ur5-robotic-grasping/environment/urdf/robotiq_140.urdf

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ros2_mara_ws/src/robotiq_modular_gripper/robotiq_140_gripper_description/urdf/robotiq_140_world.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="robotiq_gripper">
<!-- control -->
<link name="base_link">
<inertial>
<mass value="0" />
<inertia ixx = "0" ixy = "0" ixz = "0"
iyx = "0" iyy = "0" iyz = "0"
izx = "0" izy = "0" izz = "0" />
</inertial>
</link>
<joint name="center_x" type="prismatic">
<parent link="base_link"/>
<child link="y_control"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0.2"/>
</joint>
<link name="y_control">
<inertial>
<mass value="0.1" />
<inertia ixx = "0" ixy = "0" ixz = "0"
iyx = "0" iyy = "0" iyz = "0"
izx = "0" izy = "0" izz = "0" />
</inertial>
</link>
<joint name="center_y" type="prismatic">
<parent link="y_control"/>
<child link="z_control"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0.2"/>
</joint>
<link name="z_control">
<inertial>
<mass value="0.1" />
<inertia ixx = "0" ixy = "0" ixz = "0"
iyx = "0" iyy = "0" iyz = "0"
izx = "0" izy = "0" izz = "0" />
</inertial>
</link>
<joint name="center_z" type="prismatic">
<parent link="z_control"/>
<child link="yaw_control"/>
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-0.25" upper="1" velocity="0.2"/>
</joint>
<link name="yaw_control">
<inertial>
<mass value="0.1" />
<inertia ixx = "0" ixy = "0" ixz = "0"
iyx = "0" iyy = "0" iyz = "0"
izx = "0" izy = "0" izz = "0" />
</inertial>
</link>
<joint name="gripper_yaw" type="revolute">
<parent link="yaw_control"/>
<child link="pitch_control"/>
<axis xyz="0 0 1"/>
<limit lower="-31.4" upper="31.4" velocity="3.14" effort="10000"/>
</joint>
<link name="pitch_control">
<inertial>
<mass value="0.1" />
<inertia ixx = "0" ixy = "0" ixz = "0"
iyx = "0" iyy = "0" iyz = "0"
izx = "0" izy = "0" izz = "0" />
</inertial>
</link>
<joint name="gripper_pitch" type="revolute">
<parent link="pitch_control"/>
<child link="roll_control"/>
<axis xyz="0 1 0"/>
<limit lower="-31.4" upper="31.4" velocity="3.14" effort="10000"/>
</joint>
<link name="roll_control">
<inertial>
<mass value="0.1" />
<inertia ixx = "0" ixy = "0" ixz = "0"
iyx = "0" iyy = "0" iyz = "0"
izx = "0" izy = "0" izz = "0" />
</inertial>
</link>
<joint name="gripper_roll" type="revolute">
<parent link="roll_control"/>
<child link="dummy_center_indicator_link"/>
<axis xyz="1 0 0"/>
<limit lower="-31.4" upper="31.4" velocity="3.14" effort="100000"/>
</joint>
<link name="dummy_center_indicator_link">
<visual>
<geometry>
<box size="0.020 0.085 0.002"/>
</geometry>
</visual>
<inertial>
<mass value="0.1" />
<inertia ixx = "0" ixy = "0" ixz = "0"
iyx = "0" iyy = "0" iyz = "0"
izx = "0" izy = "0" izz = "0" />
</inertial>
</link>
<joint name="dummy_center_fixed_joint" type="fixed">
<parent link="dummy_center_indicator_link"/>
<child link="robotiq_140_robotiq_arg2f_base_link"/>
<origin xyz="-0.137 0 0" />
</joint>
<!-- robot -->
<!-- robotiq_85_base_link -->
<link name="robotiq_140_robotiq_arg2f_base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00013 0.00011 0.03284"/>
<mass value="0.52954"/>
<inertia ixx="573495E-9" ixy="-554E-9" ixz="2628E-9" iyy="681780E-9" iyz="607E-9" izz="483281E-9"/>
</inertial>
<visual>
<origin rpy="0 0 0" 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 0" 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_140_robotiq_arg2f_base_link">
<material>Gazebo/Black</material>
<selfCollide>True</selfCollide>
</gazebo>
<!-- robotiq_85_left_knuckle_link -->
<link name="robotiq_140_left_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0.01616 0 -0.00133"/>
<mass value="0.0131"/>
<inertia ixx="325.5E-9" ixy="0" ixz="197.94E-9" iyy="2306.36E-9" iyz="0" izz="2176E-9"/>
</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" scale="0.001 0.001 0.001"/>
</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" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_140_left_outer_knuckle">
<material>Gazebo/Grey</material>
<selfCollide>True</selfCollide>
</gazebo>
<!-- robotiq_85_right_knuckle_link -->
<link name="robotiq_140_right_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="-0.01616 0 -0.00133"/>
<mass value="0.0131"/>
<inertia ixx="325.5E-9" ixy="0" ixz="-197.94E-9" iyy="2306.36E-9" iyz="0" izz="2176E-9"/>
</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" scale="0.001 0.001 0.001"/>
</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" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_140_right_outer_knuckle">
<material>Gazebo/Grey</material>
<selfCollide>True</selfCollide>
</gazebo>
<!-- robotiq_85_left_inner_knuckle_link -->
<link name="robotiq_140_left_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0.03332 0 0.0379"/>
<mass value="0.04476"/>
<inertia ixx="28054E-9" ixy="0" ixz="-19174E-9" iyy="39758E-9" iyz="0" izz="23453E-9"/>
</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" 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_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_140_left_inner_knuckle">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<!-- robotiq_85_right_inner_knuckle_link -->
<link name="robotiq_140_right_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="-0.03332 0 0.0379"/>
<mass value="0.04476"/>
<inertia ixx="28054E-9" ixy="0" ixz="19174E-9" iyy="39758E-9" iyz="0" izz="23453E-9"/>
</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" 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_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_140_right_inner_knuckle">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<!-- robotiq_85_left_finger_link -->
<link name="robotiq_140_left_inner_finger">
<inertial>
<origin rpy="0 0 0" xyz="-0.01563 0 0.02522"/>
<mass value="0.045"/>
<inertia ixx="26663E-9" ixy="0" ixz="5579E-9" iyy="28009E-9" iyz="0" izz="4368E-9"/>
</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="robotiq_140_left_inner_finger">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<!-- robotiq_85_right_finger_link -->
<link name="robotiq_140_right_inner_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.01563 0 0.02522"/>
<mass value="0.045"/>
<inertia ixx="26663E-9" ixy="0" ixz="-5579E-9" iyy="28009E-9" iyz="0" izz="4368E-9"/>
</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="robotiq_140_right_inner_finger">
<material>Gazebo/Black</material>
<selfCollide>False</selfCollide>
</gazebo>
<!-- robot -->
<link name="robotiq_140_left_outer_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.01482 0 0.03451"/>
<mass value="0.07637"/>
<inertia ixx="45513E-9" ixy="0" ixz="-20691E-9" iyy="52570E-9" iyz="0" izz="17804E-9"/>
</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" 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_outer_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_140_left_outer_finger">
<material>Gazebo/Black</material>
<selfCollide>True</selfCollide>
</gazebo>
<!-- robot -->
<link name="robotiq_140_right_outer_finger">
<inertial>
<origin rpy="0 0 0" xyz="-0.01482 0 0.03451"/>
<mass value="0.07637"/>
<inertia ixx="45513E-9" ixy="0" ixz="20691E-9" iyy="52570E-9" iyz="0" izz="17804E-9"/>
</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" 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_outer_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_140_right_outer_finger">
<material>Gazebo/Black</material>
<selfCollide>True</selfCollide>
</gazebo>
<!-- robot -->
<joint name="robotiq_arg2f_base_to_robotiq_140_left_outer_knuckle" type="revolute">
<origin rpy="0 0 0" xyz="0.0306 0 0.05466"/>
<parent link="robotiq_140_robotiq_arg2f_base_link"/>
<child link="robotiq_140_left_outer_knuckle"/>
<axis xyz="0 -1 0"/>
<limit effort="18.65" lower="0" upper="0.78574722925" velocity="2.0"/>
<mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
</joint>
<!-- robot -->
<joint name="robotiq_140_joint_finger" type="revolute">
<origin rpy="0 0 0" xyz="-0.0306 0 0.05466"/>
<parent link="robotiq_140_robotiq_arg2f_base_link"/>
<child link="robotiq_140_right_outer_knuckle"/>
<axis xyz="0 1 0"/>
<limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
</joint>
<!-- robot -->
<joint name="robotiq_arg2f_base_to_robotiq_140_left_inner_knuckle" type="revolute">
<origin rpy="0 0 0" xyz="0.0127 0 0.06118"/>
<parent link="robotiq_140_robotiq_arg2f_base_link"/>
<child link="robotiq_140_left_inner_knuckle"/>
<axis xyz="0 -1 0"/>
<limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
<mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
</joint>
<!-- robot -->
<joint name="robotiq_arg2f_base_to_robotiq_140_right_inner_knuckle" type="revolute">
<origin rpy="0 0 0" xyz="-0.0127 0 0.06118"/>
<parent link="robotiq_140_robotiq_arg2f_base_link"/>
<child link="robotiq_140_right_inner_knuckle"/>
<axis xyz="0 1 0"/>
<limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
<mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
</joint>
<!-- robot -->
<joint name="robotiq_140_left_outer_knuckle_to_finger" type="fixed">
<origin rpy="0 0 0" xyz="0.03142 0 -0.00453"/>
<parent link="robotiq_140_left_outer_knuckle"/>
<child link="robotiq_140_left_outer_finger"/>
</joint>
<!-- robot -->
<joint name="robotiq_140_right_outer_knuckle_to_finger" type="fixed">
<origin rpy="0 0 0" xyz="-0.03142 0 -0.00453"/>
<parent link="robotiq_140_right_outer_knuckle"/>
<child link="robotiq_140_right_outer_finger"/>
</joint>
<!-- robot -->
<joint name="robotiq_140_left_outer_finger_to_inner" type="revolute">
<origin rpy="0 0 0" xyz="0.03543 0 0.0789"/>
<parent link="robotiq_140_left_outer_finger"/>
<child link="robotiq_140_left_inner_finger"/>
<axis xyz="0 1 0"/>
<limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
<mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
</joint>
<!-- robot -->
<joint name="robotiq_140_right_outer_finger_to_inner" type="revolute">
<origin rpy="0 0 0" xyz="-0.03543 0 0.0789"/>
<parent link="robotiq_140_right_outer_finger"/>
<child link="robotiq_140_right_inner_finger"/>
<axis xyz="0 -1 0"/>
<limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
<mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
</joint>
</robot>