400 lines
17 KiB
XML
400 lines
17 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from wx250.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="wx250">
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<material name="interbotix_black">
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<texture filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/interbotix_black.png"/>
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</material>
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<link name="root"/>
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<joint name="root_joint" type="fixed">
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<origin rpy="0.7853981 0 0" xyz="0 0 0"/>
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<parent link="root"/>
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<child link="wx250/base_link"/>
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</joint>
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<link name="wx250/base_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_1_base.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0.45"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_1_base.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="-0.0380446000 0.0006138920 0.0193354000"/>
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<mass value="0.538736"/>
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<inertia ixx="0.0021150000" ixy="-0.0000163500" ixz="0.0000006998" iyy="0.0006921000" iyz="0.0000464200" izz="0.0025240000"/>
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</inertial>
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</link>
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<joint name="waist" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort="10" lower="-3.141582653589793" upper="3.141582653589793" velocity="3.141592653589793"/>
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<origin rpy="0 0 0" xyz="0 0 0.072"/>
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<parent link="wx250/base_link"/>
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<child link="wx250/shoulder_link"/>
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<dynamics friction="0.1"/>
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</joint>
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<transmission name="trans_waist">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="waist">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="waist_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<link name="wx250/shoulder_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 -0.003"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_2_shoulder.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 -0.003"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_2_shoulder.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="0.0000223482 0.0000414609 0.0066287000"/>
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<mass value="0.480879"/>
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<inertia ixx="0.0003790000" ixy="0.0000000022" ixz="-0.0000003561" iyy="0.0005557000" iyz="0.0000012245" izz="0.0005889000"/>
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</inertial>
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</link>
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<joint name="shoulder" type="revolute">
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<axis xyz="0 1 0"/>
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<limit effort="20" lower="-1.8849555921538759" upper="1.9896753472735358" velocity="3.141592653589793"/>
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<origin rpy="0 0 0" xyz="0 0 0.03865"/>
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<parent link="wx250/shoulder_link"/>
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<child link="wx250/upper_arm_link"/>
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<dynamics friction="0.1"/>
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</joint>
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<transmission name="trans_shoulder">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="shoulder">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="shoulder_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<link name="wx250/upper_arm_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_3_upper_arm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_3_upper_arm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="0.0171605000 0.0000002725 0.1913230000"/>
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<mass value="0.430811"/>
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<inertia ixx="0.0034630000" ixy="-0.0000000001" ixz="-0.0000000002" iyy="0.0035870000" iyz="0.0004272000" izz="0.0004566000"/>
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</inertial>
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</link>
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<joint name="elbow" type="revolute">
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<axis xyz="0 1 0"/>
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<limit effort="15" lower="-2.1467549799530254" upper="1.6057029118347832" velocity="3.141592653589793"/>
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<origin rpy="0 0 0" xyz="0.04975 0 0.25"/>
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<parent link="wx250/upper_arm_link"/>
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<child link="wx250/forearm_link"/>
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<dynamics friction="0.1"/>
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</joint>
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<transmission name="trans_elbow">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elbow">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="elbow_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<link name="wx250/forearm_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_4_forearm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_4_forearm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="0.1534230000 -0.0001179685 -0.0004390000"/>
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<mass value="0.297673"/>
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<inertia ixx="0.0021760000" ixy="-0.0000030658" ixz="0.0000000000" iyy="0.0000575700" iyz="0.0000000000" izz="0.0021860000"/>
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</inertial>
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</link>
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<joint name="wrist_angle" type="revolute">
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<axis xyz="0 1 0"/>
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<limit effort="5" lower="-1.7453292519943295" upper="2.1467549799530254" velocity="3.141592653589793"/>
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<origin rpy="0 0 0" xyz="0.25 0 0"/>
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<parent link="wx250/forearm_link"/>
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<child link="wx250/wrist_link"/>
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<dynamics friction="0.1"/>
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</joint>
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<transmission name="trans_wrist_angle">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="wrist_angle">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="wrist_angle_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<link name="wx250/wrist_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_5_wrist.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_5_wrist.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="0.0423600000 -0.0000106630 0.0105770000"/>
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<mass value="0.084957"/>
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<inertia ixx="0.0000308200" ixy="0.0000000191" ixz="0.0000000023" iyy="0.0000282200" iyz="0.0000025481" izz="0.0000315200"/>
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</inertial>
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</link>
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<joint name="wrist_rotate" type="revolute">
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<axis xyz="1 0 0"/>
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<limit effort="1" lower="-3.141582653589793" upper="3.141582653589793" velocity="3.141592653589793"/>
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<origin rpy="0 0 0" xyz="0.065 0 0"/>
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<parent link="wx250/wrist_link"/>
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<child link="wx250/gripper_link"/>
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<dynamics friction="0.1"/>
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</joint>
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<transmission name="trans_wrist_rotate">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="wrist_rotate">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="wrist_rotate_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<link name="wx250/gripper_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="-0.02 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_6_gripper.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="-0.02 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_6_gripper.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="0.0216310000 0.0000002516 0.0114100000"/>
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<mass value="0.072885"/>
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<inertia ixx="0.0000253700" ixy="0.0000000000" ixz="0.0000000000" iyy="0.0000183600" iyz="0.0000004340" izz="0.0000167400"/>
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</inertial>
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</link>
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<joint name="ee_arm" type="fixed">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0.043 0 0"/>
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<parent link="wx250/gripper_link"/>
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<child link="wx250/ee_arm_link"/>
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</joint>
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<link name="wx250/ee_arm_link">
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<inertial>
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<mass value="0.001"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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</link>
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<joint name="gripper" type="continuous">
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<axis xyz="1 0 0"/>
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<limit effort="1" velocity="3.141592653589793"/>
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<origin rpy="0 0 0" xyz="0.0055 0 0"/>
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<parent link="wx250/ee_arm_link"/>
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<child link="wx250/gripper_prop_link"/>
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<dynamics friction="0.1"/>
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</joint>
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<transmission name="trans_gripper">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="gripper">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="gripper_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<link name="wx250/gripper_prop_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_7_gripper_prop.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_7_gripper_prop.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="0.0008460000 -0.0000016817 0.0000420000"/>
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<mass value="0.00434"/>
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<inertia ixx="0.0000005923" ixy="0.0000000000" ixz="0.0000003195" iyy="0.0000011156" iyz="-0.0000000004" izz="0.0000005743"/>
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</inertial>
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</link>
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<!-- If the AR tag is being used, then add the AR tag mount -->
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<!-- If the gripper bar is being used, then also add the gripper bar -->
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<joint name="gripper_bar" type="fixed">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="wx250/ee_arm_link"/>
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<child link="wx250/gripper_bar_link"/>
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</joint>
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<link name="wx250/gripper_bar_link">
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<visual>
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<origin rpy="0 0 1.5707963267948966" xyz="-0.063 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_8_gripper_bar.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.5707963267948966" xyz="-0.063 0 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_8_gripper_bar.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 1.5707963267948966" xyz="0.0096870000 0.0000008177 0.0049620000"/>
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<mass value="0.034199"/>
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<inertia ixx="0.0000074125" ixy="-0.0000000008" ixz="-0.0000000006" iyy="0.0000284300" iyz="-0.0000013889" izz="0.0000286000"/>
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</inertial>
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</link>
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<joint name="ee_bar" type="fixed">
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<axis xyz="1 0 0"/>
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<origin rpy="0 0 0" xyz="0.023 0 0"/>
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<parent link="wx250/gripper_bar_link"/>
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<child link="wx250/fingers_link"/>
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</joint>
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<link name="wx250/fingers_link">
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<inertial>
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<mass value="0.001"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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</link>
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<!-- If the gripper fingers are being used, add those as well -->
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<joint name="left_finger" type="prismatic">
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<axis xyz="0 1 0"/>
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<limit effort="5" lower="0.015" upper="0.037" velocity="1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="wx250/fingers_link"/>
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<child link="wx250/left_finger_link"/>
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<dynamics friction="0.1"/>
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</joint>
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<transmission name="trans_left_finger">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="left_finger">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="left_finger_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<link name="wx250/left_finger_link">
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<visual>
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<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.005 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.005 0"/>
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<geometry>
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<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="3.141592653589793 3.141592653589793 1.5707963267948966" xyz="0.0138160000 0.0000000000 0.0000000000"/>
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<mass value="0.016246"/>
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<inertia ixx="0.0000047310" ixy="-0.0000004560" ixz="0.0000000000" iyy="0.0000015506" iyz="0.0000000000" izz="0.0000037467"/>
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</inertial>
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</link>
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<joint name="right_finger" type="prismatic">
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<axis xyz="0 1 0"/>
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<limit effort="5" lower="-0.037" upper="-0.015" velocity="1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="wx250/fingers_link"/>
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<child link="wx250/right_finger_link"/>
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<dynamics friction="0.1"/>
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<mimic joint="left_finger" multiplier="-1" offset="0"/>
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</joint>
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<transmission name="trans_right_finger">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="right_finger">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
|
|
<actuator name="right_finger_motor">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<link name="wx250/right_finger_link">
|
|
<visual>
|
|
<origin rpy="0 3.141592653589793 0" xyz="0 -0.005 0"/>
|
|
<geometry>
|
|
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="interbotix_black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 3.141592653589793 0" xyz="0 -0.005 0"/>
|
|
<geometry>
|
|
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/interbotix_xsarm_descriptions/meshes/wx250_meshes/wx250_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 3.141592653589793 1.5707963267948966" xyz="0.0138160000 0.0000000000 0.0000000000"/>
|
|
<mass value="0.016246"/>
|
|
<inertia ixx="0.0000047310" ixy="0.0000004560" ixz="0.0000000000" iyy="0.0000015506" iyz="0.0000000000" izz="0.0000037467"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="ee_gripper" type="fixed">
|
|
<axis xyz="1 0 0"/>
|
|
<origin rpy="0 0 0" xyz="0.027575 0 0"/>
|
|
<parent link="wx250/fingers_link"/>
|
|
<child link="wx250/ee_gripper_link"/>
|
|
</joint>
|
|
<link name="wx250/ee_gripper_link">
|
|
<inertial>
|
|
<mass value="0.001"/>
|
|
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
|
</inertial>
|
|
</link>
|
|
</robot>
|
|
|