<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from open_manipulator.urdf.xacro | -->
+<!-- | This document was autogenerated by xacro from /home/erik/Projects/ros_catkin_ws/src/wt_open_manipulator/urdf/open_manipulator.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- Open_Manipulator Chain -->
-<robot name="open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="open_manipulator">
<!-- World -->
<gazebo reference="world">
</gazebo>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
+ <link name="open_manipulator_base">
+ </link>
+ <joint name="world_fixed" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <parent link="open_manipulator_base"/>
+ <child link="link1"/>
+ </joint>
<!-- Link 1 -->
<link name="link1">
<visual>
<joint name="joint1" type="revolute">
<parent link="link1"/>
<child link="link2"/>
- <origin rpy="0 0 0" xyz="0.012 0.0 0.017"/>
+ <origin rpy="0 0 0" xyz="0.012 0.0 0.036"/>
+ <!-- Height servo+horn -->
<axis xyz="0 0 1"/>
- <limit effort="1" lower="-3.14159265359" upper="3.14159265359" velocity="4.8"/>
+ <limit effort="1" lower="-3.14159265359" upper="3.14159265359" velocity="3.1"/>
</joint>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<!-- Link 2 -->
<link name="link2">
<visual>
- <origin rpy="0 0 0" xyz="0 0 0.019"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.00117543859649 0.00129411764706 0.00125806451613"/>
+ <!-- scale by XM540 -->
</geometry>
<material name="grey"/>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0 0 0.019"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.00117543859649 0.00129411764706 0.00125806451613"/>
+ <!-- scale by XM540 -->
</geometry>
</collision>
<!-- <inertial>
<joint name="joint2" type="revolute">
<parent link="link2"/>
<child link="link3"/>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0595"/>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0515"/>
+ <!-- fr13-s102k to middle of servo horn -->
<axis xyz="0 1 0"/>
<limit effort="1" lower="-2.0106192983" upper="2.0106192983" velocity="4.8"/>
</joint>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.00103125"/>
+ <!-- scale by 4mm more, see joint3 -->
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.00103125"/>
+ <!-- scale by 4mm more, see joint3 -->
</geometry>
</collision>
<!-- <inertial>
<joint name="joint3" type="revolute">
<parent link="link3"/>
<child link="link4"/>
- <origin rpy="0 0 0" xyz="0.024 0 0.128"/>
+ <origin rpy="0 0 0" xyz="0.024 0 0.132"/>
+ <!-- 4mm more for FR13-H101K-->
<axis xyz="0 1 0"/>
<limit effort="1" lower="-2.0106192983" upper="1.50796447372" velocity="4.8"/>
</joint>
<inertia ixx="1.0e-06" ixy="0.0" ixz="0.0" iyy="1.0e-06" iyz="0.0" izz="1.0e-06"/>
</inertial>
</link>
+ <material name="camera_aluminum">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ <!-- camera body, with origin at bottom screw mount -->
+ <joint name="camera_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="-0.02 -0.018 0.055"/>
+ <parent link="gripper_link"/>
+ <child link="camera_bottom_screw_frame"/>
+ </joint>
+ <link name="camera_bottom_screw_frame"/>
+ <joint name="camera_link_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0.0175 0.0125"/>
+ <parent link="camera_bottom_screw_frame"/>
+ <child link="camera_link"/>
+ </joint>
+ <link name="camera_link">
+ <visual>
+ <origin rpy="1.57079632679 0 1.57079632679" xyz="0.0149 -0.0175 0"/>
+ <geometry>
+ <!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
+ <mesh filename="package://realsense2_description/meshes/d435.dae"/>
+ <!--<mesh filename="package://realsense2_description/meshes/d435/d435.dae" />-->
+ </geometry>
+ <material name="camera_aluminum"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 -0.0175 0"/>
+ <geometry>
+ <box size="0.02505 0.09 0.025"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <!-- The following are not reliable values, and should not be used for modeling -->
+ <mass value="0.564"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+ </inertial>
+ </link>
+ <!-- camera depth joints and links -->
+ <joint name="camera_depth_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_depth_frame"/>
+ </joint>
+ <link name="camera_depth_frame"/>
+ <joint name="camera_depth_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="camera_depth_frame"/>
+ <child link="camera_depth_optical_frame"/>
+ </joint>
+ <link name="camera_depth_optical_frame"/>
+ <!-- camera left IR joints and links -->
+ <joint name="camera_left_ir_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0.0 0"/>
+ <parent link="camera_depth_frame"/>
+ <child link="camera_left_ir_frame"/>
+ </joint>
+ <link name="camera_left_ir_frame"/>
+ <joint name="camera_left_ir_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="camera_left_ir_frame"/>
+ <child link="camera_left_ir_optical_frame"/>
+ </joint>
+ <link name="camera_left_ir_optical_frame"/>
+ <!-- camera right IR joints and links -->
+ <joint name="camera_right_ir_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 -0.05 0"/>
+ <parent link="camera_depth_frame"/>
+ <child link="camera_right_ir_frame"/>
+ </joint>
+ <link name="camera_right_ir_frame"/>
+ <joint name="camera_right_ir_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="camera_right_ir_frame"/>
+ <child link="camera_right_ir_optical_frame"/>
+ </joint>
+ <link name="camera_right_ir_optical_frame"/>
+ <!-- camera color joints and links -->
+ <joint name="camera_color_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0.015 0"/>
+ <parent link="camera_depth_frame"/>
+ <child link="camera_color_frame"/>
+ </joint>
+ <link name="camera_color_frame"/>
+ <joint name="camera_color_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="camera_color_frame"/>
+ <child link="camera_color_optical_frame"/>
+ </joint>
+ <link name="camera_color_optical_frame"/>
</robot>
projects / wt_open_manipulator.git / blobdiff