mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-22 12:09:42 +00:00
extend arm 5 cm
This commit is contained in:
Pepijn
@@ -174,6 +174,4 @@ outputs/
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# Dev folders
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# Dev folders
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.cache/*
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.cache/*
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*.stl
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*.stl
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*.urdf
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*.xml
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*.part
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*.part
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|||||||
@@ -27,9 +27,9 @@ joint3:
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joint4:
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joint4:
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kinematic:
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kinematic:
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x: -0.0
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x: 0.0
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y: 0.0315
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y: 0.0315
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z: 0.15375
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z: 0.20375
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roll: 0
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roll: 0
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pitch: 0
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pitch: 0
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yaw: 0
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yaw: 0
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@@ -81,7 +81,7 @@ joint7:
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joint8:
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joint8:
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kinematic:
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kinematic:
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x: 1e-06
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x: 1e-6
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y: 0.0205
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y: 0.0205
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z: 0.0
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z: 0.0
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roll: 0
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roll: 0
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@@ -0,0 +1,649 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from urdf/robot/v10.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="openarm">
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<!-- Is the robot being simulated in gazebo? -->
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<!-- <xacro:arg name="gazebo" default="false" /> -->
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<link name="world"/>
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<joint name="openarm_body_world_joint" type="fixed">
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<parent link="world"/>
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<child link="openarm_body_link0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="openarm_body_link0">
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<visual name="openarm_body_link0_visual">
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="./meshes/body/v10/visual/body_link0.dae" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="openarm_body_link0_collision">
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="./meshes/body/v10/collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
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<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<mass value="13.89"/>
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<inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051"/>
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</inertial>
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</link>
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<joint name="openarm_left_openarm_body_link0_joint" type="fixed">
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<parent link="openarm_body_link0"/>
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<child link="openarm_left_link0"/>
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<origin rpy="-1.5708 0 0" xyz="0.0 0.031 0.698"/>
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</joint>
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<link name="openarm_left_link0">
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<visual name="openarm_left_link0_visual">
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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||||||
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<mesh filename="./meshes/arm/v10/visual/link0.dae" scale="0.001 -0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="openarm_left_link0_collision">
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="./meshes/arm/v10/collision/link0_symp.stl" scale="0.001 -0.001 0.001"/>
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||||||
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<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
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</geometry>
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</collision>
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||||||
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<inertial>
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||||||
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<origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199"/>
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||||||
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<mass value="1.1432284943239561"/>
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||||||
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<inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147"/>
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</inertial>
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</link>
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<link name="openarm_left_link1">
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<visual name="openarm_left_link1_visual">
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<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
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<geometry>
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<mesh filename="./meshes/arm/v10/visual/link1.dae" scale="0.001 -0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="openarm_left_link1_collision">
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<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
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<geometry>
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<mesh filename="./meshes/arm/v10/collision/link1_symp.stl" scale="0.001 -0.001 0.001"/>
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<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254"/>
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<mass value="1.1416684646202298"/>
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<inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016"/>
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</inertial>
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</link>
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<joint name="openarm_left_joint1" type="revolute">
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0625"/>
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<parent link="openarm_left_link0"/>
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<child link="openarm_left_link1"/>
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<axis xyz="0 0 1"/>
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<limit effort="40" lower="-3.490659" upper="1.3962629999999998" velocity="16.754666"/>
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</joint>
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<link name="openarm_left_link2">
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<visual name="openarm_left_link2_visual">
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<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
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<geometry>
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<mesh filename="./meshes/arm/v10/visual/link2.dae" scale="0.001 -0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="openarm_left_link2_collision">
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<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
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<geometry>
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||||||
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<mesh filename="./meshes/arm/v10/collision/link2_symp.stl" scale="0.001 -0.001 0.001"/>
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<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
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</geometry>
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</collision>
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<inertial>
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||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363"/>
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||||||
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<mass value="0.2775092746011571"/>
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||||||
|
<inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232"/>
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</inertial>
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</link>
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<joint name="openarm_left_joint2" type="revolute">
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<origin rpy="-1.57079632679 0 0" xyz="-0.0301 0.0 0.06"/>
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<parent link="openarm_left_link1"/>
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<child link="openarm_left_link2"/>
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<axis xyz="-1 0 0"/>
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<limit effort="40" lower="-3.3161253267948965" upper="0.17453267320510335" velocity="16.754666"/>
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</joint>
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<link name="openarm_left_link3">
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<visual name="openarm_left_link3_visual">
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<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
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<geometry>
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||||||
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<mesh filename="./meshes/arm/v10/visual/link3.dae" scale="0.001 -0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="openarm_left_link3_collision">
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||||||
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<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
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<geometry>
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||||||
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<mesh filename="./meshes/arm/v10/collision/link3_symp.stl" scale="0.001 -0.001 0.001"/>
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<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
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</geometry>
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</collision>
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||||||
|
<inertial>
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||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 -0.0005549085042607548 0.09047470545721961"/>
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||||||
|
<mass value="1.073863338202347"/>
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||||||
|
<inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661"/>
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</inertial>
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</link>
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<joint name="openarm_left_joint3" type="revolute">
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<origin rpy="0 0 0" xyz="0.0301 0.0 0.06625"/>
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<parent link="openarm_left_link2"/>
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<child link="openarm_left_link3"/>
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<axis xyz="0 0 1"/>
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<limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426"/>
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</joint>
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<link name="openarm_left_link4">
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<visual name="openarm_left_link4_visual">
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||||||
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
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<geometry>
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||||||
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<mesh filename="./meshes/arm/v10/visual/link4.dae" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="openarm_left_link4_collision">
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||||||
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
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<geometry>
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||||||
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<mesh filename="./meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001"/>
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||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
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||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"/>
|
||||||
|
<mass value="0.6348534566833373"/>
|
||||||
|
<inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint4" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0 0.0315 0.20375"/>
|
||||||
|
<parent link="openarm_left_link3"/>
|
||||||
|
<child link="openarm_left_link4"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link5">
|
||||||
|
<visual name="openarm_left_link5_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link5.dae" scale="0.001 -0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link5_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link5_symp.stl" scale="0.001 -0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934"/>
|
||||||
|
<mass value="0.6156588026168502"/>
|
||||||
|
<inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint5" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955"/>
|
||||||
|
<parent link="openarm_left_link4"/>
|
||||||
|
<child link="openarm_left_link5"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link6">
|
||||||
|
<visual name="openarm_left_link6_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link6.dae" scale="0.001 -0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link6_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link6_symp.stl" scale="0.001 -0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05"/>
|
||||||
|
<mass value="0.475202773187987"/>
|
||||||
|
<inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint6" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0375 0.0 0.1205"/>
|
||||||
|
<parent link="openarm_left_link5"/>
|
||||||
|
<child link="openarm_left_link6"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link7">
|
||||||
|
<visual name="openarm_left_link7_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link7.dae" scale="0.001 -0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link7_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link7_symp.stl" scale="0.001 -0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448"/>
|
||||||
|
<mass value="0.4659771327380578"/>
|
||||||
|
<inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint7" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0375 0.0 0.0"/>
|
||||||
|
<parent link="openarm_left_link6"/>
|
||||||
|
<child link="openarm_left_link7"/>
|
||||||
|
<axis xyz="0 -1 0"/>
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
|
||||||
|
</joint>
|
||||||
|
<!-- <link name="${prefix}link8"/>
|
||||||
|
|
||||||
|
<joint name="${prefix}joint8" type="fixed">
|
||||||
|
<xacro:openarm-kinematics name="joint8" config="${kinematics}" />
|
||||||
|
<parent link="${prefix}link7" />
|
||||||
|
<child link="${prefix}link8" />
|
||||||
|
</joint> -->
|
||||||
|
<joint name="openarm_right_openarm_body_link0_joint" type="fixed">
|
||||||
|
<parent link="openarm_body_link0"/>
|
||||||
|
<child link="openarm_right_link0"/>
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0.0 -0.031 0.698"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link0">
|
||||||
|
<visual name="openarm_right_link0_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link0.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link0_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link0_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199"/>
|
||||||
|
<mass value="1.1432284943239561"/>
|
||||||
|
<inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="openarm_right_link1">
|
||||||
|
<visual name="openarm_right_link1_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link1.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link1_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link1_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254"/>
|
||||||
|
<mass value="1.1416684646202298"/>
|
||||||
|
<inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint1" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0625"/>
|
||||||
|
<parent link="openarm_right_link0"/>
|
||||||
|
<child link="openarm_right_link1"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="40" lower="-1.396263" upper="3.490659" velocity="16.754666"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link2">
|
||||||
|
<visual name="openarm_right_link2_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link2.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link2_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link2_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363"/>
|
||||||
|
<mass value="0.2775092746011571"/>
|
||||||
|
<inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint2" type="revolute">
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="-0.0301 0.0 0.06"/>
|
||||||
|
<parent link="openarm_right_link1"/>
|
||||||
|
<child link="openarm_right_link2"/>
|
||||||
|
<axis xyz="-1 0 0"/>
|
||||||
|
<limit effort="40" lower="-0.17453267320510335" upper="3.3161253267948965" velocity="16.754666"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link3">
|
||||||
|
<visual name="openarm_right_link3_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link3.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link3_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link3_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961"/>
|
||||||
|
<mass value="1.073863338202347"/>
|
||||||
|
<inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint3" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0301 0.0 0.06625"/>
|
||||||
|
<parent link="openarm_right_link2"/>
|
||||||
|
<child link="openarm_right_link3"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link4">
|
||||||
|
<visual name="openarm_right_link4_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link4.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link4_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"/>
|
||||||
|
<mass value="0.6348534566833373"/>
|
||||||
|
<inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint4" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0 0.0315 0.20375"/>
|
||||||
|
<parent link="openarm_right_link3"/>
|
||||||
|
<child link="openarm_right_link4"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link5">
|
||||||
|
<visual name="openarm_right_link5_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link5.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link5_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link5_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 0.0008866902457326625 0.043079803024980934"/>
|
||||||
|
<mass value="0.6156588026168502"/>
|
||||||
|
<inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint5" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955"/>
|
||||||
|
<parent link="openarm_right_link4"/>
|
||||||
|
<child link="openarm_right_link5"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link6">
|
||||||
|
<visual name="openarm_right_link6_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link6.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link6_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link6_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05"/>
|
||||||
|
<mass value="0.475202773187987"/>
|
||||||
|
<inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint6" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0375 0.0 0.1205"/>
|
||||||
|
<parent link="openarm_right_link5"/>
|
||||||
|
<child link="openarm_right_link6"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link7">
|
||||||
|
<visual name="openarm_right_link7_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link7.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link7_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link7_symp.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
<!-- <mesh filename="./meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 0.01266175250761268 0.06951945409987448"/>
|
||||||
|
<mass value="0.4659771327380578"/>
|
||||||
|
<inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint7" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0375 0.0 0.0"/>
|
||||||
|
<parent link="openarm_right_link6"/>
|
||||||
|
<child link="openarm_right_link7"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
|
||||||
|
</joint>
|
||||||
|
<!-- <link name="${prefix}link8"/>
|
||||||
|
|
||||||
|
<joint name="${prefix}joint8" type="fixed">
|
||||||
|
<xacro:openarm-kinematics name="joint8" config="${kinematics}" />
|
||||||
|
<parent link="${prefix}link7" />
|
||||||
|
<child link="${prefix}link8" />
|
||||||
|
</joint> -->
|
||||||
|
<link name="openarm_left_hand">
|
||||||
|
<visual name="openarm_left_hand_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/hand.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_hand_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/hand.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.002 0.03"/>
|
||||||
|
<mass value="0.35"/>
|
||||||
|
<inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<!-- <link name="${ee_prefix}hand"/> -->
|
||||||
|
<!-- <joint name="${ee_prefix}hand_joint" type="fixed"> -->
|
||||||
|
<joint name="left_openarm_hand_joint" type="fixed">
|
||||||
|
<parent link="openarm_left_link7"/>
|
||||||
|
<child link="openarm_left_hand"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.1001"/>
|
||||||
|
</joint>
|
||||||
|
<!-- Define the hand_tcp frame -->
|
||||||
|
<link name="openarm_left_hand_tcp"/>
|
||||||
|
<joint name="openarm_left_hand_tcp_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.08"/>
|
||||||
|
<parent link="openarm_left_hand"/>
|
||||||
|
<child link="openarm_left_hand_tcp"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_left_finger">
|
||||||
|
<visual name="openarm_left_left_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_left_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685"/>
|
||||||
|
<mass value="0.03602545343277134"/>
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="openarm_left_right_finger">
|
||||||
|
<visual name="openarm_left_right_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 -0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_right_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 -0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685"/>
|
||||||
|
<mass value="0.03602545343277134"/>
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_finger_joint1" type="prismatic">
|
||||||
|
<parent link="openarm_left_hand"/>
|
||||||
|
<child link="openarm_left_right_finger"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.006 0.015"/>
|
||||||
|
<axis xyz="0 -1 0"/>
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="openarm_left_finger_joint2" type="prismatic">
|
||||||
|
<parent link="openarm_left_hand"/>
|
||||||
|
<child link="openarm_left_left_finger"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.006 0.015"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
|
||||||
|
<mimic joint="openarm_left_finger_joint1"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_hand">
|
||||||
|
<visual name="openarm_right_hand_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/hand.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_hand_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/hand.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.002 0.03"/>
|
||||||
|
<mass value="0.35"/>
|
||||||
|
<inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<!-- <link name="${ee_prefix}hand"/> -->
|
||||||
|
<!-- <joint name="${ee_prefix}hand_joint" type="fixed"> -->
|
||||||
|
<joint name="right_openarm_hand_joint" type="fixed">
|
||||||
|
<parent link="openarm_right_link7"/>
|
||||||
|
<child link="openarm_right_hand"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.1001"/>
|
||||||
|
</joint>
|
||||||
|
<!-- Define the hand_tcp frame -->
|
||||||
|
<link name="openarm_right_hand_tcp"/>
|
||||||
|
<joint name="openarm_right_hand_tcp_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.08"/>
|
||||||
|
<parent link="openarm_right_hand"/>
|
||||||
|
<child link="openarm_right_hand_tcp"/>
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_left_finger">
|
||||||
|
<visual name="openarm_right_left_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_left_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685"/>
|
||||||
|
<mass value="0.03602545343277134"/>
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="openarm_right_right_finger">
|
||||||
|
<visual name="openarm_right_right_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 -0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_right_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 -0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685"/>
|
||||||
|
<mass value="0.03602545343277134"/>
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_finger_joint1" type="prismatic">
|
||||||
|
<parent link="openarm_right_hand"/>
|
||||||
|
<child link="openarm_right_right_finger"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.006 0.015"/>
|
||||||
|
<axis xyz="0 -1 0"/>
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="openarm_right_finger_joint2" type="prismatic">
|
||||||
|
<parent link="openarm_right_hand"/>
|
||||||
|
<child link="openarm_right_left_finger"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.006 0.015"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
|
||||||
|
<mimic joint="openarm_right_finger_joint1"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
@@ -0,0 +1,618 @@
|
|||||||
|
<?xml version='1.0' encoding='utf-8'?>
|
||||||
|
<robot name="openarm">
|
||||||
|
<link name="world" />
|
||||||
|
<joint name="openarm_body_world_joint" type="fixed">
|
||||||
|
<parent link="world" />
|
||||||
|
<child link="openarm_body_link0" />
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_body_link0">
|
||||||
|
<visual name="openarm_body_link0_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/body/v10/visual/body_link0.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_body_link0_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/body/v10/collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
|
||||||
|
<mass value="13.89" />
|
||||||
|
<inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_openarm_body_link0_joint" type="fixed">
|
||||||
|
<parent link="openarm_body_link0" />
|
||||||
|
<child link="openarm_left_link0" />
|
||||||
|
<origin rpy="-1.5708 0 0" xyz="0.0 0.031 0.698" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link0">
|
||||||
|
<visual name="openarm_left_link0_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link0.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link0_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link0_symp.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199" />
|
||||||
|
<mass value="1.1432284943239561" />
|
||||||
|
<inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="openarm_left_link1">
|
||||||
|
<visual name="openarm_left_link1_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link1.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link1_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link1_symp.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254" />
|
||||||
|
<mass value="1.1416684646202298" />
|
||||||
|
<inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint1" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0625" />
|
||||||
|
<parent link="openarm_left_link0" />
|
||||||
|
<child link="openarm_left_link1" />
|
||||||
|
<axis xyz="0 0 1" />
|
||||||
|
<limit effort="40" lower="-3.490659" upper="1.3962629999999998" velocity="16.754666" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link2">
|
||||||
|
<visual name="openarm_left_link2_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link2.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link2_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link2_symp.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363" />
|
||||||
|
<mass value="0.2775092746011571" />
|
||||||
|
<inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint2" type="revolute">
|
||||||
|
<origin rpy="-1.57079632679 0 0" xyz="-0.0301 0.0 0.06" />
|
||||||
|
<parent link="openarm_left_link1" />
|
||||||
|
<child link="openarm_left_link2" />
|
||||||
|
<axis xyz="-1 0 0" />
|
||||||
|
<limit effort="40" lower="-3.3161253267948965" upper="0.17453267320510335" velocity="16.754666" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link3">
|
||||||
|
<visual name="openarm_left_link3_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link3.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link3_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link3_symp.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 -0.0005549085042607548 0.09047470545721961" />
|
||||||
|
<mass value="1.073863338202347" />
|
||||||
|
<inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint3" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0301 0.0 0.06625" />
|
||||||
|
<parent link="openarm_left_link2" />
|
||||||
|
<child link="openarm_left_link3" />
|
||||||
|
<axis xyz="0 0 1" />
|
||||||
|
<limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link4">
|
||||||
|
<visual name="openarm_left_link4_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link4.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link4_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" />
|
||||||
|
<mass value="0.6348534566833373" />
|
||||||
|
<inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint4" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0 0.0315 0.20375" />
|
||||||
|
<parent link="openarm_left_link3" />
|
||||||
|
<child link="openarm_left_link4" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link5">
|
||||||
|
<visual name="openarm_left_link5_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link5.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link5_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link5_symp.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934" />
|
||||||
|
<mass value="0.6156588026168502" />
|
||||||
|
<inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint5" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955" />
|
||||||
|
<parent link="openarm_left_link4" />
|
||||||
|
<child link="openarm_left_link5" />
|
||||||
|
<axis xyz="0 0 1" />
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link6">
|
||||||
|
<visual name="openarm_left_link6_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link6.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link6_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link6_symp.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05" />
|
||||||
|
<mass value="0.475202773187987" />
|
||||||
|
<inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint6" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0375 0.0 0.1205" />
|
||||||
|
<parent link="openarm_left_link5" />
|
||||||
|
<child link="openarm_left_link6" />
|
||||||
|
<axis xyz="1 0 0" />
|
||||||
|
<limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_link7">
|
||||||
|
<visual name="openarm_left_link7_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link7.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_link7_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link7_symp.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448" />
|
||||||
|
<mass value="0.4659771327380578" />
|
||||||
|
<inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_joint7" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0375 0.0 0.0" />
|
||||||
|
<parent link="openarm_left_link6" />
|
||||||
|
<child link="openarm_left_link7" />
|
||||||
|
<axis xyz="0 -1 0" />
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
|
||||||
|
</joint>
|
||||||
|
<joint name="openarm_right_openarm_body_link0_joint" type="fixed">
|
||||||
|
<parent link="openarm_body_link0" />
|
||||||
|
<child link="openarm_right_link0" />
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0.0 -0.031 0.698" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link0">
|
||||||
|
<visual name="openarm_right_link0_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link0.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link0_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link0_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" />
|
||||||
|
<mass value="1.1432284943239561" />
|
||||||
|
<inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="openarm_right_link1">
|
||||||
|
<visual name="openarm_right_link1_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link1.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link1_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link1_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" />
|
||||||
|
<mass value="1.1416684646202298" />
|
||||||
|
<inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint1" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0625" />
|
||||||
|
<parent link="openarm_right_link0" />
|
||||||
|
<child link="openarm_right_link1" />
|
||||||
|
<axis xyz="0 0 1" />
|
||||||
|
<limit effort="40" lower="-1.396263" upper="3.490659" velocity="16.754666" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link2">
|
||||||
|
<visual name="openarm_right_link2_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link2.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link2_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link2_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" />
|
||||||
|
<mass value="0.2775092746011571" />
|
||||||
|
<inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint2" type="revolute">
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="-0.0301 0.0 0.06" />
|
||||||
|
<parent link="openarm_right_link1" />
|
||||||
|
<child link="openarm_right_link2" />
|
||||||
|
<axis xyz="-1 0 0" />
|
||||||
|
<limit effort="40" lower="-0.17453267320510335" upper="3.3161253267948965" velocity="16.754666" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link3">
|
||||||
|
<visual name="openarm_right_link3_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link3.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link3_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link3_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" />
|
||||||
|
<mass value="1.073863338202347" />
|
||||||
|
<inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint3" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0301 0.0 0.06625" />
|
||||||
|
<parent link="openarm_right_link2" />
|
||||||
|
<child link="openarm_right_link3" />
|
||||||
|
<axis xyz="0 0 1" />
|
||||||
|
<limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link4">
|
||||||
|
<visual name="openarm_right_link4_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link4.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link4_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" />
|
||||||
|
<mass value="0.6348534566833373" />
|
||||||
|
<inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint4" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0 0.0315 0.20375" />
|
||||||
|
<parent link="openarm_right_link3" />
|
||||||
|
<child link="openarm_right_link4" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link5">
|
||||||
|
<visual name="openarm_right_link5_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link5.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link5_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link5_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" />
|
||||||
|
<mass value="0.6156588026168502" />
|
||||||
|
<inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint5" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955" />
|
||||||
|
<parent link="openarm_right_link4" />
|
||||||
|
<child link="openarm_right_link5" />
|
||||||
|
<axis xyz="0 0 1" />
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link6">
|
||||||
|
<visual name="openarm_right_link6_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link6.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link6_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link6_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" />
|
||||||
|
<mass value="0.475202773187987" />
|
||||||
|
<inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint6" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0.0375 0.0 0.1205" />
|
||||||
|
<parent link="openarm_right_link5" />
|
||||||
|
<child link="openarm_right_link6" />
|
||||||
|
<axis xyz="1 0 0" />
|
||||||
|
<limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_link7">
|
||||||
|
<visual name="openarm_right_link7_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/visual/link7.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_link7_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/arm/v10/collision/link7_symp.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 0.01266175250761268 0.06951945409987448" />
|
||||||
|
<mass value="0.4659771327380578" />
|
||||||
|
<inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_joint7" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0375 0.0 0.0" />
|
||||||
|
<parent link="openarm_right_link6" />
|
||||||
|
<child link="openarm_right_link7" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_hand">
|
||||||
|
<visual name="openarm_left_hand_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/hand.dae" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_hand_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/hand.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.002 0.03" />
|
||||||
|
<mass value="0.35" />
|
||||||
|
<inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="left_openarm_hand_joint" type="fixed">
|
||||||
|
<parent link="openarm_left_link7" />
|
||||||
|
<child link="openarm_left_hand" />
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.1001" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_hand_tcp">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<mass value="0.001" />
|
||||||
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_hand_tcp_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.08" />
|
||||||
|
<parent link="openarm_left_hand" />
|
||||||
|
<child link="openarm_left_hand_tcp" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_left_left_finger">
|
||||||
|
<visual name="openarm_left_left_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_left_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685" />
|
||||||
|
<mass value="0.03602545343277134" />
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="openarm_left_right_finger">
|
||||||
|
<visual name="openarm_left_right_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_left_right_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685" />
|
||||||
|
<mass value="0.03602545343277134" />
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_left_finger_joint1" type="prismatic">
|
||||||
|
<parent link="openarm_left_hand" />
|
||||||
|
<child link="openarm_left_right_finger" />
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.006 0.015" />
|
||||||
|
<axis xyz="0 -1 0" />
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
|
||||||
|
</joint>
|
||||||
|
<joint name="openarm_left_finger_joint2" type="prismatic">
|
||||||
|
<parent link="openarm_left_hand" />
|
||||||
|
<child link="openarm_left_left_finger" />
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.006 0.015" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
|
||||||
|
<mimic joint="openarm_left_finger_joint1" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_hand">
|
||||||
|
<visual name="openarm_right_hand_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/hand.dae" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_hand_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/hand.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.002 0.03" />
|
||||||
|
<mass value="0.35" />
|
||||||
|
<inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="right_openarm_hand_joint" type="fixed">
|
||||||
|
<parent link="openarm_right_link7" />
|
||||||
|
<child link="openarm_right_hand" />
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.1001" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_hand_tcp">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<mass value="0.001" />
|
||||||
|
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_hand_tcp_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.0 0.08" />
|
||||||
|
<parent link="openarm_right_hand" />
|
||||||
|
<child link="openarm_right_hand_tcp" />
|
||||||
|
</joint>
|
||||||
|
<link name="openarm_right_left_finger">
|
||||||
|
<visual name="openarm_right_left_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_left_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685" />
|
||||||
|
<mass value="0.03602545343277134" />
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="openarm_right_right_finger">
|
||||||
|
<visual name="openarm_right_right_finger_visual">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/visual/finger.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision name="openarm_right_right_finger_collision">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.723001" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="./meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 -0.001 0.001" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685" />
|
||||||
|
<mass value="0.03602545343277134" />
|
||||||
|
<inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="openarm_right_finger_joint1" type="prismatic">
|
||||||
|
<parent link="openarm_right_hand" />
|
||||||
|
<child link="openarm_right_right_finger" />
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.006 0.015" />
|
||||||
|
<axis xyz="0 -1 0" />
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
|
||||||
|
</joint>
|
||||||
|
<joint name="openarm_right_finger_joint2" type="prismatic">
|
||||||
|
<parent link="openarm_right_hand" />
|
||||||
|
<child link="openarm_right_left_finger" />
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.006 0.015" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
|
||||||
|
<mimic joint="openarm_right_finger_joint1" />
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
@@ -0,0 +1,40 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
|
<!--
|
||||||
|
Copyright 2025 Enactic, Inc.
|
||||||
|
|
||||||
|
Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
you may not use this file except in compliance with the License.
|
||||||
|
You may obtain a copy of the License at
|
||||||
|
|
||||||
|
http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
|
||||||
|
Unless required by applicable law or agreed to in writing, software
|
||||||
|
distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
See the License for the specific language governing permissions and
|
||||||
|
limitations under the License.
|
||||||
|
-->
|
||||||
|
<package format="3">
|
||||||
|
<name>openarm_description</name>
|
||||||
|
<version>1.0.0</version>
|
||||||
|
<description>URDF with optional configuration parameters for OpenArm</description>
|
||||||
|
<maintainer email="openarm_dev@enactic.ai">Enactic, Inc.</maintainer>
|
||||||
|
<license>Apache-2.0</license>
|
||||||
|
|
||||||
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
|
<test_depend>ament_lint_common</test_depend>
|
||||||
|
<test_depend>ament_cmake_pytest</test_depend>
|
||||||
|
|
||||||
|
<depend>joint_state_publisher_gui</depend>
|
||||||
|
<depend>ros_gz</depend>
|
||||||
|
<depend>realsense2_description</depend>
|
||||||
|
<exec_depend>xacro</exec_depend>
|
||||||
|
<exec_depend>rviz2</exec_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_cmake</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
Reference in New Issue
Block a user