Spaces:
Runtime error
Runtime error
| <!-- =================================================================================== --> | |
| <!-- | This document was autogenerated by xacro from simple_rq2f85_pybullet.urdf.xacro | --> | |
| <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> | |
| <!-- =================================================================================== --> | |
| <robot name="example" xmlns:xacro="http://ros.org/wiki/xacro"> | |
| <material name="Blanc"> | |
| <color rgba="1.0 1.0 1.0 1.0"/> | |
| </material> | |
| <link name="base_link"> | |
| <origin xyz="0 0 0"/> | |
| <inertial> | |
| <mass value="0.001"/> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/> | |
| </inertial> | |
| </link> | |
| <!-- base --> | |
| <joint name="base_link_robotiq_2f_85_base_joint" type="fixed"> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <parent link="base_link"/> | |
| <child link="robotiq_2f_85_base"/> | |
| </joint> | |
| <link name="robotiq_2f_85_base"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-base.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-base.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| </link> | |
| <!-- right finger --> | |
| <joint name="robotiq_2f_85_right_driver_joint" type="revolute"> | |
| <origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/> | |
| <parent link="robotiq_2f_85_base"/> | |
| <child link="robotiq_2f_85_right_driver"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="60" lower="0.0" upper="0.834" velocity="1.91986177778"/> | |
| </joint> | |
| <link name="robotiq_2f_85_right_driver"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-driver.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-driver.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| </link> | |
| <joint name="robotiq_2f_85_right_coupler_joint" type="fixed"> | |
| <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/> | |
| <parent link="robotiq_2f_85_right_driver"/> | |
| <child link="robotiq_2f_85_right_coupler"/> | |
| </joint> | |
| <link name="robotiq_2f_85_right_coupler"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-coupler.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-coupler.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| </link> | |
| <joint name="robotiq_2f_85_right_follower_joint" type="revolute"> | |
| <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/> | |
| <parent link="robotiq_2f_85_right_coupler"/> | |
| <child link="robotiq_2f_85_right_follower"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/> | |
| <mimic joint="robotiq_2f_85_right_driver_joint" multiplier="-1"/> | |
| </joint> | |
| <link name="robotiq_2f_85_right_follower"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-follower.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-follower.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| </link> | |
| <joint name="robotiq_2f_85_right_pad_joint" type="fixed"> | |
| <parent link="robotiq_2f_85_right_follower"/> | |
| <child link="robotiq_2f_85_right_pad"/> | |
| </joint> | |
| <link name="robotiq_2f_85_right_pad"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055" /> | |
| <inertia ixx="0.00019" iyy="0.00018" izz="0.00019" ixy="0" iyz="0" ixz="0"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-pad.stl" scale="0.0001 0.0001 0.0001"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-pad.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="robotiq_2f_85_right_spring_link_joint" type="revolute"> | |
| <origin rpy="0 0 0" xyz="0 0.012 0.0614"/> | |
| <parent link="robotiq_2f_85_base"/> | |
| <child link="robotiq_2f_85_right_spring_link"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/> | |
| <mimic joint="robotiq_2f_85_right_driver_joint" multiplier="1"/> | |
| </joint> | |
| <link name="robotiq_2f_85_right_spring_link"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-spring_link.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-spring_link.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| </link> | |
| <!-- left finger --> | |
| <joint name="robotiq_2f_85_left_driver_joint" type="revolute"> | |
| <origin rpy="0 0 3.141592653589793" xyz="0 -0.0306011 0.054904"/> | |
| <parent link="robotiq_2f_85_base"/> | |
| <child link="robotiq_2f_85_left_driver"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="176" lower="0.0" upper="0.834" velocity="1.91986177778"/> | |
| <mimic joint="robotiq_2f_85_right_driver_joint" multiplier="1"/> | |
| </joint> | |
| <link name="robotiq_2f_85_left_driver"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-driver.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-driver.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| </link> | |
| <joint name="robotiq_2f_85_left_coupler_joint" type="fixed"> | |
| <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/> | |
| <parent link="robotiq_2f_85_left_driver"/> | |
| <child link="robotiq_2f_85_left_coupler"/> | |
| </joint> | |
| <link name="robotiq_2f_85_left_coupler"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-coupler.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-coupler.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| </link> | |
| <joint name="robotiq_2f_85_left_follower_joint" type="revolute"> | |
| <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/> | |
| <parent link="robotiq_2f_85_left_coupler"/> | |
| <child link="robotiq_2f_85_left_follower"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/> | |
| <mimic joint="robotiq_2f_85_right_driver_joint" multiplier="-1"/> | |
| </joint> | |
| <link name="robotiq_2f_85_left_follower"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-follower.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-follower.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| </link> | |
| <joint name="robotiq_2f_85_left_pad_joint" type="fixed"> | |
| <parent link="robotiq_2f_85_left_follower"/> | |
| <child link="robotiq_2f_85_left_pad"/> | |
| </joint> | |
| <link name="robotiq_2f_85_left_pad"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055" /> | |
| <inertia ixx="0.00019" iyy="0.00018" izz="0.00019" ixy="0" iyz="0" ixz="0"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-pad.stl" scale="0.0001 0.0001 0.0001"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-pad.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="robotiq_2f_85_left_spring_link_joint" type="revolute"> | |
| <origin rpy="0 0 3.141592653589793" xyz="0 -0.012 0.0614"/> | |
| <parent link="robotiq_2f_85_base"/> | |
| <child link="robotiq_2f_85_left_spring_link"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/> | |
| <mimic joint="robotiq_2f_85_right_driver_joint" multiplier="1"/> | |
| </joint> | |
| <link name="robotiq_2f_85_left_spring_link"> | |
| <inertial> | |
| <mass value="0.1"/> | |
| <origin xyz="0 0 0.055"/> | |
| <inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/> | |
| </inertial> | |
| <visual> | |
| <geometry> | |
| <mesh filename="robotiq-2f-spring_link.obj" scale="0.1 0.1 0.1"/> | |
| </geometry> | |
| <material name="Blanc"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="robotiq-2f-spring_link.stl" scale="0.001 0.001 0.001"/> | |
| </geometry> | |
| </collision> --> | |
| </link> | |
| <transmission name="robotiq_2f_85_right_driver_trans"> | |
| <type>transmission_interface/SimpleTransmission</type> | |
| <joint name="robotiq_2f_85_right_driver_joint"> | |
| <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> | |
| </joint> | |
| <actuator name="robotiq_2f_85_right_driver_motor"> | |
| <mechanicalReduction>1</mechanicalReduction> | |
| </actuator> | |
| </transmission> | |
| </robot> | |