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gen3_robotiq_2f_85_modified.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from gen3_robotiq_2f_85.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="gen3_robotiq_2f_85">
<!-- Run the macros -->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
<mass value="1.697"/>
<inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="shoulder_link">
<inertial>
<origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
<mass value="1.3773"/>
<inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="continuous">
<origin rpy="3.1416 2.7629E-18 -4.9305E-36" xyz="0 0 0.15643"/>
<parent link="base_link"/>
<child link="shoulder_link"/>
<axis xyz="0 0 1"/>
<limit effort="39" velocity="1.3963"/>
</joint>
<link name="half_arm_1_link">
<inertial>
<origin rpy="0 0 0" xyz="-4.4E-05 -0.09958 -0.013278"/>
<mass value="1.1636"/>
<inertia ixx="0.011088" ixy="5E-06" ixz="0" iyy="0.001072" iyz="-0.000691" izz="0.011255"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="revolute">
<origin rpy="1.5708 2.1343E-17 -1.1102E-16" xyz="0 0.005375 -0.12838"/>
<parent link="shoulder_link"/>
<child link="half_arm_1_link"/>
<axis xyz="0 0 1"/>
<limit effort="39" lower="-2.41" upper="2.41" velocity="1.3963"/>
</joint>
<link name="half_arm_2_link">
<inertial>
<origin rpy="0 0 0" xyz="-4.4E-05 -0.006641 -0.117892"/>
<mass value="1.1636"/>
<inertia ixx="0.010932" ixy="0" ixz="-7E-06" iyy="0.011127" iyz="0.000606" izz="0.001043"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="continuous">
<origin rpy="-1.5708 1.2326E-32 -2.9122E-16" xyz="0 -0.21038 -0.006375"/>
<parent link="half_arm_1_link"/>
<child link="half_arm_2_link"/>
<axis xyz="0 0 1"/>
<limit effort="39" velocity="1.3963"/>
</joint>
<link name="forearm_link">
<inertial>
<origin rpy="0 0 0" xyz="-1.8E-05 -0.075478 -0.015006"/>
<mass value="0.9302"/>
<inertia ixx="0.008147" ixy="-1E-06" ixz="0" iyy="0.000631" iyz="-0.0005" izz="0.008316"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/forearm_link.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="revolute">
<origin rpy="1.5708 -6.6954E-17 -1.6653E-16" xyz="0 0.006375 -0.21038"/>
<parent link="half_arm_2_link"/>
<child link="forearm_link"/>
<axis xyz="0 0 1"/>
<limit effort="39" lower="-2.66" upper="2.66" velocity="1.3963"/>
</joint>
<link name="spherical_wrist_1_link">
<inertial>
<origin rpy="0 0 0" xyz="1E-06 -0.009432 -0.063883"/>
<mass value="0.6781"/>
<inertia ixx="0.001596" ixy="0" ixz="0" iyy="0.001607" iyz="0.000256" izz="0.000399"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="continuous">
<origin rpy="-1.5708 2.2204E-16 -6.373E-17" xyz="0 -0.20843 -0.006375"/>
<parent link="forearm_link"/>
<child link="spherical_wrist_1_link"/>
<axis xyz="0 0 1"/>
<limit effort="9" velocity="1.2218"/>
</joint>
<link name="spherical_wrist_2_link">
<inertial>
<origin rpy="0 0 0" xyz="1E-06 -0.045483 -0.00965"/>
<mass value="0.6781"/>
<inertia ixx="0.001641" ixy="0" ixz="0" iyy="0.00041" iyz="-0.000278" izz="0.001641"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="revolute">
<origin rpy="1.5708 9.2076E-28 -8.2157E-15" xyz="0 0.00017505 -0.10593"/>
<parent link="spherical_wrist_1_link"/>
<child link="spherical_wrist_2_link"/>
<axis xyz="0 0 1"/>
<limit effort="9" lower="-2.23" upper="2.23" velocity="1.2218"/>
</joint>
<link name="bracelet_link">
<inertial>
<origin rpy="0 0 0" xyz="0.000281 0.011402 -0.029798"/>
<mass value="0.5"/>
<inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_7" type="continuous">
<origin rpy="-1.5708 -5.5511E-17 9.6396E-17" xyz="0 -0.10593 -0.00017505"/>
<parent link="spherical_wrist_2_link"/>
<child link="bracelet_link"/>
<axis xyz="0 0 1"/>
<limit effort="9" velocity="1.2218"/>
</joint>
<link name="end_effector_link"/>
<joint name="end_effector" type="fixed">
<origin rpy="3.14159265358979 1.09937075168372E-32 0" xyz="0 0 -0.0615250000000001"/>
<parent link="bracelet_link"/>
<child link="end_effector_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="camera_link"/>
<joint name="camera_module" type="fixed">
<origin rpy="3.14159265358979 3.14159265358979 0" xyz="0 0.05639 -0.00305"/>
<parent link="end_effector_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="depth_module" type="fixed">
<origin rpy="3.14159265358979 3.14159265358979 0" xyz="0.0275 0.066 -0.00305"/>
<parent link="end_effector_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_color_frame"/>
<joint name="color_module" type="fixed">
<origin rpy="3.14159265358979 3.14159265358979 0" xyz="0 0.05639 -0.00305"/>
<parent link="end_effector_link"/>
<child link="camera_color_frame"/>
</joint>
<!-- This line was removed by Kinova because we replaced the transmission file with our own
<xacro:include filename="$(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" /> -->
<!-- Tool frame used by the arm -->
<link name="tool_frame"/>
<joint name="tool_frame_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.120"/>
<parent link="end_effector_link"/>
<child link="tool_frame"/>
<axis xyz="0 0 0"/>
</joint>
<!-- This joint was added by Kinova -->
<joint name="gripper_base_joint" type="fixed">
<parent link="end_effector_link"/>
<child link="robotiq_arg2f_base_link"/>
<origin rpy="0.0 0.0 1.57" xyz="0.0 0.0 0.0"/>
</joint>
<link name="robotiq_arg2f_base_link">
<inertial>
<origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
<mass value="0.22652"/>
<inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- The DAE file doesn't show well in Gazebo so we're using the STL instead -->
<!-- <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/> -->
<mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl"/>
</geometry>
</collision>
</link>
<gazebo reference="robotiq_arg2f_base_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- Transmissions are loaded in the generic kortex xacro when simulation is enabled -->
<!-- <xacro:robotiq_arg2f_transmission prefix="${prefix}"/> -->
</robot>