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  1. <?xml version="1.0" ?>
  2. <!-- =================================================================================== -->
  3. <!-- | This document was autogenerated by xacro from baxter.urdf.xacro | -->
  4. <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
  5. <!-- =================================================================================== -->
  6. <robot name="baxter" xmlns:xacro="http://www.ros.org/wiki/xacro">
  7. <link name="base">
  8. </link>
  9. <link name="torso">
  10. <visual>
  11. <origin rpy="0 0 0" xyz="0 0 0"/>
  12. <geometry>
  13. <mesh filename="package://baxter_description/meshes/torso/base_link.DAE"/>
  14. </geometry>
  15. <material name="darkgray">
  16. <color rgba=".2 .2 .2 1"/>
  17. </material>
  18. </visual>
  19. <collision>
  20. <origin rpy="0 0 0" xyz="0 0 0"/>
  21. <geometry>
  22. <mesh filename="package://baxter_description/meshes/torso/base_link_collision.DAE"/>
  23. </geometry>
  24. </collision>
  25. <inertial>
  26. <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
  27. <mass value="35.336455"/>
  28. <inertia ixx="1.849155" ixy="-0.000354" ixz="-0.154188" iyy="1.662671" iyz="0.003292" izz="0.802239"/>
  29. </inertial>
  30. </link>
  31. <link name="left_torso_itb">
  32. <inertial>
  33. <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
  34. <mass value="0.0001"/>
  35. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  36. </inertial>
  37. </link>
  38. <link name="right_torso_itb">
  39. <inertial>
  40. <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
  41. <mass value="0.0001"/>
  42. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  43. </inertial>
  44. </link>
  45. <link name="head">
  46. <visual>
  47. <origin rpy="0 0 0" xyz="0 0 .00953"/>
  48. <geometry>
  49. <mesh filename="package://baxter_description/meshes/head/H0.DAE"/>
  50. </geometry>
  51. <material name="darkgray">
  52. <color rgba=".2 .2 .2 1"/>
  53. </material>
  54. </visual>
  55. <collision>
  56. <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
  57. <geometry>
  58. <sphere radius="0.001"/>
  59. </geometry>
  60. </collision>
  61. <inertial>
  62. <origin rpy="0 0 0" xyz="0 0 0"/>
  63. <mass value="0.547767"/>
  64. <inertia ixx="0.004641" ixy="0.000159" ixz="0.000242" iyy="0.003295" iyz="-0.001324" izz="0.003415"/>
  65. </inertial>
  66. </link>
  67. <link name="sonar_ring">
  68. <visual>
  69. <origin rpy="0 0 0" xyz="-.0347 0 .00953"/>
  70. <geometry>
  71. <cylinder length="0.01" radius="0.085"/>
  72. </geometry>
  73. <material name="darkgray">
  74. <color rgba=".2 .2 .2 1"/>
  75. </material>
  76. </visual>
  77. <collision>
  78. <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
  79. <geometry>
  80. <sphere radius="0.001"/>
  81. </geometry>
  82. </collision>
  83. <inertial>
  84. <origin rpy="0 0 0" xyz="0 0 0"/>
  85. <mass value="0.0001"/>
  86. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  87. </inertial>
  88. </link>
  89. <link name="screen">
  90. <visual>
  91. <origin rpy="0 -1.57079632679 0" xyz="0 -.00953 -.0347"/>
  92. <geometry>
  93. <mesh filename="package://baxter_description/meshes/head/H1.DAE"/>
  94. </geometry>
  95. <material name="darkred">
  96. <color rgba=".5 .1 .1 1"/>
  97. </material>
  98. </visual>
  99. <collision>
  100. <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
  101. <geometry>
  102. <sphere radius="0.001"/>
  103. </geometry>
  104. </collision>
  105. <inertial>
  106. <origin rpy="0 0 0" xyz="0 0 0"/>
  107. <mass value="0.440171"/>
  108. <inertia ixx="0.004006" ixy="0.000230" ixz="0.000002" iyy="0.002800" iyz="0.000029" izz="0.001509"/>
  109. </inertial>
  110. </link>
  111. <link name="display">
  112. <visual>
  113. <origin rpy="0.2617993877991494 0 0" xyz="0 0 0"/>
  114. <geometry>
  115. <box size="0.218 0.16 0.001"/>
  116. </geometry>
  117. <material name="black">
  118. <color rgba="0 0 0 1"/>
  119. </material>
  120. </visual>
  121. <inertial>
  122. <origin rpy="0 0 0" xyz="0 0 0"/>
  123. <mass value="0.0001"/>
  124. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  125. </inertial>
  126. </link>
  127. <link name="head_camera">
  128. <inertial>
  129. <origin rpy="0 0 0" xyz="0 0 0"/>
  130. <mass value="0.0001"/>
  131. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  132. </inertial>
  133. </link>
  134. <link name="dummyhead1">
  135. <inertial>
  136. <origin rpy="0 0 0" xyz="0 0 0"/>
  137. <mass value="0.0001"/>
  138. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  139. </inertial>
  140. </link>
  141. <link name="collision_head_link_1">
  142. <visual>
  143. <origin rpy="0 0 0" xyz="0 0 0"/>
  144. <geometry>
  145. <sphere radius="0.001"/>
  146. </geometry>
  147. <material name="red">
  148. <color rgba="0.8 0.3 0.3 0.3"/>
  149. </material>
  150. </visual>
  151. <collision>
  152. <origin rpy="0 0 0.0" xyz="-0.07 -0.04 0.0"/>
  153. <geometry>
  154. <sphere radius="0.22"/>
  155. </geometry>
  156. </collision>
  157. <inertial>
  158. <origin rpy="0 0 0" xyz="0 0 0"/>
  159. <mass value="0.0001"/>
  160. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  161. </inertial>
  162. </link>
  163. <link name="collision_head_link_2">
  164. <visual>
  165. <origin rpy="0 0 0" xyz="0 0 0"/>
  166. <geometry>
  167. <sphere radius="0.001"/>
  168. </geometry>
  169. <material name="red">
  170. <color rgba="0.8 0.3 0.3 0.3"/>
  171. </material>
  172. </visual>
  173. <collision>
  174. <origin rpy="0 0 0" xyz="-0.07 0.04 0.00"/>
  175. <geometry>
  176. <sphere radius="0.22"/>
  177. </geometry>
  178. </collision>
  179. <inertial>
  180. <origin rpy="0 0 0" xyz="0 0 0"/>
  181. <mass value="0.0001"/>
  182. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  183. </inertial>
  184. </link>
  185. <joint name="collision_head_1" type="fixed">
  186. <origin rpy="0 0 0" xyz="0.11 0 0.75"/>
  187. <parent link="base"/>
  188. <child link="collision_head_link_1"/>
  189. </joint>
  190. <joint name="collision_head_2" type="fixed">
  191. <origin rpy="0 0 0" xyz="0.11 0 0.75"/>
  192. <parent link="base"/>
  193. <child link="collision_head_link_2"/>
  194. </joint>
  195. <joint name="dummy" type="fixed">
  196. <origin rpy="0 0 0" xyz="0 0 0"/>
  197. <parent link="head"/>
  198. <child link="dummyhead1"/>
  199. </joint>
  200. <joint name="torso_t0" type="fixed">
  201. <origin rpy="0 0 0" xyz="0 0 0"/>
  202. <parent link="base"/>
  203. <child link="torso"/>
  204. <limit effort="50000" lower="-3.01" upper="3.01" velocity="10000"/>
  205. </joint>
  206. <joint name="left_torso_itb_fixed" type="fixed">
  207. <origin rpy="-1.57079632679 3.1415 0" xyz="-0.08897 0.15593 0.389125"/>
  208. <parent link="torso"/>
  209. <child link="left_torso_itb"/>
  210. </joint>
  211. <joint name="right_torso_itb_fixed" type="fixed">
  212. <origin rpy="1.57079632679 0 0" xyz="-0.08897 -0.15593 0.389125"/>
  213. <parent link="torso"/>
  214. <child link="right_torso_itb"/>
  215. </joint>
  216. <joint name="head_pan" type="revolute">
  217. <origin rpy="0 0 0" xyz="0.06 0 0.686"/>
  218. <axis xyz="0 0 1"/>
  219. <parent link="torso"/>
  220. <child link="head"/>
  221. <limit effort="50000" lower="-1.3963" upper="1.3963" velocity="10000"/>
  222. <!-- <dynamics damping="0.7" friction="0.0"/> default-->
  223. <dynamics damping="15.0" friction="0.0"/>
  224. </joint>
  225. <joint name="head_nod" type="fixed">
  226. <origin rpy="1.75057 0 1.57079632679" xyz=".1227 0 0"/>
  227. <parent link="head"/>
  228. <child link="screen"/>
  229. </joint>
  230. <!-- <joint name="head_camera" type="fixed"> -->
  231. <joint name="head_camera_jnt" type="fixed">
  232. <origin rpy="1.75057 0 1.57079632679" xyz="0.12839 0 0.06368"/>
  233. <parent link="head"/>
  234. <child link="head_camera"/>
  235. </joint>
  236. <joint name="display_joint" type="fixed">
  237. <origin rpy="0 0 0" xyz="0.0 -0.016 0.0"/>
  238. <parent link="screen"/>
  239. <child link="display"/>
  240. </joint>
  241. <joint name="sonar_s0" type="fixed">
  242. <origin rpy="0 0 0" xyz="0.0947 0 .817"/>
  243. <axis xyz="0 0 1"/>
  244. <parent link="torso"/>
  245. <child link="sonar_ring"/>
  246. </joint>
  247. <link name="right_arm_mount">
  248. <!-- all defaults -->
  249. <inertial>
  250. <origin rpy="0 0 0" xyz="0 0 0"/>
  251. <mass value="0.0001"/>
  252. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  253. </inertial>
  254. </link>
  255. <link name="right_upper_shoulder">
  256. <visual>
  257. <origin rpy="0 0 0" xyz="0 0 0"/>
  258. <geometry>
  259. <mesh filename="package://baxter_description/meshes/upper_shoulder/S0.DAE"/>
  260. </geometry>
  261. <material name="darkred">
  262. <color rgba=".5 .1 .1 1"/>
  263. </material>
  264. </visual>
  265. <collision>
  266. <origin rpy="0 0 0" xyz="0 0 0.1361"/>
  267. <geometry>
  268. <cylinder length="0.2722" radius="0.06"/>
  269. </geometry>
  270. </collision>
  271. <inertial>
  272. <origin rpy="0 0 0" xyz="0.01783 0.00086 0.19127"/>
  273. <mass value="5.70044"/>
  274. <inertia ixx="0.04709102262" ixy="0.00012787556" ixz="0.00614870039" iyy="0.03766976455" iyz="0.00078086899" izz="0.03595988478"/>
  275. </inertial>
  276. </link>
  277. <link name="right_lower_shoulder">
  278. <visual>
  279. <origin rpy="0 0 0" xyz="0 0 0"/>
  280. <geometry>
  281. <mesh filename="package://baxter_description/meshes/lower_shoulder/S1.DAE"/>
  282. </geometry>
  283. <material name="darkred">
  284. <color rgba=".5 .1 .1 1"/>
  285. </material>
  286. </visual>
  287. <collision>
  288. <origin rpy="0 0 0" xyz="0 0 0"/>
  289. <geometry>
  290. <cylinder length="0.12" radius="0.06"/>
  291. </geometry>
  292. </collision>
  293. <inertial>
  294. <origin rpy="0 0 0" xyz="0.06845 0.00269 -0.00529"/>
  295. <mass value="3.22698"/>
  296. <inertia ixx="0.01175209419" ixy="-0.00030096398" ixz="0.00207675762" iyy="0.0278859752" iyz="-0.00018821993" izz="0.02078749298"/>
  297. </inertial>
  298. </link>
  299. <link name="right_upper_elbow">
  300. <visual>
  301. <origin rpy="0 0 0" xyz="0 0 0"/>
  302. <geometry>
  303. <mesh filename="package://baxter_description/meshes/upper_elbow/E0.DAE"/>
  304. </geometry>
  305. <material name="darkred">
  306. <color rgba=".5 .1 .1 1"/>
  307. </material>
  308. </visual>
  309. <collision>
  310. <origin rpy="0 0 0" xyz="0 0 -0.0535"/>
  311. <geometry>
  312. <cylinder length="0.107" radius="0.06"/>
  313. </geometry>
  314. </collision>
  315. <inertial>
  316. <origin rpy="0 0 0" xyz="-0.00276 0.00132 0.18086"/>
  317. <mass value="4.31272"/>
  318. <inertia ixx="0.02661733557" ixy="0.00029270634" ixz="0.00392189887" iyy="0.02844355207" iyz="0.0010838933" izz="0.01248008322"/>
  319. </inertial>
  320. </link>
  321. <link name="right_upper_elbow_visual">
  322. <collision>
  323. <origin rpy="0 0 0" xyz="0 0 0.1365"/>
  324. <geometry>
  325. <cylinder length="0.273" radius="0.06"/>
  326. </geometry>
  327. </collision>
  328. <inertial>
  329. <origin rpy="0 0 0" xyz="0 0 0"/>
  330. <mass value="0.0001"/>
  331. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  332. </inertial>
  333. </link>
  334. <link name="right_lower_elbow">
  335. <visual>
  336. <origin rpy="0 0 0" xyz="0 0 0"/>
  337. <geometry>
  338. <mesh filename="package://baxter_description/meshes/lower_elbow/E1.DAE"/>
  339. </geometry>
  340. <material name="darkred">
  341. <color rgba=".5 .1 .1 1"/>
  342. </material>
  343. </visual>
  344. <collision>
  345. <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
  346. <geometry>
  347. <cylinder length="0.10" radius="0.06"/>
  348. </geometry>
  349. </collision>
  350. <inertial>
  351. <origin rpy="0 0 0" xyz="0.02611 0.00159 -0.01117"/>
  352. <mass value="2.07206"/>
  353. <inertia ixx="0.00711582686" ixy="0.00036036173" ixz="0.0007459496" iyy="0.01318227876" iyz="-0.00019663418" izz="0.00926852064"/>
  354. </inertial>
  355. </link>
  356. <link name="right_upper_forearm">
  357. <visual>
  358. <origin rpy="0 0 0" xyz="0 0 0"/>
  359. <geometry>
  360. <mesh filename="package://baxter_description/meshes/upper_forearm/W0.DAE"/>
  361. </geometry>
  362. <material name="darkred">
  363. <color rgba=".5 .1 .1 1"/>
  364. </material>
  365. </visual>
  366. <collision>
  367. <origin rpy="0 0 0" xyz="0 0 -0.044"/>
  368. <geometry>
  369. <cylinder length="0.088" radius="0.06"/>
  370. </geometry>
  371. </collision>
  372. <inertial>
  373. <origin rpy="0 0 0" xyz="-0.00168 0.0046 0.13952"/>
  374. <mass value="2.24665"/>
  375. <inertia ixx="0.01667742825" ixy="0.00018403705" ixz="0.00018657629" iyy="0.01675457264" iyz="-0.00064732352" izz="0.0037463115"/>
  376. </inertial>
  377. </link>
  378. <link name="right_upper_forearm_visual">
  379. <collision>
  380. <origin rpy="0 0 0" xyz="0 0 0.136"/>
  381. <geometry>
  382. <cylinder length="0.272" radius="0.06"/>
  383. </geometry>
  384. </collision>
  385. <inertial>
  386. <origin rpy="0 0 0" xyz="0 0 0"/>
  387. <mass value="0.0001"/>
  388. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  389. </inertial>
  390. </link>
  391. <link name="right_arm_itb">
  392. <inertial>
  393. <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
  394. <mass value="0.0001"/>
  395. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  396. </inertial>
  397. </link>
  398. <link name="right_lower_forearm">
  399. <visual>
  400. <origin rpy="0 0 0" xyz="0 0 0"/>
  401. <geometry>
  402. <mesh filename="package://baxter_description/meshes/lower_forearm/W1.DAE"/>
  403. </geometry>
  404. <material name="darkred">
  405. <color rgba=".5 .1 .1 1"/>
  406. </material>
  407. </visual>
  408. <collision>
  409. <origin rpy="0 0 0" xyz="0 0 0"/>
  410. <geometry>
  411. <cylinder length="0.10" radius="0.06"/>
  412. </geometry>
  413. </collision>
  414. <inertial>
  415. <origin rpy="0 0 0" xyz="0.06041 0.00697 0.006"/>
  416. <mass value="1.60979"/>
  417. <inertia ixx="0.00387607152" ixy="-0.00044384784" ixz="-0.00021115038" iyy="0.00700537914" iyz="0.00015348067" izz="0.0055275524"/>
  418. </inertial>
  419. </link>
  420. <link name="right_wrist">
  421. <visual>
  422. <origin rpy="0 0 0" xyz="0 0 0"/>
  423. <geometry>
  424. <mesh filename="package://baxter_description/meshes/wrist/W2.DAE"/>
  425. </geometry>
  426. <material name="lightgrey">
  427. <color rgba=".1 .1 .1 1"/>
  428. </material>
  429. </visual>
  430. <collision>
  431. <origin rpy="0 0 0" xyz="0 0 0"/>
  432. <geometry>
  433. <cylinder length="0.165" radius="0.06"/>
  434. </geometry>
  435. </collision>
  436. <inertial>
  437. <origin rpy="0 0 0" xyz="0.00198 0.00125 0.01855"/>
  438. <mass value="0.35093"/>
  439. <inertia ixx="0.00025289155" ixy="0.00000575311" ixz="-0.00000159345" iyy="0.0002688601" iyz="-0.00000519818" izz="0.0003074118"/>
  440. </inertial>
  441. </link>
  442. <link name="right_hand">
  443. <collision>
  444. <origin rpy="0 0 0" xyz="0 0 -0.0232"/>
  445. <geometry>
  446. <cylinder length="0.0464" radius="0.04"/>
  447. </geometry>
  448. </collision>
  449. <inertial>
  450. <origin rpy="0 0 0" xyz="0.01093 0.00042 -0.01532"/>
  451. <mass value="0.19125"/>
  452. <inertia ixx="0.00017588" ixy="0.00000147073" ixz="0.0000243633" iyy="0.00021166377" iyz="0.00000172689" izz="0.00023745397"/>
  453. </inertial>
  454. </link>
  455. <link name="right_hand_camera">
  456. <visual>
  457. <origin rpy="0 0 0" xyz="0 0 0"/>
  458. <geometry>
  459. <cylinder length="0.01" radius="0.02"/>
  460. </geometry>
  461. <material name="blue">
  462. <color rgba="0 0 1 0.8"/>
  463. </material>
  464. </visual>
  465. <inertial>
  466. <origin rpy="0 0 0" xyz="0 0 0"/>
  467. <mass value="0.0001"/>
  468. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  469. </inertial>
  470. </link>
  471. <link name="right_hand_camera_axis">
  472. <inertial>
  473. <origin rpy="0 0 0" xyz="0 0 0"/>
  474. <mass value="0.0001"/>
  475. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  476. </inertial>
  477. </link>
  478. <link name="right_hand_range">
  479. <visual>
  480. <origin rpy="0 0 0" xyz="0 0 0"/>
  481. <geometry>
  482. <box size="0.005 .02 .005"/>
  483. </geometry>
  484. <material name="blue">
  485. <color rgba="0 0 1 0.8"/>
  486. </material>
  487. </visual>
  488. <inertial>
  489. <origin rpy="0 0 0" xyz="0 0 0"/>
  490. <mass value="0.0001"/>
  491. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  492. </inertial>
  493. </link>
  494. <link name="right_hand_accelerometer">
  495. <visual>
  496. <origin rpy="0 0 0" xyz="0 0 0"/>
  497. <geometry>
  498. <box size="0.01 0.01 0.01"/>
  499. </geometry>
  500. <material name="black">
  501. <color rgba="0 0 0 1"/>
  502. </material>
  503. </visual>
  504. <inertial>
  505. <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
  506. <mass value="0.0001"/>
  507. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  508. </inertial>
  509. </link>
  510. <joint name="right_torso_arm_mount" type="fixed">
  511. <origin rpy="0 0 -0.7854" xyz="0.024645 -0.219645 0.118588"/>
  512. <parent link="torso"/>
  513. <child link="right_arm_mount"/>
  514. </joint>
  515. <joint name="right_s0" type="revolute">
  516. <origin rpy="0 0 0" xyz="0.055695 0 0.011038"/>
  517. <axis xyz="0 0 1"/>
  518. <parent link="right_arm_mount"/>
  519. <child link="right_upper_shoulder"/>
  520. <limit effort="50.0" lower="-1.70167993878" upper="1.70167993878" velocity="1.5"/>
  521. <!-- <dynamics damping="0.7" friction="0.0"/> -->
  522. <dynamics damping="15.0" friction="0.0"/>
  523. </joint>
  524. <joint name="right_s1" type="revolute">
  525. <origin rpy="-1.57079632679 0 0" xyz="0.069 0 0.27035"/>
  526. <axis xyz="0 0 1"/>
  527. <parent link="right_upper_shoulder"/>
  528. <child link="right_lower_shoulder"/>
  529. <limit effort="50.0" lower="-2.147" upper="1.047" velocity="1.5"/>
  530. <dynamics damping="15.0" friction="0.0"/>
  531. </joint>
  532. <joint name="right_e0" type="revolute">
  533. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.102 0 0"/>
  534. <axis xyz="0 0 1"/>
  535. <parent link="right_lower_shoulder"/>
  536. <child link="right_upper_elbow"/>
  537. <limit effort="50.0" lower="-3.05417993878" upper="3.05417993878" velocity="1.5"/>
  538. <dynamics damping="15.0" friction="0.0"/>
  539. </joint>
  540. <joint name="right_e0_fixed" type="fixed">
  541. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.107 0 0"/>
  542. <axis xyz="0 0 1"/>
  543. <parent link="right_lower_shoulder"/>
  544. <child link="right_upper_elbow_visual"/>
  545. </joint>
  546. <joint name="right_e1" type="revolute">
  547. <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.069 0 0.26242"/>
  548. <axis xyz="0 0 1"/>
  549. <parent link="right_upper_elbow"/>
  550. <child link="right_lower_elbow"/>
  551. <limit effort="50.0" lower="-0.05" upper="2.618" velocity="1.5"/>
  552. <dynamics damping="15.0" friction="0.0"/>
  553. </joint>
  554. <joint name="right_w0" type="revolute">
  555. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.10359 0 0"/>
  556. <axis xyz="0 0 1"/>
  557. <parent link="right_lower_elbow"/>
  558. <child link="right_upper_forearm"/>
  559. <limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
  560. <dynamics damping="15.0" friction="0.0"/>
  561. </joint>
  562. <joint name="right_w0_fixed" type="fixed">
  563. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.088 0 0"/>
  564. <axis xyz="0 0 1"/>
  565. <parent link="right_lower_elbow"/>
  566. <child link="right_upper_forearm_visual"/>
  567. </joint>
  568. <joint name="right_w0_to_itb_fixed" type="fixed">
  569. <origin rpy="-1.57079632679 0 1.57079632679" xyz="-0.0565 0 0.12"/>
  570. <axis xyz="0 0 1"/>
  571. <parent link="right_upper_forearm"/>
  572. <child link="right_arm_itb"/>
  573. </joint>
  574. <joint name="right_w1" type="revolute">
  575. <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.01 0 0.2707"/>
  576. <axis xyz="0 0 1"/>
  577. <parent link="right_upper_forearm"/>
  578. <child link="right_lower_forearm"/>
  579. <limit effort="15.0" lower="-1.57079632679" upper="2.094" velocity="4.0"/>
  580. <dynamics damping="15.0" friction="0.0"/>
  581. </joint>
  582. <joint name="right_w2" type="revolute">
  583. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.115975 0 0"/>
  584. <axis xyz="0 0 1"/>
  585. <parent link="right_lower_forearm"/>
  586. <child link="right_wrist"/>
  587. <limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
  588. <dynamics damping="15.0" friction="0.0"/>
  589. </joint>
  590. <!-- <joint name="right_hand" type="fixed"> -->
  591. <joint name="right_hand_jnt" type="fixed">
  592. <origin rpy="0 0 0" xyz="0 0 0.11355"/>
  593. <axis xyz="0 0 1"/>
  594. <parent link="right_wrist"/>
  595. <child link="right_hand"/>
  596. </joint>
  597. <!-- <joint name="right_hand_camera" type="fixed"> -->
  598. <joint name="right_hand_camera_jnt" type="fixed">
  599. <origin rpy="0 0 -1.57079633" xyz="0.03825 0.012 0.015355"/>
  600. <parent link="right_hand"/>
  601. <child link="right_hand_camera"/>
  602. </joint>
  603. <!-- <joint name="right_hand_camera_axis" type="fixed"> -->
  604. <joint name="right_hand_camera_axis_jnt" type="fixed">
  605. <origin rpy="0 0 0" xyz="0.03825 0.012 0.015355"/>
  606. <parent link="right_hand"/>
  607. <child link="right_hand_camera_axis"/>
  608. </joint>
  609. <!-- <joint name="right_hand_range" type="fixed"> -->
  610. <joint name="right_hand_range_jnt" type="fixed">
  611. <origin rpy="0 -1.57079632679 -1.57079632679" xyz="0.032 -0.020245 0.0288"/>
  612. <parent link="right_hand"/>
  613. <child link="right_hand_range"/>
  614. </joint>
  615. <!-- <joint name="right_hand_accelerometer" type="fixed"> -->
  616. <joint name="right_hand_accelerometer_jnt" type="fixed">
  617. <origin rpy="0 0 0" xyz="0.00198 0.000133 -0.0146"/>
  618. <parent link="right_hand"/>
  619. <child link="right_hand_accelerometer"/>
  620. </joint>
  621. <link name="left_arm_mount">
  622. <!-- all defaults -->
  623. <inertial>
  624. <origin rpy="0 0 0" xyz="0 0 0"/>
  625. <mass value="0.0001"/>
  626. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  627. </inertial>
  628. </link>
  629. <link name="left_upper_shoulder">
  630. <visual>
  631. <origin rpy="0 0 0" xyz="0 0 0"/>
  632. <geometry>
  633. <mesh filename="package://baxter_description/meshes/upper_shoulder/S0.DAE"/>
  634. </geometry>
  635. <material name="darkred">
  636. <color rgba=".5 .1 .1 1"/>
  637. </material>
  638. </visual>
  639. <collision>
  640. <origin rpy="0 0 0" xyz="0 0 0.1361"/>
  641. <geometry>
  642. <cylinder length="0.2722" radius="0.06"/>
  643. </geometry>
  644. </collision>
  645. <inertial>
  646. <origin rpy="0 0 0" xyz="0.01783 0.00086 0.19127"/>
  647. <mass value="5.70044"/>
  648. <inertia ixx="0.04709102262" ixy="0.00012787556" ixz="0.00614870039" iyy="0.03766976455" iyz="0.00078086899" izz="0.03595988478"/>
  649. </inertial>
  650. </link>
  651. <link name="left_lower_shoulder">
  652. <visual>
  653. <origin rpy="0 0 0" xyz="0 0 0"/>
  654. <geometry>
  655. <mesh filename="package://baxter_description/meshes/lower_shoulder/S1.DAE"/>
  656. </geometry>
  657. <material name="darkred">
  658. <color rgba=".5 .1 .1 1"/>
  659. </material>
  660. </visual>
  661. <collision>
  662. <origin rpy="0 0 0" xyz="0 0 0"/>
  663. <geometry>
  664. <cylinder length="0.12" radius="0.06"/>
  665. </geometry>
  666. </collision>
  667. <inertial>
  668. <origin rpy="0 0 0" xyz="0.06845 0.00269 -0.00529"/>
  669. <mass value="3.22698"/>
  670. <inertia ixx="0.01175209419" ixy="-0.00030096398" ixz="0.00207675762" iyy="0.0278859752" iyz="-0.00018821993" izz="0.02078749298"/>
  671. </inertial>
  672. </link>
  673. <link name="left_upper_elbow">
  674. <visual>
  675. <origin rpy="0 0 0" xyz="0 0 0"/>
  676. <geometry>
  677. <mesh filename="package://baxter_description/meshes/upper_elbow/E0.DAE"/>
  678. </geometry>
  679. <material name="darkred">
  680. <color rgba=".5 .1 .1 1"/>
  681. </material>
  682. </visual>
  683. <collision>
  684. <origin rpy="0 0 0" xyz="0 0 -0.0535"/>
  685. <geometry>
  686. <cylinder length="0.107" radius="0.06"/>
  687. </geometry>
  688. </collision>
  689. <inertial>
  690. <origin rpy="0 0 0" xyz="-0.00276 0.00132 0.18086"/>
  691. <mass value="4.31272"/>
  692. <inertia ixx="0.02661733557" ixy="0.00029270634" ixz="0.00392189887" iyy="0.02844355207" iyz="0.0010838933" izz="0.01248008322"/>
  693. </inertial>
  694. </link>
  695. <link name="left_upper_elbow_visual">
  696. <collision>
  697. <origin rpy="0 0 0" xyz="0 0 0.1365"/>
  698. <geometry>
  699. <cylinder length="0.273" radius="0.06"/>
  700. </geometry>
  701. </collision>
  702. <inertial>
  703. <origin rpy="0 0 0" xyz="0 0 0"/>
  704. <mass value="0.0001"/>
  705. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  706. </inertial>
  707. </link>
  708. <link name="left_lower_elbow">
  709. <visual>
  710. <origin rpy="0 0 0" xyz="0 0 0"/>
  711. <geometry>
  712. <mesh filename="package://baxter_description/meshes/lower_elbow/E1.DAE"/>
  713. </geometry>
  714. <material name="darkred">
  715. <color rgba=".5 .1 .1 1"/>
  716. </material>
  717. </visual>
  718. <collision>
  719. <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
  720. <geometry>
  721. <cylinder length="0.10" radius="0.06"/>
  722. </geometry>
  723. </collision>
  724. <inertial>
  725. <origin rpy="0 0 0" xyz="0.02611 0.00159 -0.01117"/>
  726. <mass value="2.07206"/>
  727. <inertia ixx="0.00711582686" ixy="0.00036036173" ixz="0.0007459496" iyy="0.01318227876" iyz="-0.00019663418" izz="0.00926852064"/>
  728. </inertial>
  729. </link>
  730. <link name="left_upper_forearm">
  731. <visual>
  732. <origin rpy="0 0 0" xyz="0 0 0"/>
  733. <geometry>
  734. <mesh filename="package://baxter_description/meshes/upper_forearm/W0.DAE"/>
  735. </geometry>
  736. <material name="darkred">
  737. <color rgba=".5 .1 .1 1"/>
  738. </material>
  739. </visual>
  740. <collision>
  741. <origin rpy="0 0 0" xyz="0 0 -0.044"/>
  742. <geometry>
  743. <cylinder length="0.088" radius="0.06"/>
  744. </geometry>
  745. </collision>
  746. <inertial>
  747. <origin rpy="0 0 0" xyz="-0.00168 0.0046 0.13952"/>
  748. <mass value="2.24665"/>
  749. <inertia ixx="0.01667742825" ixy="0.00018403705" ixz="0.00018657629" iyy="0.01675457264" iyz="-0.00064732352" izz="0.0037463115"/>
  750. </inertial>
  751. </link>
  752. <link name="left_upper_forearm_visual">
  753. <collision>
  754. <origin rpy="0 0 0" xyz="0 0 0.136"/>
  755. <geometry>
  756. <cylinder length="0.272" radius="0.06"/>
  757. </geometry>
  758. </collision>
  759. <inertial>
  760. <origin rpy="0 0 0" xyz="0 0 0"/>
  761. <mass value="0.0001"/>
  762. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  763. </inertial>
  764. </link>
  765. <link name="left_arm_itb">
  766. <inertial>
  767. <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
  768. <mass value="0.0001"/>
  769. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  770. </inertial>
  771. </link>
  772. <link name="left_lower_forearm">
  773. <visual>
  774. <origin rpy="0 0 0" xyz="0 0 0"/>
  775. <geometry>
  776. <mesh filename="package://baxter_description/meshes/lower_forearm/W1.DAE"/>
  777. </geometry>
  778. <material name="darkred">
  779. <color rgba=".5 .1 .1 1"/>
  780. </material>
  781. </visual>
  782. <collision>
  783. <origin rpy="0 0 0" xyz="0 0 0"/>
  784. <geometry>
  785. <cylinder length="0.10" radius="0.06"/>
  786. </geometry>
  787. </collision>
  788. <inertial>
  789. <origin rpy="0 0 0" xyz="0.06041 0.00697 0.006"/>
  790. <mass value="1.60979"/>
  791. <inertia ixx="0.00387607152" ixy="-0.00044384784" ixz="-0.00021115038" iyy="0.00700537914" iyz="0.00015348067" izz="0.0055275524"/>
  792. </inertial>
  793. </link>
  794. <link name="left_wrist">
  795. <visual>
  796. <origin rpy="0 0 0" xyz="0 0 0"/>
  797. <geometry>
  798. <mesh filename="package://baxter_description/meshes/wrist/W2.DAE"/>
  799. </geometry>
  800. <material name="lightgrey">
  801. <color rgba=".1 .1 .1 1"/>
  802. </material>
  803. </visual>
  804. <collision>
  805. <origin rpy="0 0 0" xyz="0 0 0"/>
  806. <geometry>
  807. <cylinder length="0.165" radius="0.06"/>
  808. </geometry>
  809. </collision>
  810. <inertial>
  811. <origin rpy="0 0 0" xyz="0.00198 0.00125 0.01855"/>
  812. <mass value="0.35093"/>
  813. <inertia ixx="0.00025289155" ixy="0.00000575311" ixz="-0.00000159345" iyy="0.0002688601" iyz="-0.00000519818" izz="0.0003074118"/>
  814. </inertial>
  815. </link>
  816. <link name="left_hand">
  817. <collision>
  818. <origin rpy="0 0 0" xyz="0 0 -0.0232"/>
  819. <geometry>
  820. <cylinder length="0.0464" radius="0.04"/>
  821. </geometry>
  822. </collision>
  823. <inertial>
  824. <origin rpy="0 0 0" xyz="0.01093 0.00042 -0.01532"/>
  825. <mass value="0.19125"/>
  826. <inertia ixx="0.00017588" ixy="0.00000147073" ixz="0.0000243633" iyy="0.00021166377" iyz="0.00000172689" izz="0.00023745397"/>
  827. </inertial>
  828. </link>
  829. <link name="left_hand_camera">
  830. <visual>
  831. <origin rpy="0 0 0" xyz="0 0 0"/>
  832. <geometry>
  833. <cylinder length="0.01" radius="0.02"/>
  834. </geometry>
  835. <material name="blue">
  836. <color rgba="0 0 1 0.8"/>
  837. </material>
  838. </visual>
  839. <inertial>
  840. <origin rpy="0 0 0" xyz="0 0 0"/>
  841. <mass value="0.0001"/>
  842. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  843. </inertial>
  844. </link>
  845. <link name="left_hand_camera_axis">
  846. <inertial>
  847. <origin rpy="0 0 0" xyz="0 0 0"/>
  848. <mass value="0.0001"/>
  849. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  850. </inertial>
  851. </link>
  852. <link name="left_hand_range">
  853. <visual>
  854. <origin rpy="0 0 0" xyz="0 0 0"/>
  855. <geometry>
  856. <box size="0.005 .02 .005"/>
  857. </geometry>
  858. <material name="blue">
  859. <color rgba="0 0 1 0.8"/>
  860. </material>
  861. </visual>
  862. <inertial>
  863. <origin rpy="0 0 0" xyz="0 0 0"/>
  864. <mass value="0.0001"/>
  865. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  866. </inertial>
  867. </link>
  868. <link name="left_hand_accelerometer">
  869. <visual>
  870. <origin rpy="0 0 0" xyz="0 0 0"/>
  871. <geometry>
  872. <box size="0.01 0.01 0.01"/>
  873. </geometry>
  874. <material name="black">
  875. <color rgba="0 0 0 1"/>
  876. </material>
  877. </visual>
  878. <inertial>
  879. <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
  880. <mass value="0.0001"/>
  881. <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
  882. </inertial>
  883. </link>
  884. <joint name="left_torso_arm_mount" type="fixed">
  885. <origin rpy="0 0 0.7854" xyz="0.024645 0.219645 0.118588"/>
  886. <parent link="torso"/>
  887. <child link="left_arm_mount"/>
  888. </joint>
  889. <joint name="left_s0" type="revolute">
  890. <origin rpy="0 0 0" xyz="0.055695 0 0.011038"/>
  891. <axis xyz="0 0 1"/>
  892. <parent link="left_arm_mount"/>
  893. <child link="left_upper_shoulder"/>
  894. <limit effort="50.0" lower="-1.70167993878" upper="1.70167993878" velocity="1.5"/>
  895. <dynamics damping="15.0" friction="0.0"/>
  896. </joint>
  897. <joint name="left_s1" type="revolute">
  898. <origin rpy="-1.57079632679 0 0" xyz="0.069 0 0.27035"/>
  899. <axis xyz="0 0 1"/>
  900. <parent link="left_upper_shoulder"/>
  901. <child link="left_lower_shoulder"/>
  902. <limit effort="50.0" lower="-2.147" upper="1.047" velocity="1.5"/> od -123.014 deg do 59.988 deg
  903. <dynamics damping="15.0" friction="0.0"/>
  904. </joint>
  905. <joint name="left_e0" type="revolute">
  906. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.102 0 0"/>
  907. <axis xyz="0 0 1"/>
  908. <parent link="left_lower_shoulder"/>
  909. <child link="left_upper_elbow"/>
  910. <limit effort="50.0" lower="-3.05417993878" upper="3.05417993878" velocity="1.5"/>
  911. <dynamics damping="15.0" friction="0.0"/>
  912. </joint>
  913. <joint name="left_e0_fixed" type="fixed">
  914. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.107 0 0"/>
  915. <axis xyz="0 0 1"/>
  916. <parent link="left_lower_shoulder"/>
  917. <child link="left_upper_elbow_visual"/>
  918. </joint>
  919. <joint name="left_e1" type="revolute">
  920. <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.069 0 0.26242"/>
  921. <axis xyz="0 0 1"/>
  922. <parent link="left_upper_elbow"/>
  923. <child link="left_lower_elbow"/>
  924. <limit effort="50.0" lower="-0.05" upper="2.618" velocity="1.5"/>
  925. <dynamics damping="15.0" friction="0.0"/>
  926. </joint>
  927. <joint name="left_w0" type="revolute">
  928. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.10359 0 0"/>
  929. <axis xyz="0 0 1"/>
  930. <parent link="left_lower_elbow"/>
  931. <child link="left_upper_forearm"/>
  932. <limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
  933. <dynamics damping="15.0" friction="0.0"/>
  934. </joint>
  935. <joint name="left_w0_fixed" type="fixed">
  936. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.088 0 0"/>
  937. <axis xyz="0 0 1"/>
  938. <parent link="left_lower_elbow"/>
  939. <child link="left_upper_forearm_visual"/>
  940. </joint>
  941. <joint name="left_w0_to_itb_fixed" type="fixed">
  942. <origin rpy="-1.57079632679 0 1.57079632679" xyz="-0.0565 0 0.12"/>
  943. <axis xyz="0 0 1"/>
  944. <parent link="left_upper_forearm"/>
  945. <child link="left_arm_itb"/>
  946. </joint>
  947. <joint name="left_w1" type="revolute">
  948. <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.01 0 0.2707"/>
  949. <axis xyz="0 0 1"/>
  950. <parent link="left_upper_forearm"/>
  951. <child link="left_lower_forearm"/>
  952. <limit effort="15.0" lower="-1.57079632679" upper="2.094" velocity="4.0"/>
  953. <dynamics damping="15.0" friction="0.0"/>
  954. </joint>
  955. <joint name="left_w2" type="revolute">
  956. <origin rpy="1.57079632679 0 1.57079632679" xyz="0.115975 0 0"/>
  957. <axis xyz="0 0 1"/>
  958. <parent link="left_lower_forearm"/>
  959. <child link="left_wrist"/>
  960. <limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
  961. <dynamics damping="15.0" friction="0.0"/>
  962. </joint>
  963. <!-- <joint name="left_hand" type="fixed"> -->
  964. <joint name="left_hand_jnt" type="fixed">
  965. <origin rpy="0 0 0" xyz="0 0 0.11355"/>
  966. <axis xyz="0 0 1"/>
  967. <parent link="left_wrist"/>
  968. <child link="left_hand"/>
  969. </joint>
  970. <!-- <joint name="left_hand_camera" type="fixed"> -->
  971. <joint name="left_hand_camera_jnt" type="fixed">
  972. <origin rpy="0 0 -1.57079633" xyz="0.03825 0.012 0.015355"/>
  973. <parent link="left_hand"/>
  974. <child link="left_hand_camera"/>
  975. </joint>
  976. <!-- <joint name="left_hand_camera_axis" type="fixed"> -->
  977. <joint name="left_hand_camera_axis_jnt" type="fixed">
  978. <origin rpy="0 0 0" xyz="0.03825 0.012 0.015355"/>
  979. <parent link="left_hand"/>
  980. <child link="left_hand_camera_axis"/>
  981. </joint>
  982. <!-- <joint name="left_hand_range" type="fixed"> -->
  983. <joint name="left_hand_range_jnt" type="fixed">
  984. <origin rpy="0 -1.57079632679 -1.57079632679" xyz="0.032 -0.020245 0.0288"/>
  985. <parent link="left_hand"/>
  986. <child link="left_hand_range"/>
  987. </joint>
  988. <!-- <joint name="left_hand_accelerometer" type="fixed"> -->
  989. <joint name="left_hand_accelerometer_jnt" type="fixed">
  990. <origin rpy="0 0 0" xyz="0.00198 0.000133 -0.0146"/>
  991. <parent link="left_hand"/>
  992. <child link="left_hand_accelerometer"/>
  993. </joint>
  994. <link name="pedestal">
  995. <visual>
  996. <origin rpy="0 0 0" xyz="0 0 0"/>
  997. <geometry>
  998. <mesh filename="package://baxter_description/meshes/base/PEDESTAL.DAE"/>
  999. </geometry>
  1000. <material name="darkgray">
  1001. <color rgba=".2 .2 .2 1"/>
  1002. </material>
  1003. </visual>
  1004. <collision>
  1005. <origin rpy="0 0 0" xyz="0 0 0"/>
  1006. <geometry>
  1007. <mesh filename="package://baxter_description/meshes/base/pedestal_link_collision.DAE"/>
  1008. </geometry>
  1009. </collision>
  1010. <inertial>
  1011. <origin rpy="0 0 0" xyz="0 0 0"/>
  1012. <mass value="60.86397744"/>
  1013. <inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
  1014. </inertial>
  1015. </link>
  1016. <joint name="pedestal_fixed" type="fixed">
  1017. <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
  1018. <parent link="torso"/>
  1019. <child link="pedestal"/>
  1020. </joint>
  1021. <!-- Base of end effector -->
  1022. <link name="left_gripper_base">
  1023. <visual>
  1024. <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0 0"/>
  1025. <geometry>
  1026. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE"/> -->
  1027. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/electric_gripper_base.DAE"/>
  1028. </geometry>
  1029. </visual>
  1030. <collision>
  1031. <origin rpy="-1.57079632679 3.14159265359 0" xyz="0.0 0.0 0"/>
  1032. <geometry>
  1033. <cylinder length="0.1" radius="0.029"/>
  1034. </geometry>
  1035. <material name="darkred">
  1036. <color rgba=".5 .1 .1 1"/>
  1037. </material>
  1038. </collision>
  1039. <inertial>
  1040. <origin rpy="-1.57079632679 3.14159265359 0" xyz="0.0 0.0 0.0"/>
  1041. <mass value="0.3"/>
  1042. <inertia ixx="2e-08" ixy="0" ixz="0" iyy="3e-08" iyz="0" izz="2e-08"/>
  1043. </inertial>
  1044. </link>
  1045. <link name="l_gripper_l_finger">
  1046. <visual>
  1047. <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
  1048. <geometry>
  1049. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE"/> -->
  1050. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/extended_narrow.DAE"/>
  1051. </geometry>
  1052. </visual>
  1053. <collision>
  1054. <origin rpy="0 0 -3.14159265359" xyz="0 0.01725 0.0615"/>
  1055. <geometry>
  1056. <box size="0.01 0.0135 0.1127"/>
  1057. </geometry>
  1058. </collision>
  1059. <collision>
  1060. <origin rpy="0 0 -3.14159265359" xyz="-0.005 -0.003 0.0083"/>
  1061. <geometry>
  1062. <box size="0.01 0.05 0.017"/>
  1063. </geometry>
  1064. </collision>
  1065. <inertial>
  1066. <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
  1067. <mass value="0.02"/>
  1068. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1069. </inertial>
  1070. </link>
  1071. <gazebo reference="l_gripper_l_finger">
  1072. <mu1>1000</mu1>
  1073. <mu2>1000</mu2>
  1074. <fdir1>0.0 0.0 1.0</fdir1>
  1075. <kp>1e5</kp>
  1076. <kd>1.0</kd>
  1077. </gazebo>
  1078. <link name="l_gripper_l_finger_tip">
  1079. <visual>
  1080. <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
  1081. <geometry>
  1082. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE"/> -->
  1083. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/paddle_tip.DAE"/>
  1084. </geometry>
  1085. </visual>
  1086. <collision>
  1087. <origin rpy="0 0 3.14159265359" xyz="0 -0.0045 -0.015"/>
  1088. <geometry>
  1089. <box size="0.042 0.0065 0.037"/>
  1090. </geometry>
  1091. </collision>
  1092. <inertial>
  1093. <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
  1094. <mass value="0.01"/>
  1095. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1096. </inertial>
  1097. </link>
  1098. <joint name="l_gripper_l_finger_tip_joint" type="fixed">
  1099. <origin rpy="0 0 0" xyz="0.0 0.01725 0.1127"/>
  1100. <parent link="l_gripper_l_finger"/>
  1101. <child link="l_gripper_l_finger_tip"/>
  1102. </joint>
  1103. <link name="l_gripper_r_finger">
  1104. <visual>
  1105. <origin rpy="0 0 -0.0" xyz="0 0 0"/>
  1106. <geometry>
  1107. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE"/> -->
  1108. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/extended_narrow.DAE"/>
  1109. </geometry>
  1110. </visual>
  1111. <collision>
  1112. <origin rpy="0 0 -0.0" xyz="0 -0.01725 0.0615"/>
  1113. <geometry>
  1114. <box size="0.01 0.0135 0.1127"/>
  1115. </geometry>
  1116. </collision>
  1117. <collision>
  1118. <origin rpy="0 0 -0.0" xyz="0.005 0.003 0.0083"/>
  1119. <geometry>
  1120. <box size="0.01 0.05 0.017"/>
  1121. </geometry>
  1122. </collision>
  1123. <inertial>
  1124. <origin rpy="0 0 -0.0" xyz="0 0 0"/>
  1125. <mass value="0.02"/>
  1126. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1127. </inertial>
  1128. </link>
  1129. <gazebo reference="l_gripper_r_finger">
  1130. <mu1>1000</mu1>
  1131. <mu2>1000</mu2>
  1132. <fdir1>0.0 0.0 1.0</fdir1>
  1133. <kp>1e5</kp>
  1134. <kd>1.0</kd>
  1135. </gazebo>
  1136. <link name="l_gripper_r_finger_tip">
  1137. <visual>
  1138. <origin rpy="0 0 0.0" xyz="0 0 0"/>
  1139. <geometry>
  1140. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE"/> -->
  1141. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/paddle_tip.DAE"/>
  1142. </geometry>
  1143. </visual>
  1144. <collision>
  1145. <origin rpy="0 0 0.0" xyz="0 0.0045 -0.015"/>
  1146. <geometry>
  1147. <box size="0.042 0.0065 0.037"/>
  1148. </geometry>
  1149. </collision>
  1150. <inertial>
  1151. <origin rpy="0 0 0.0" xyz="0 0 0"/>
  1152. <mass value="0.01"/>
  1153. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1154. </inertial>
  1155. </link>
  1156. <joint name="l_gripper_r_finger_tip_joint" type="fixed">
  1157. <origin rpy="0 0 0" xyz="0.0 -0.01725 0.1127"/>
  1158. <parent link="l_gripper_r_finger"/>
  1159. <child link="l_gripper_r_finger_tip"/>
  1160. </joint>
  1161. <!-- Electric Gripper Base Joint -->
  1162. <!-- <joint name="left_gripper_base" type="fixed"> -->
  1163. <joint name="left_gripper_base_jnt" type="fixed">
  1164. <origin rpy="0 0 0" xyz="0 0 0.025"/>
  1165. <parent link="left_hand"/>
  1166. <child link="left_gripper_base"/>
  1167. </joint>
  1168. <!-- Electric Gripper Tip joint -->
  1169. <joint name="left_endpoint" type="fixed">
  1170. <origin rpy="0 0 0" xyz="0 0 0.1327"/>
  1171. <parent link="left_gripper_base"/>
  1172. <child link="left_gripper"/>
  1173. </joint>
  1174. <!-- Electric Gripper Tip link -->
  1175. <link name="left_gripper">
  1176. <inertial>
  1177. <origin rpy="0 0 0" xyz="0 0 0"/>
  1178. <mass value="0.0001"/>
  1179. <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.0"/>
  1180. </inertial>
  1181. </link>
  1182. <joint name="l_gripper_l_finger_joint" type="prismatic">
  1183. <origin rpy="0 0 0" xyz="0.0 -0.0015 0.02"/>
  1184. <axis xyz="0 1 0"/>
  1185. <parent link="left_gripper_base"/>
  1186. <child link="l_gripper_l_finger"/>
  1187. <limit effort="20.0" lower="0.0" upper="0.020833" velocity="5.0"/>
  1188. <dynamics damping="15.0" friction="0.0"/>
  1189. </joint>
  1190. <joint name="l_gripper_r_finger_joint" type="prismatic">
  1191. <origin rpy="0 0 0" xyz="0.0 0.0015 0.02"/>
  1192. <axis xyz="0 1 0"/>
  1193. <parent link="left_gripper_base"/>
  1194. <child link="l_gripper_r_finger"/>
  1195. <limit effort="20.0" lower="-0.020833" upper="0.0" velocity="5.0"/>
  1196. <mimic joint="l_gripper_l_finger_joint" multiplier="-1.0"/>
  1197. <dynamics damping="15.0" friction="0.0"/>
  1198. </joint>
  1199. <transmission name="gripper_left1">
  1200. <type>transmission_interface/SimpleTransmission</type>
  1201. <joint name="l_gripper_r_finger_joint">
  1202. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1203. </joint>
  1204. <actuator name="gripper_l1_motor1">
  1205. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1206. <mechanicalReduction>1</mechanicalReduction>
  1207. </actuator>
  1208. </transmission>
  1209. <transmission name="gripper_left2">
  1210. <type>transmission_interface/SimpleTransmission</type>
  1211. <joint name="l_gripper_l_finger_joint">
  1212. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1213. </joint>
  1214. <actuator name="gripper_l1_motor2">
  1215. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1216. <mechanicalReduction>1</mechanicalReduction>
  1217. </actuator>
  1218. </transmission>
  1219. <gazebo reference="l_gripper_r_finger_joint">
  1220. <implicitSpringDamper>1</implicitSpringDamper>
  1221. </gazebo>
  1222. <gazebo reference="l_gripper_l_finger_joint">
  1223. <implicitSpringDamper>1</implicitSpringDamper>
  1224. </gazebo>
  1225. <!-- Base of end effector -->
  1226. <link name="right_gripper_base">
  1227. <visual>
  1228. <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0 0"/>
  1229. <geometry>
  1230. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE"/> -->
  1231. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/electric_gripper_base.DAE"/>
  1232. </geometry>
  1233. </visual>
  1234. <collision>
  1235. <origin rpy="-1.57079632679 3.14159265359 0" xyz="0.0 0.0 0"/>
  1236. <geometry>
  1237. <cylinder length="0.1" radius="0.029"/>
  1238. </geometry>
  1239. <material name="darkred">
  1240. <color rgba=".5 .1 .1 1"/>
  1241. </material>
  1242. </collision>
  1243. <inertial>
  1244. <origin rpy="-1.57079632679 3.14159265359 0" xyz="0.0 0.0 0.0"/>
  1245. <mass value="0.3"/>
  1246. <inertia ixx="2e-08" ixy="0" ixz="0" iyy="3e-08" iyz="0" izz="2e-08"/>
  1247. </inertial>
  1248. </link>
  1249. <link name="r_gripper_l_finger">
  1250. <visual>
  1251. <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
  1252. <geometry>
  1253. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE"/> -->
  1254. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/extended_narrow.DAE"/>
  1255. </geometry>
  1256. </visual>
  1257. <collision>
  1258. <origin rpy="0 0 -3.14159265359" xyz="0 0.01725 0.0615"/>
  1259. <geometry>
  1260. <box size="0.01 0.0135 0.1127"/>
  1261. </geometry>
  1262. </collision>
  1263. <collision>
  1264. <origin rpy="0 0 -3.14159265359" xyz="-0.005 -0.003 0.0083"/>
  1265. <geometry>
  1266. <box size="0.01 0.05 0.017"/>
  1267. </geometry>
  1268. </collision>
  1269. <inertial>
  1270. <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
  1271. <mass value="0.02"/>
  1272. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1273. </inertial>
  1274. </link>
  1275. <gazebo reference="r_gripper_l_finger">
  1276. <mu1>1000</mu1>
  1277. <mu2>1000</mu2>
  1278. <fdir1>0.0 0.0 1.0</fdir1>
  1279. <kp>1e5</kp>
  1280. <kd>1.0</kd>
  1281. </gazebo>
  1282. <link name="r_gripper_l_finger_tip">
  1283. <visual>
  1284. <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
  1285. <geometry>
  1286. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE"/> -->
  1287. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/half_round_tip.DAE"/>
  1288. </geometry>
  1289. </visual>
  1290. <collision>
  1291. <origin rpy="0 0 3.14159265359" xyz="0 -0.0045 -0.015"/>
  1292. <geometry>
  1293. <cylinder length="0.037" radius="0.008"/>
  1294. </geometry>
  1295. </collision>
  1296. <inertial>
  1297. <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
  1298. <mass value="0.01"/>
  1299. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1300. </inertial>
  1301. </link>
  1302. <joint name="r_gripper_l_finger_tip_joint" type="fixed">
  1303. <origin rpy="0 0 0" xyz="0.0 0.01725 0.1127"/>
  1304. <parent link="r_gripper_l_finger"/>
  1305. <child link="r_gripper_l_finger_tip"/>
  1306. </joint>
  1307. <link name="r_gripper_r_finger">
  1308. <visual>
  1309. <origin rpy="0 0 -0.0" xyz="0 0 0"/>
  1310. <geometry>
  1311. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE"/> -->
  1312. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/extended_narrow.DAE"/>
  1313. </geometry>
  1314. </visual>
  1315. <collision>
  1316. <origin rpy="0 0 -0.0" xyz="0 -0.01725 0.0615"/>
  1317. <geometry>
  1318. <box size="0.01 0.0135 0.1127"/>
  1319. </geometry>
  1320. </collision>
  1321. <collision>
  1322. <origin rpy="0 0 -0.0" xyz="0.005 0.003 0.0083"/>
  1323. <geometry>
  1324. <box size="0.01 0.05 0.017"/>
  1325. </geometry>
  1326. </collision>
  1327. <inertial>
  1328. <origin rpy="0 0 -0.0" xyz="0 0 0"/>
  1329. <mass value="0.02"/>
  1330. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1331. </inertial>
  1332. </link>
  1333. <gazebo reference="r_gripper_r_finger">
  1334. <mu1>1000</mu1>
  1335. <mu2>1000</mu2>
  1336. <fdir1>0.0 0.0 1.0</fdir1>
  1337. <kp>1e5</kp>
  1338. <kd>1.0</kd>
  1339. </gazebo>
  1340. <link name="r_gripper_r_finger_tip">
  1341. <visual>
  1342. <origin rpy="0 0 0.0" xyz="0 0 0"/>
  1343. <geometry>
  1344. <!-- <mesh filename="package://rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE"/> -->
  1345. <mesh filename="file://$(find rethink_ee_description)/meshes/electric_gripper/fingers/half_round_tip.DAE"/>
  1346. </geometry>
  1347. </visual>
  1348. <collision>
  1349. <origin rpy="0 0 0.0" xyz="0 0.0045 -0.015"/>
  1350. <geometry>
  1351. <cylinder length="0.037" radius="0.008"/>
  1352. </geometry>
  1353. </collision>
  1354. <inertial>
  1355. <origin rpy="0 0 0.0" xyz="0 0 0"/>
  1356. <mass value="0.01"/>
  1357. <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  1358. </inertial>
  1359. </link>
  1360. <joint name="r_gripper_r_finger_tip_joint" type="fixed">
  1361. <origin rpy="0 0 0" xyz="0.0 -0.01725 0.1127"/>
  1362. <parent link="r_gripper_r_finger"/>
  1363. <child link="r_gripper_r_finger_tip"/>
  1364. </joint>
  1365. <!-- Electric Gripper Base Joint -->
  1366. <!-- <joint name="right_gripper_base" type="fixed"> -->
  1367. <joint name="right_gripper_base_jnt" type="fixed">
  1368. <origin rpy="0 0 0" xyz="0 0 0.025"/>
  1369. <parent link="right_hand"/>
  1370. <child link="right_gripper_base"/>
  1371. </joint>
  1372. <!-- Electric Gripper Tip joint -->
  1373. <joint name="right_endpoint" type="fixed">
  1374. <origin rpy="0 0 0" xyz="0 0 0.1327"/>
  1375. <parent link="right_gripper_base"/>
  1376. <child link="right_gripper"/>
  1377. </joint>
  1378. <!-- Electric Gripper Tip link -->
  1379. <link name="right_gripper">
  1380. <inertial>
  1381. <origin rpy="0 0 0" xyz="0 0 0"/>
  1382. <mass value="0.0001"/>
  1383. <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.0"/>
  1384. </inertial>
  1385. </link>
  1386. <joint name="r_gripper_l_finger_joint" type="prismatic">
  1387. <origin rpy="0 0 0" xyz="0.0 -0.0015 0.02"/>
  1388. <axis xyz="0 1 0"/>
  1389. <parent link="right_gripper_base"/>
  1390. <child link="r_gripper_l_finger"/>
  1391. <limit effort="20.0" lower="0.0" upper="0.020833" velocity="5.0"/>
  1392. <dynamics damping="15.0" friction="0.0"/>
  1393. </joint>
  1394. <joint name="r_gripper_r_finger_joint" type="prismatic">
  1395. <origin rpy="0 0 0" xyz="0.0 0.0015 0.02"/>
  1396. <axis xyz="0 1 0"/>
  1397. <parent link="right_gripper_base"/>
  1398. <child link="r_gripper_r_finger"/>
  1399. <limit effort="20.0" lower="-0.020833" upper="0.0" velocity="5.0"/>
  1400. <mimic joint="r_gripper_l_finger_joint" multiplier="-1.0"/>
  1401. <dynamics damping="15.0" friction="0.0"/>
  1402. </joint>
  1403. <transmission name="gripper_right1">
  1404. <type>transmission_interface/SimpleTransmission</type>
  1405. <joint name="r_gripper_r_finger_joint">
  1406. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1407. </joint>
  1408. <actuator name="gripper_r1_motor1">
  1409. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1410. <mechanicalReduction>1</mechanicalReduction>
  1411. </actuator>
  1412. </transmission>
  1413. <transmission name="gripper_right2">
  1414. <type>transmission_interface/SimpleTransmission</type>
  1415. <joint name="r_gripper_l_finger_joint">
  1416. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1417. </joint>
  1418. <actuator name="gripper_r1_motor2">
  1419. <hardwareInterface>EffortJointInterface</hardwareInterface>
  1420. <mechanicalReduction>1</mechanicalReduction>
  1421. </actuator>
  1422. </transmission>
  1423. <gazebo reference="r_gripper_r_finger_joint">
  1424. <implicitSpringDamper>1</implicitSpringDamper>
  1425. </gazebo>
  1426. <gazebo reference="r_gripper_l_finger_joint">
  1427. <implicitSpringDamper>1</implicitSpringDamper>
  1428. </gazebo>
  1429. </robot>
  1430.  
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