.dae"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.dae"/>
</geometry>
</collision>
</link>
<gazebo reference="right_outer_knuckle">
<material>Gazebo/Grey</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="left_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
<mass value="0.0271177346495152"/>
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_knuckle.dae"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
</link>
<gazebo reference="left_inner_knuckle">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="right_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
<mass value="0.0271177346495152"/>
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_knuckle.dae"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
</link>
<gazebo reference="right_inner_knuckle">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="left_inner_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.031506174 -0.017648840"/>
<mass value="0.0104003125914103"/>
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="left_inner_finger">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="right_inner_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.031506174 -0.017648840"/>
<mass value="0.0104003125914103"/>
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="right_inner_finger">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="left_outer_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
<mass value="0.022614240507152"/>
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.dae"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.dae"/>
</geometry>
</collision>
</link>
<gazebo reference="left_outer_finger">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<link name="right_outer_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
<mass value="0.022614240507152"/>
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.dae"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.dae"/>
</geometry>
</collision>
</link>
<gazebo reference="right_outer_finger">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<joint name="left_outer_knuckle_joint" type="revolute">
<origin rpy="2.31 0 0" xyz="0 -0.030601 0.054905"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="left_outer_knuckle"/>
<axis xyz="-1 0 0"/>
<limit effort="1000" lower="0" upper="0.775" velocity="2.0"/>
<mimic joint="joint_finger" multiplier="1" offset="0"/>
</joint>
<joint name="joint_finger" type="revolute">
<origin rpy="2.31 0 3.14159265359" xyz="0 0.030601 0.054905"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="right_outer_knuckle"/>
<axis xyz="-1 0 0"/>
<limit effort="1000" lower="0" upper="0.775" velocity="2.0"/>
</joint>
<joint name="left_inner_knuckle_joint" type="revolute">
<origin rpy="2.29 0 0" xyz="0 -0.0127 0.06142"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="left_inner_knuckle"/>
<axis xyz="-1 0 0"/>
<limit effort="1000" lower="0" upper="0.78" velocity="2.0"/>
<mimic joint="joint_finger" multiplier="1" offset="0"/>
</joint>
<joint name="right_inner_knuckle_joint" type="revolute">
<origin rpy="2.29 0 -3.14159265359" xyz="0 0.0127 0.06142"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="right_inner_knuckle"/>
<axis xyz="-1 0 0"/>
<limit effort="1000" lower="0" upper="0.78" velocity="2.0"/>
<mimic joint="joint_finger" multiplier="1" offset="0"/>
</joint>
<joint name="left_outer_finger_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
<parent link="left_outer_knuckle"/>
<child link="left_outer_finger"/>
</joint>
<joint name="right_outer_finger_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
<parent link="right_outer_knuckle"/>
<child link="right_outer_finger"/>
</joint>
<joint name="left_inner_finger_joint" type="revolute">
<origin rpy="-.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
<parent link="left_outer_finger"/>
<child link="left_inner_finger"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
<mimic joint="joint_finger" multiplier="1" offset="0"/>
</joint>
<joint name="right_inner_finger_joint" type="revolute">
<origin rpy="-.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
<parent link="right_outer_finger"/>
<child link="right_inner_finger"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
<mimic joint="joint_finger" multiplier="1" offset="0"/>
</joint>
<gazebo>
<joint name="left_inner_finger_knuckle_joint" type="revolute">
<pose frame="">0 0.006 -0.018 0 0 0</pose>
<parent>robotiq_140::left_inner_knuckle</parent>
<child>robotiq_140::left_inner_finger</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.8</lower>
<upper>0.8</upper>
<velocity>2.0</velocity>
<effort>1000</effort>
</limit>
</axis>
</joint>
<joint name="right_inner_finger_knuckle_joint" type="revolute">
<pose frame="">0 0.006 -0.018 0 0 0</pose>
<parent>robotiq_140::right_inner_knuckle</parent>
<child>robotiq_140::right_inner_finger</child>
<axis>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.8</lower>
<upper>0.8</upper>
<velocity>2.0</velocity>
<effort>1000</effort>
</limit>
</axis>
</joint>
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuation_gripper_000000000004">
<joint>left_inner_knuckle_joint</joint>
<joint>left_outer_knuckle_joint</joint>
<joint>right_inner_knuckle_joint</joint>
<joint>joint_finger</joint>
</plugin>
</gazebo>
<link name="world"/>
<link name="robotiq_adapter_link">
<inertial>
<origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
<mass value="0.22652"/>
<inertia ixx="0.00020005" ixy="0" ixz="0" iyy="0.00017832" iyz="0" izz="0.00013478"/>
</inertial>
<visual>
<origin rpy="0 0 1.57" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/hros_robotiq_adapter.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Gazebo/Black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 1.57" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robotiq_140_gripper_description/meshes/hros_robotiq_adapter.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_adapter_link">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<joint name="base_adapter_to_base_robotiq_joint" type="fixed">
<origin rpy="0 0 0" xyz=" 0 0 0.03653"/>
<parent link="robotiq_adapter_link"/>
<child link="robotiq_arg2f_base_link"/>
</joint>
<joint name="world_to_hande_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<parent link="world"/>
<child link="robotiq_adapter_link"/>
</joint>
<gazebo>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
<update_rate>25</update_rate>
<joint_name>joint_finger</joint_name>
</plugin>
</gazebo>
</robot>