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Commit 84b10333 authored by Carlos Mastalli's avatar Carlos Mastalli
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Added the URDF of the left-arm

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="arm_left_1_link">
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
<!-- <mass value="1.52896"/> -->
<mass value="1.42896"/>
<inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="arm_left_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
<!-- <mass value="1.77729"/> -->
<mass value="1.67729"/>
<inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_2_joint" type="revolute">
<parent link="arm_left_1_link"/>
<child link="arm_left_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
<axis xyz="1 0 0"/>
<limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
</joint>
<link name="arm_left_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
<!-- <mass value="1.57029"/> -->
<mass value="1.47029"/>
<inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_3_joint" type="revolute">
<parent link="arm_left_2_link"/>
<child link="arm_left_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0 0 1"/>
<limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
</joint>
<!--************************-->
<!-- ELBOW -->
<!--************************-->
<link name="arm_left_4_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
<!-- <mass value="1.20216"/> -->
<mass value="1.10216"/>
<inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_4_joint" type="revolute">
<parent link="arm_left_3_link"/>
<child link="arm_left_4_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
<axis xyz="0 1 0"/>
<limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
</joint>
<gazebo reference="arm_left_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="arm_left_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="arm_left_3_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="arm_left_4_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="arm_left_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="arm_left_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="arm_left_3_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="arm_left_4_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!--************************-->
<!-- WRIST -->
<!--************************-->
<!--************************-->
<!-- WRIST -->
<!--************************-->
<link name="arm_left_5_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
<!-- <mass value="1.87792"/> -->
<mass value="1.77792"/>
<inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_5_joint" type="revolute">
<parent link="arm_left_4_link"/>
<child link="arm_left_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
<axis xyz="0 0 1"/>
<limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
</joint>
<link name="arm_left_6_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
<!-- <mass value="0.40931"/> -->
<mass value="0.30931"/>
<inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_6_joint" type="revolute">
<parent link="arm_left_5_link"/>
<child link="arm_left_6_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="1 0 0"/>
<limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_left_7_link">
<!-- WRONG VALUES
<inertial>
<origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.02604"/>
<inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
iyy="0.00146400000" iyz="0.00001200000"
izz="0.00090300000"/>
</inertial>
-->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
<inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_7_joint" type="revolute">
<parent link="arm_left_6_link"/>
<child link="arm_left_7_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<gazebo reference="arm_left_5_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="arm_left_6_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="arm_left_7_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="arm_left_5_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="arm_left_6_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="arm_left_7_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<!-- extensions -->
<transmission name="arm_left_5_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_5_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_5_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="wrist_left_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuator name="arm_left_6_motor">
<role>actuator1</role>
<mechanicalReduction>-1.0</mechanicalReduction>
</actuator>
<actuator name="arm_left_7_motor">
<role>actuator2</role>
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_6_joint">
<role>joint1</role>
<offset>0.0</offset>
<mechanicalReduction>-1.0</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="arm_left_7_joint">
<role>joint2</role>
<offset>0.0</offset>
<mechanicalReduction>-1.0</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- extensions -->
<transmission name="arm_left_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_1_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_1_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="arm_left_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_2_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_2_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="arm_left_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_3_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_3_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="arm_left_4_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_4_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_4_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<!--************************-->
<!-- ft sensor -->
<!--************************-->
<link name="wrist_left_ft_link">
<inertial>
<mass value="0.1"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.0157" radius="0.0225"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.0157" radius="0.0225"/>
</geometry>
</collision>
</link>
<joint name="wrist_left_ft_joint" type="fixed">
<parent link="arm_left_7_link"/>
<child link="wrist_left_ft_link"/>
<origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
</joint>
<!--***********************-->
<!-- FT TOOL -->
<!--***********************-->
<link name="wrist_left_ft_tool_link">
<inertial>
<mass value="0.1"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<origin rpy="0 0.0 0" xyz="0.0 0 0"/>
<geometry>
<cylinder length="0.00975" radius="0.025"/>
</geometry>
<material name="FlatBlack"/>
</visual>
<collision>
<origin rpy="0 0.0 0" xyz="0.0 0 0"/>
<geometry>
<cylinder length="0.00975" radius="0.025"/>
</geometry>
</collision>
</link>
<joint name="wrist_left_tool_joint" type="fixed">
<parent link="wrist_left_ft_link"/>
<child link="wrist_left_ft_tool_link"/>
<origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
</joint>
<link name="gripper_left_base_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
<mass value="0.61585"/>
<inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_base_link_joint" type="fixed">
<parent link="wrist_left_ft_tool_link"/>
<child link="gripper_left_base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
<axis xyz="0 0 0"/>
</joint>
<link name="gripper_left_motor_double_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
<mass value="0.16889"/>
<!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
<inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_joint" type="revolute">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_motor_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="gripper_left_inner_double_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
<mass value="0.11922"/>
<inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_inner_double_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_inner_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
</joint>
<link name="gripper_left_fingertip_1_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_fingertip_1_joint" type="fixed">
<parent link="gripper_left_inner_double_link"/>
<child link="gripper_left_fingertip_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_fingertip_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_fingertip_2_joint" type="fixed">
<parent link="gripper_left_inner_double_link"/>
<child link="gripper_left_fingertip_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_motor_single_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
<mass value="0.14765"/>
<inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_motor_single_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_motor_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_inner_single_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
<mass value="0.05356"/>
<inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_inner_single_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_inner_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_fingertip_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_fingertip_3_joint" type="fixed">
<parent link="gripper_left_inner_single_link"/>
<child link="gripper_left_fingertip_3_link"/>
<origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<gazebo>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
</gazebo>
<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
<actuatedJoint>${name}_joint</actuatedJoint>
<virtualJoint>
<name>${name}_inner_double_joint</name>
<scale_factor>1.0</scale_factor>
</virtualJoint> -->
<!-- <virtualJoint>
<name>${name}_fingertip_1_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_fingertip_2_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_motor_single_joint</name>
<scale_factor>1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_fingertip_3_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint> -->
<!-- </plugin> -->
<gazebo reference="gripper_left_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_inner_double_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_fingertip_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_fingertip_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_motor_single_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_fingertip_3_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_base_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="gripper_left_motor_double_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_inner_double_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_fingertip_1_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="gripper_left_motor_single_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_inner_single_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_fingertip_2_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="gripper_left_fingertip_3_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<transmission name="gripper_left_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="gripper_left_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="gripper_left_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- virtual mimic joints -->
<!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
<!-- define global properties -->
<!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
<!-- Materials for visualization -->
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="LightGrey">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
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