486 lines
17 KiB
XML
486 lines
17 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from rasmt.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="rasmt">
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<mujoco>
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<compiler balanceinertia="true" discardvisual="true" fusestatic="true" meshdir="../meshes_mjcf/" strippath="true"/>
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</mujoco>
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<link name="world"/>
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<joint name="to_world" type="fixed">
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<parent link="world"/>
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<child link="rasmt_Base_Link"/>
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<!--origin xyz="0 0 1.15" rpy="3.14159 0 3.14159"/-->
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="rasmt_Base_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.0030651 -3.2739E-05 0.082353"/>
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<mass value="5.2929"/>
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<inertia ixx="0.0076169" ixy="1.0121E-05" ixz="-0.00010622" iyy="0.0076597" iyz="6.5117E-05" izz="0.01165"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Base_Link.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Base_Link.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="rasmt_Fork_1">
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<inertial>
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<origin rpy="0 0 0" xyz="0.043764 -0.0066984 -0.032285"/>
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<mass value="0.67797"/>
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<inertia ixx="0.0014091" ixy="-6.2674E-05" ixz="0.00057897" iyy="0.0017329" iyz="4.7826E-05" izz="0.0019056"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Fork_1.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Fork_1.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Rot_Z_1" type="revolute">
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<origin rpy="-3.1416 0 0" xyz="0 0 0.2533"/>
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<parent link="rasmt_Base_Link"/>
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<child link="rasmt_Fork_1"/>
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<axis xyz="0 0 1"/>
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<limit effort="5.149" lower="-3.1416" upper="3.1416" velocity="0.99903"/>
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</joint>
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<link name="rasmt_Link_1">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00042264 0.0 0.075171"/>
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<mass value="1.8959"/>
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<inertia ixx="0.0029317" ixy="-9.417E-06" ixz="5.5248E-05" iyy="0.0031666" iyz="-9.3067E-05" izz="0.0015477"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Link_1.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Link_1.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Rot_Y_1" type="revolute">
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<origin rpy="3.1416 0 0" xyz="0.1045 0.0 -0.0795"/>
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<parent link="rasmt_Fork_1"/>
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<child link="rasmt_Link_1"/>
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<axis xyz="0 1 0"/>
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<limit effort="5.149" lower="-1.5707" upper="2.2863" velocity="0.99903"/>
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</joint>
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<link name="rasmt_Fork_2">
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<inertial>
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<origin rpy="0 0 0" xyz="0.043764 0.0066984 0.032285"/>
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<mass value="0.67797"/>
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<inertia ixx="0.0014091" ixy="6.2674E-05" ixz="-0.00057897" iyy="0.0017329" iyz="4.7826E-05" izz="0.0019056"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Fork_2.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Fork_2.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Rot_Z_2" type="revolute">
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<origin rpy="0 0 0" xyz="0 0.0 0.17502"/>
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<parent link="rasmt_Link_1"/>
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<child link="rasmt_Fork_2"/>
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<axis xyz="0 0 1"/>
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<limit effort="5.149" lower="-3.1416" upper="3.1416" velocity="0.99903"/>
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</joint>
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<link name="rasmt_Link_2">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00042264 0.0 0.075171"/>
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<mass value="1.8959"/>
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<inertia ixx="0.0029317" ixy="-9.4171E-06" ixz="5.5248E-05" iyy="0.0031666" iyz="-9.3067E-05" izz="0.0015477"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Link_2.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 0.75294 0.75294 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Link_2.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Rot_Y_2" type="revolute">
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<origin rpy="0 0 0" xyz="0.1045 0.0 0.0795"/>
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<parent link="rasmt_Fork_2"/>
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<child link="rasmt_Link_2"/>
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<axis xyz="0 1 0"/>
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<limit effort="5.149" lower="-1.5707" upper="2.2863" velocity="0.99903"/>
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</joint>
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<link name="rasmt_Fork_3">
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<inertial>
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<origin rpy="0 0 0" xyz="0.0437644555284691 0.00669835350471771 0.0322846229336455"/>
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<mass value="0.677972982551887"/>
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<inertia ixx="0.00140908677953665" ixy="6.26743492445164E-05" ixz="-0.000578970009504215" iyy="0.00173285340301686" iyz="4.78263030621606E-05" izz="0.00190561919128035"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Fork_3.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Fork_3.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Rot_Z_3" type="revolute">
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<origin rpy="0 0 0" xyz="0 0.0 0.175"/>
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<parent link="rasmt_Link_2"/>
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<child link="rasmt_Fork_3"/>
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<axis xyz="0 0 1"/>
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<limit effort="5.149" lower="-3.14159" upper="3.14159" velocity="0.99903"/>
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</joint>
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<link name="rasmt_Dock_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="1.08992929317431E-05 0.0 0.0566747528784688"/>
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<mass value="1.81040750781824"/>
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<inertia ixx="0.00136087225665183" ixy="-1.57915998142718E-06" ixz="-1.31398366941724E-06" iyy="0.00136397029450427" iyz="-0.00010058418524025" izz="0.00124273705160787"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Dock_Link.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Dock_Link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Rot_Y_4" type="revolute">
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<origin rpy="0 0 0" xyz="0.1045 0.0 0.0795"/>
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<parent link="rasmt_Fork_3"/>
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<child link="rasmt_Dock_Link"/>
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<axis xyz="0 1 0"/>
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<limit effort="5.149" lower="-1.5707" upper="2.2863" velocity="0.99903"/>
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</joint>
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<!-- ros_control-plugin -->
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<!-- <xacro:if value="${sim == 'gazebo'}">
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<gazebo>
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<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
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<parameters>$(find rasmt_support)/config/rasmt_effort_controllers.yaml</parameters>
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<robotNamespace>/${prefix}</robotNamespace>
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</plugin>
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</gazebo>
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</xacro:if> -->
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<gazebo>
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<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
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<parameters>/home/bill-finger/rasms_ws/install/share/rasmt_support/config/rasmt_effort_controllers.yaml</parameters>
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</plugin>
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</gazebo>
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<!-- <gazebo reference="${prefix}_Base_Link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<gazebo reference="${prefix}_Fork_1">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<gazebo reference="${prefix}_Link_1">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<gazebo reference="${prefix}_Fork_2">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<gazebo reference="${prefix}_Link_2">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<gazebo reference="${prefix}_Fork_3">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<gazebo reference="${prefix}_Dock_Link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo> -->
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<!-- arg for control mode -->
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<ros2_control name="rasmt_single_hi" type="system">
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<hardware>
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<plugin>ign_ros2_control/IgnitionSystem</plugin>
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</hardware>
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<joint name="rasmt_Rot_Z_1">
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<command_interface name="position">
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<!-- better to use radians as min max first -->
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rasmt_Rot_Y_1">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rasmt_Rot_Z_2">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rasmt_Rot_Y_2">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rasmt_Rot_Z_3">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="rasmt_Rot_Y_4">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max"> 1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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</ros2_control>
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<link name="rasmt_tool0"/>
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<joint name="rasmt_tool0_fixed" type="fixed">
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<parent link="rasmt_Dock_Link"/>
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<child link="rasmt_tool0"/>
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<origin rpy="0 0 0" xyz="0 0 0.12324"/>
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<axis xyz="0 0 0"/>
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</joint>
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<!--link name="${prefix}_tool_end_point"/>
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<joint name="${prefix}_tool_end_point_to_tool0" type="fixed">
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<parent link="${prefix}_Dock_Link"/>
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<child link="${prefix}_tool_end_point"/>
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<origin xyz="0 0 ${gripper_length+0.12324}" rpy="0 0 0"/>
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<axis xyz="0 0 0"/>
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</joint-->
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<link name="rasmt_Grip_Body">
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<inertial>
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<origin rpy="0 0 0" xyz="0.0016793 -0.00053126 -0.024041"/>
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<mass value="0.72351"/>
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<inertia ixx="0.00045979" ixy="-2.1983E-08" ixz="-6.5154E-06" iyy="0.00048572" iyz="8.3162E-07" izz="0.00082469"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Grip_Body.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.50196 1 0.50196 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Grip_Body.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Fix" type="fixed">
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<origin rpy="-3.14159265358979 0 0" xyz="0 0.0 0.12324"/>
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<parent link="rasmt_Dock_Link"/>
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<child link="rasmt_Grip_Body"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="rasmt_Grip_L">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.010118 0.010281 -0.0038252"/>
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<mass value="0.021223"/>
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<inertia ixx="6.5436E-06" ixy="-3.114E-06" ixz="2.8479E-06" iyy="1.9726E-05" iyz="1.6432E-06" izz="1.6355E-05"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.02 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/visual/Grip_L.dae"/>
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</geometry>
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<material name="">
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<color rgba="0.75294 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.02 0 0"/>
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<geometry>
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<mesh filename="package://rasmt_support/meshes/collision/Grip_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="rasmt_Slide_1" type="prismatic">
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<origin rpy="3.1416 0 -1.5708" xyz="0 0 -0.09305"/>
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<parent link="rasmt_Grip_Body"/>
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<child link="rasmt_Grip_L"/>
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<axis xyz="1 0 0"/>
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<limit effort="20" lower="0.0" upper="0.06" velocity="0.2"/>
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</joint>
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<link name="rasmt_Grip_R">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.010118 0.010281 -0.0038252"/>
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<mass value="0.021223"/>
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<inertia ixx="6.5436E-06" ixy="-3.114E-06" ixz="2.8479E-06" iyy="1.9726E-05" iyz="1.6432E-06" izz="1.6355E-05"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.02 0 0"/>
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<geometry>
|
|
<mesh filename="package://rasmt_support/meshes/visual/Grip_R.dae"/>
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.75294 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.02 0 0"/>
|
|
<geometry>
|
|
<mesh filename="package://rasmt_support/meshes/collision/Grip_R.STL"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="rasmt_Slide_2" type="prismatic">
|
|
<origin rpy="3.1416 0 1.5708" xyz="0 0 -0.09305"/>
|
|
<parent link="rasmt_Grip_Body"/>
|
|
<child link="rasmt_Grip_R"/>
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="20" lower="0.0" upper="0.06" velocity="0.2"/>
|
|
<!--mimic joint="${prefix}_Slide_1"/-->
|
|
</joint>
|
|
<!-- arg for control mode -->
|
|
<ros2_control name="rasmt_hand_hi" type="system">
|
|
<hardware>
|
|
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
|
</hardware>
|
|
<joint name="rasmt_Slide_1">
|
|
<command_interface name="position">
|
|
<!-- better to use radians as min max first -->
|
|
<param name="min">0</param>
|
|
<param name="max">10</param>
|
|
</command_interface>
|
|
<state_interface name="position"/>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
<joint name="rasmt_Slide_2">
|
|
<!-- <param name="mimic">${prefix}_Slide_1</param>
|
|
<param name="multiplier">1</param> -->
|
|
<command_interface name="position">
|
|
<param name="min">0</param>
|
|
<param name="max">10</param>
|
|
</command_interface>
|
|
<state_interface name="position"/>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
</ros2_control>
|
|
<!-- ros_control-plugin -->
|
|
<!--gazebo>
|
|
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
|
|
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
|
|
<parameters>$(find rasmt_support)/config/rasmt_hand_controllers.yaml</parameters>
|
|
<robotNamespace>/${prefix}</robotNamespace>
|
|
</plugin>
|
|
</gazebo-->
|
|
<!-- <gazebo reference="${prefix}_Grip_Body">
|
|
<mu1>0.2</mu1>
|
|
<mu2>0.2</mu2>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo>
|
|
|
|
<gazebo reference="${prefix}_Grip_L">
|
|
<mu1>0.2</mu1>
|
|
<mu2>0.2</mu2>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo>
|
|
|
|
<gazebo reference="${prefix}_Grip_R">
|
|
<mu1>0.2</mu1>
|
|
<mu2>0.2</mu2>
|
|
<turnGravityOff>true</turnGravityOff>
|
|
</gazebo> -->
|
|
</robot>
|