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mycobot_description/urdf/adaptive_gripper/gripper_base.dae
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mycobot_description/urdf/adaptive_gripper/gripper_left1.dae
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mycobot_description/urdf/adaptive_gripper/gripper_left2.dae
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mycobot_description/urdf/adaptive_gripper/gripper_left3.dae
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mycobot_description/urdf/adaptive_gripper/gripper_right1.dae
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mycobot_description/urdf/adaptive_gripper/gripper_right2.dae
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mycobot_description/urdf/adaptive_gripper/gripper_right3.dae
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mycobot_description/urdf/adaptive_gripper/mycobot_adaptive_gripper.urdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,166 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" > | ||
|
|
||
| <xacro:property name="width" value=".2" /> | ||
|
|
||
| <link name="gripper_base"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_base.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_base.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_left1"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_left2"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_left3"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_right1"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_right2"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <link name="gripper_right3"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/> | ||
| </collision> | ||
| </link> | ||
|
|
||
|
|
||
| <joint name="gripper_controller" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_left3"/> | ||
| <origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_base_to_gripper_left2" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_left2"/> | ||
| <origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_left3_to_gripper_left1" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/> | ||
| <parent link="gripper_left3"/> | ||
| <child link="gripper_left1"/> | ||
| <origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="-1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_base_to_gripper_right3" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_right3"/> | ||
| <origin xyz= "0.012 0.005 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="-1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_base_to_gripper_right2" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/> | ||
| <parent link="gripper_base"/> | ||
| <child link="gripper_right2"/> | ||
| <origin xyz= "0.005 0.027 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="-1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| <joint name="gripper_right3_to_gripper_right1" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/> | ||
| <parent link="gripper_right3"/> | ||
| <child link="gripper_right1"/> | ||
| <origin xyz= "0.027 0.016 0" rpy = "0 0 0"/> | ||
| <mimic joint="gripper_controller" multiplier="1.0" offset="0" /> | ||
| </joint> | ||
|
|
||
| </robot> | ||
|
|
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