diff --git a/python/ur_simple_control/robot_descriptions/yumi.urdf b/python/ur_simple_control/robot_descriptions/yumi.urdf new file mode 100644 index 0000000000000000000000000000000000000000..47f8d9f0da2f7ba7f20723b9d841ff8064c27dca --- /dev/null +++ b/python/ur_simple_control/robot_descriptions/yumi.urdf @@ -0,0 +1,1160 @@ +<?xml version="1.0" ?> +<!-- =================================================================================== --> +<!-- | This document was autogenerated by xacro from yumi.xacro | --> +<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> +<!-- =================================================================================== --> +<robot name="abb_yumi"> + <!-- - - - YuMi - - - --> + <link name="base_link"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/base_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/base_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.122236 0.028996 0.017672"/> + <mass value="30.0"/> + <inertia ixx="1.61664025" ixy="0.0" ixz="0.0" iyy="1.90523836" iyz="0.0" izz="1.34940618"/> + </inertial> + </link> + <link name="base"> + </link> + <joint name="base_joint" type="fixed"> + <parent link="base_link"/> + <child link="base"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <gazebo reference="base_link"> + <material>Gazebo/White</material> + <turnGravityOff>False</turnGravityOff> + </gazebo> + <link name="robl_base_link"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <mass value="0.5"/> + <inertia ixx="0.00083333" ixy="0.0" ixz="0.0" iyy="0.00083333" iyz="0.0" izz="0.00083333"/> + </inertial> + </link> + <link name="robl_link_1"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_1_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_1_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.0102903 0.0225876 0.0585935"/> + <mass value="0.9629233"/> + <inertia ixx="0.0030634" ixy="0.00025149" ixz="0.00052912" iyy="0.00302651" iyz="-0.00085524" izz="0.00165401"/> + </inertial> + </link> + <link name="robl_link_2"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_2_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_2_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0178625 -0.0146039 0.0642901"/> + <mass value="1.4105"/> + <inertia ixx="0.00705656" ixy="-0.00022304" ixz="-0.00110629" iyy="0.00698719" iyz="-0.00115557" izz="0.00227954"/> + </inertial> + </link> + <link name="robl_link_3"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_3_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_3_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0201733 0.0266755 0.0620484"/> + <mass value="0.7187233"/> + <inertia ixx="0.00156497" ixy="-0.00022216" ixz="-0.00042641" iyy="0.00177346" iyz="-0.00041747" izz="0.00113318"/> + </inertial> + </link> + <link name="robl_link_4"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_4_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_4_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0559113 -0.015687 0.0226745"/> + <mass value="1.1807964"/> + <inertia ixx="0.00187228" ixy="-0.00093911" ixz="-0.00117309" iyy="0.00529598" iyz="-0.00029449" izz="0.00518088"/> + </inertial> + </link> + <link name="robl_link_5"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_5_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_5_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0708236 0.0278214 -0.0074085"/> + <mass value="0.3434158"/> + <inertia ixx="0.000364277603" ixy="-0.000253381412" ixz="0.000131795094" iyy="0.000720976878" iyz="5.00695671e-05" izz="0.000787541057"/> + </inertial> + </link> + <link name="robl_link_6"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_6_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_6_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.0123616 -0.009411 0.0113342"/> + <mass value="0.4703021"/> + <inertia ixx="0.0005976" ixy="3.69e-05" ixz="-7.41e-05" iyy="0.0006515" iyz="-2.32e-05" izz="0.0005894"/> + </inertial> + </link> + <link name="robl_link_7"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_7_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_7_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.01155172 0.00013113 7.43e-06"/> + <mass value="0.04167441"/> + <inertia ixx="2.75680598e-05" ixy="0.0" ixz="0.0" iyy="2.03557822e-05" iyz="0.0" izz="2.03553446e-05"/> + </inertial> + </link> + <link name="robl_flange"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <mass value="0.001"/> + <inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/> + </inertial> + </link> + <link name="robl_tool0"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <mass value="0.001"/> + <inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/> + </inertial> + </link> + <joint name="robl_base_joint" type="fixed"> + <parent link="base_link"/> + <child link="robl_base_link"/> + <origin rpy="-0.9790773504912591 0.5692042289529107 -0.8254185631456783" xyz="0.047607 0.070008 0.411486"/> + </joint> + <joint name="robl_joint_1" type="revolute"> + <parent link="robl_base_link"/> + <child link="robl_link_1"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <axis xyz="0 0 1"/> + <limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/> + <dynamics damping="1.06" friction="0.0"/> + </joint> + <joint name="robl_joint_2" type="revolute"> + <parent link="robl_link_1"/> + <child link="robl_link_2"/> + <origin rpy="0.0 0.0 0.0" xyz="-0.03 0.0 0.1075"/> + <axis xyz="0 1 0"/> + <limit effort="10.0" lower="-2.504547476611863" upper="0.7592182246175333" velocity="3.141592653589793"/> + <dynamics damping="1.09" friction="0.0"/> + </joint> + <joint name="robl_joint_3" type="revolute"> + <parent link="robl_link_2"/> + <child link="robl_link_3"/> + <origin rpy="0.0 0.0 0.0" xyz="0.03 0.0 0.1603"/> + <axis xyz="0 0 1"/> + <limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/> + <dynamics damping="0.61" friction="0.0"/> + </joint> + <joint name="robl_joint_4" type="revolute"> + <parent link="robl_link_3"/> + <child link="robl_link_4"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0405 0.0 0.0912"/> + <axis xyz="0 1 0"/> + <limit effort="10.0" lower="-2.155481626212997" upper="1.3962634015954636" velocity="3.141592653589793"/> + <dynamics damping="0.08" friction="0.0"/> + </joint> + <joint name="robl_joint_5" type="revolute"> + <parent link="robl_link_4"/> + <child link="robl_link_5"/> + <origin rpy="0.0 0.0 0.0" xyz="0.1396 0.0 0.0405"/> + <axis xyz="1 0 0"/> + <limit effort="1.0" lower="-5.061454830783556" upper="5.061454830783556" velocity="6.981317007977318"/> + <dynamics damping="0.08" friction="0.0"/> + </joint> + <joint name="robl_joint_6" type="revolute"> + <parent link="robl_link_5"/> + <child link="robl_link_6"/> + <origin rpy="0.0 0.0 0.0" xyz="0.1254 0.0 -0.027"/> + <axis xyz="0 1 0"/> + <limit effort="1.0" lower="-1.53588974175501" upper="2.356194490192345" velocity="6.981317007977318"/> + <dynamics damping="0.08" friction="0.0"/> + </joint> + <joint name="robl_joint_7" type="revolute"> + <parent link="robl_link_6"/> + <child link="robl_link_7"/> + <origin rpy="0.0 0.0 0.0" xyz="0.036 0.0 0.027"/> + <axis xyz="1 0 0"/> + <limit effort="1.0" lower="-3.9968039870670147" upper="3.9968039870670147" velocity="6.981317007977318"/> + <dynamics damping="0.039" friction="0.0"/> + </joint> + <joint name="robl_joint_7_flange" type="fixed"> + <parent link="robl_link_7"/> + <child link="robl_flange"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <joint name="robl_flange_tool0" type="fixed"> + <parent link="robl_flange"/> + <child link="robl_tool0"/> + <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <transmission name="robl_transmission_1"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robl_joint_1"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robl_joint_1_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robl_transmission_2"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robl_joint_2"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robl_joint_2_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robl_transmission_3"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robl_joint_3"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robl_joint_3_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robl_transmission_4"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robl_joint_4"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robl_joint_4_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robl_transmission_5"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robl_joint_5"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robl_joint_5_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robl_transmission_6"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robl_joint_6"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robl_joint_6_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robl_transmission_7"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robl_joint_7"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robl_joint_7_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <gazebo reference="robl_base_joint"> + <preserveFixedJoint>True</preserveFixedJoint> + </gazebo> + <gazebo reference="robl_link_1"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_link_2"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_link_3"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_link_4"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_link_5"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_link_6"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_link_7"> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_flange"> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_tool0"> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_flange_tool0"> + <preserveFixedJoint>True</preserveFixedJoint> + </gazebo> + <gazebo> + <plugin filename="libabb_gazebo_libegm.so" name="gazebo_robl"> + <controller_rate>250.0</controller_rate> + <base_link>robl_base_link</base_link> + <end_effector_link>robl_tool0</end_effector_link> + <egm_server_ip>127.0.0.1</egm_server_ip> + <egm_server_port>6511</egm_server_port> + <joint name="robl_joint_1" position="0.0"/> + <joint name="robl_joint_2" position="-2.2689280275926285"/> + <external_joint name="robl_joint_3" position="2.356194490192345"/> + <joint name="robl_joint_4" position="0.5235987755982988"/> + <joint name="robl_joint_5" position="0.0"/> + <joint name="robl_joint_6" position="0.6981317007977318"/> + <joint name="robl_joint_7" position="0.0"/> + </plugin> + </gazebo> + <link name="robr_base_link"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <mass value="0.5"/> + <inertia ixx="0.00083333" ixy="0.0" ixz="0.0" iyy="0.00083333" iyz="0.0" izz="0.00083333"/> + </inertial> + </link> + <link name="robr_link_1"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_1_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_1_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.0102903 0.0225876 0.0585935"/> + <mass value="0.9629233"/> + <inertia ixx="0.0030634" ixy="0.00025149" ixz="0.00052912" iyy="0.00302651" iyz="-0.00085524" izz="0.00165401"/> + </inertial> + </link> + <link name="robr_link_2"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_2_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_2_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0178625 -0.0146039 0.0642901"/> + <mass value="1.4105"/> + <inertia ixx="0.00705656" ixy="-0.00022304" ixz="-0.00110629" iyy="0.00698719" iyz="-0.00115557" izz="0.00227954"/> + </inertial> + </link> + <link name="robr_link_3"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_3_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_3_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0201733 0.0266755 0.0620484"/> + <mass value="0.7187233"/> + <inertia ixx="0.00156497" ixy="-0.00022216" ixz="-0.00042641" iyy="0.00177346" iyz="-0.00041747" izz="0.00113318"/> + </inertial> + </link> + <link name="robr_link_4"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_4_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_4_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0559113 -0.015687 0.0226745"/> + <mass value="1.1807964"/> + <inertia ixx="0.00187228" ixy="-0.00093911" ixz="-0.00117309" iyy="0.00529598" iyz="-0.00029449" izz="0.00518088"/> + </inertial> + </link> + <link name="robr_link_5"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_5_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_5_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0708236 0.0278214 -0.0074085"/> + <mass value="0.3434158"/> + <inertia ixx="0.000364277603" ixy="-0.000253381412" ixz="0.000131795094" iyy="0.000720976878" iyz="5.00695671e-05" izz="0.000787541057"/> + </inertial> + </link> + <link name="robr_link_6"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_6_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_6_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.0123616 -0.009411 0.0113342"/> + <mass value="0.4703021"/> + <inertia ixx="0.0005976" ixy="3.69e-05" ixz="-7.41e-05" iyy="0.0006515" iyz="-2.32e-05" izz="0.0005894"/> + </inertial> + </link> + <link name="robr_link_7"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_7_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_7_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.01155172 0.00013113 7.43e-06"/> + <mass value="0.04167441"/> + <inertia ixx="2.75680598e-05" ixy="0.0" ixz="0.0" iyy="2.03557822e-05" iyz="0.0" izz="2.03553446e-05"/> + </inertial> + </link> + <link name="robr_flange"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <mass value="0.001"/> + <inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/> + </inertial> + </link> + <link name="robr_tool0"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <mass value="0.001"/> + <inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/> + </inertial> + </link> + <joint name="robr_base_joint" type="fixed"> + <parent link="base_link"/> + <child link="robr_base_link"/> + <origin rpy="0.9790773504912591 0.5692042289529107 0.8254185631456783" xyz="0.047607 -0.070008 0.411486"/> + </joint> + <joint name="robr_joint_1" type="revolute"> + <parent link="robr_base_link"/> + <child link="robr_link_1"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <axis xyz="0 0 1"/> + <limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/> + <dynamics damping="1.06" friction="0.0"/> + </joint> + <joint name="robr_joint_2" type="revolute"> + <parent link="robr_link_1"/> + <child link="robr_link_2"/> + <origin rpy="0.0 0.0 0.0" xyz="-0.03 0.0 0.1075"/> + <axis xyz="0 1 0"/> + <limit effort="10.0" lower="-2.504547476611863" upper="0.7592182246175333" velocity="3.141592653589793"/> + <dynamics damping="1.09" friction="0.0"/> + </joint> + <joint name="robr_joint_3" type="revolute"> + <parent link="robr_link_2"/> + <child link="robr_link_3"/> + <origin rpy="0.0 0.0 0.0" xyz="0.03 0.0 0.1603"/> + <axis xyz="0 0 1"/> + <limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/> + <dynamics damping="0.61" friction="0.0"/> + </joint> + <joint name="robr_joint_4" type="revolute"> + <parent link="robr_link_3"/> + <child link="robr_link_4"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0405 0.0 0.0912"/> + <axis xyz="0 1 0"/> + <limit effort="10.0" lower="-2.155481626212997" upper="1.3962634015954636" velocity="3.141592653589793"/> + <dynamics damping="0.08" friction="0.0"/> + </joint> + <joint name="robr_joint_5" type="revolute"> + <parent link="robr_link_4"/> + <child link="robr_link_5"/> + <origin rpy="0.0 0.0 0.0" xyz="0.1396 0.0 0.0405"/> + <axis xyz="1 0 0"/> + <limit effort="1.0" lower="-5.061454830783556" upper="5.061454830783556" velocity="6.981317007977318"/> + <dynamics damping="0.08" friction="0.0"/> + </joint> + <joint name="robr_joint_6" type="revolute"> + <parent link="robr_link_5"/> + <child link="robr_link_6"/> + <origin rpy="0.0 0.0 0.0" xyz="0.1254 0.0 -0.027"/> + <axis xyz="0 1 0"/> + <limit effort="1.0" lower="-1.53588974175501" upper="2.356194490192345" velocity="6.981317007977318"/> + <dynamics damping="0.08" friction="0.0"/> + </joint> + <joint name="robr_joint_7" type="revolute"> + <parent link="robr_link_6"/> + <child link="robr_link_7"/> + <origin rpy="0.0 0.0 0.0" xyz="0.036 0.0 0.027"/> + <axis xyz="1 0 0"/> + <limit effort="1.0" lower="-3.9968039870670147" upper="3.9968039870670147" velocity="6.981317007977318"/> + <dynamics damping="0.039" friction="0.0"/> + </joint> + <joint name="robr_joint_7_flange" type="fixed"> + <parent link="robr_link_7"/> + <child link="robr_flange"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <joint name="robr_flange_tool0" type="fixed"> + <parent link="robr_flange"/> + <child link="robr_tool0"/> + <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <transmission name="robr_transmission_1"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robr_joint_1"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robr_joint_1_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robr_transmission_2"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robr_joint_2"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robr_joint_2_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robr_transmission_3"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robr_joint_3"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robr_joint_3_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robr_transmission_4"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robr_joint_4"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robr_joint_4_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robr_transmission_5"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robr_joint_5"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robr_joint_5_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robr_transmission_6"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robr_joint_6"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robr_joint_6_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <transmission name="robr_transmission_7"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="robr_joint_7"> + <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> + </joint> + <actuator name="robr_joint_7_motor"> + <mechanicalReduction>1.0</mechanicalReduction> + </actuator> + </transmission> + <gazebo reference="robr_base_joint"> + <preserveFixedJoint>True</preserveFixedJoint> + </gazebo> + <gazebo reference="robr_link_1"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_link_2"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_link_3"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_link_4"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_link_5"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_link_6"> + <material>Gazebo/Grey</material> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_link_7"> + <mu1 value="1.0"/> + <mu2 value="1.0"/> + <kp value="10000000.0"/> + <kd value="1000.0"/> + <fdir1 value="1 0 0"/> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_flange"> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_tool0"> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_flange_tool0"> + <preserveFixedJoint>True</preserveFixedJoint> + </gazebo> + <gazebo> + <plugin filename="libabb_gazebo_libegm.so" name="gazebo_robr"> + <controller_rate>250.0</controller_rate> + <base_link>robr_base_link</base_link> + <end_effector_link>robr_tool0</end_effector_link> + <egm_server_ip>127.0.0.1</egm_server_ip> + <egm_server_port>6512</egm_server_port> + <joint name="robr_joint_1" position="0.0"/> + <joint name="robr_joint_2" position="-2.2689280275926285"/> + <external_joint name="robr_joint_3" position="-2.356194490192345"/> + <joint name="robr_joint_4" position="0.5235987755982988"/> + <joint name="robr_joint_5" position="0.0"/> + <joint name="robr_joint_6" position="0.6981317007977318"/> + <joint name="robr_joint_7" position="0.0"/> + </plugin> + </gazebo> + <!-- - - - Grippers - - - --> + <link name="robl_sg_base_link"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/base_link.dae"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/base_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.0002 -0.007 0.0426"/> + <mass value="0.35"/> + <inertia ixx="8.73e-05" ixy="-2e-07" ixz="-4e-07" iyy="9.11e-05" iyz="-8.7e-06" izz="2.33e-05"/> + </inertial> + </link> + <link name="robl_sg_vacuum_1_frame_link"> + </link> + <link name="robl_sg_vacuum_2_frame_link"> + </link> + <link name="robl_sg_camera_frame_link"> + </link> + <joint name="robl_sg_vacuum_1_frame_joint" type="fixed"> + <parent link="robl_sg_base_link"/> + <child link="robl_sg_vacuum_1_frame_link"/> + <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0274 0.0185 0.0375"/> + </joint> + <joint name="robl_sg_vacuum_2_frame_joint" type="fixed"> + <parent link="robl_sg_base_link"/> + <child link="robl_sg_vacuum_2_frame_link"/> + <origin rpy="-3.141592653589793 1.5707963267948966 0.0" xyz="-0.0274 0.0185 0.0375"/> + </joint> + <joint name="robl_sg_camera_frame_joint" type="fixed"> + <parent link="robl_sg_base_link"/> + <child link="robl_sg_camera_frame_link"/> + <origin rpy="-1.5707963267948966 1.5707963267948966 0.0" xyz="-0.0073 0.0283 0.0351"/> + </joint> + <gazebo reference="robl_sg_base_link"> + <material>Gazebo/White</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <link name="robl_sg_servo_frame_link"> + </link> + <link name="robl_sg_fingers_frame_link"> + </link> + <link name="robl_sg_finger_1_base_link"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/> + <mass value="0.05"/> + <inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/> + </inertial> + </link> + <link name="robl_sg_finger_2_base_link"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/> + <mass value="0.05"/> + <inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/> + </inertial> + </link> + <link name="robl_sg_finger_1_link"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/> + <mass value="0.01"/> + <inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/> + </inertial> + </link> + <link name="robl_sg_finger_2_link"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/> + <mass value="0.01"/> + <inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/> + </inertial> + </link> + <joint name="robl_sg_servo_frame_joint" type="fixed"> + <parent link="robl_sg_base_link"/> + <child link="robl_sg_servo_frame_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.084"/> + </joint> + <joint name="robl_sg_fingers_frame_joint" type="fixed"> + <parent link="robl_sg_base_link"/> + <child link="robl_sg_fingers_frame_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1142"/> + </joint> + <joint name="robl_sg_finger_1_base_joint" type="fixed"> + <parent link="robl_sg_base_link"/> + <child link="robl_sg_finger_1_base_link"/> + <origin rpy="0.0 0.0 0.0" xyz="-0.0125 0.0065 0.084"/> + </joint> + <joint name="robl_sg_finger_2_base_joint" type="fixed"> + <parent link="robl_sg_base_link"/> + <child link="robl_sg_finger_2_base_link"/> + <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0125 -0.0065 0.084"/> + </joint> + <joint name="robl_sg_finger_1_joint" type="fixed"> + <parent link="robl_sg_finger_1_base_link"/> + <child link="robl_sg_finger_1_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <joint name="robl_sg_finger_2_joint" type="fixed"> + <parent link="robl_sg_finger_2_base_link"/> + <child link="robl_sg_finger_2_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <gazebo reference="robl_sg_finger_1_base_link"> + <material>Gazebo/White</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_sg_finger_2_base_link"> + <material>Gazebo/White</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_sg_finger_1_link"> + <material>Gazebo/Grey</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robl_sg_finger_2_link"> + <material>Gazebo/Grey</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <joint name="robl_sg_joint" type="fixed"> + <parent link="robl_link_7"/> + <child link="robl_sg_base_link"/> + <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <link name="robr_sg_base_link"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/base_link.dae"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/base_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="-0.0002 -0.007 0.0426"/> + <mass value="0.35"/> + <inertia ixx="8.73e-05" ixy="-2e-07" ixz="-4e-07" iyy="9.11e-05" iyz="-8.7e-06" izz="2.33e-05"/> + </inertial> + </link> + <link name="robr_sg_vacuum_1_frame_link"> + </link> + <link name="robr_sg_vacuum_2_frame_link"> + </link> + <link name="robr_sg_camera_frame_link"> + </link> + <joint name="robr_sg_vacuum_1_frame_joint" type="fixed"> + <parent link="robr_sg_base_link"/> + <child link="robr_sg_vacuum_1_frame_link"/> + <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0274 0.0185 0.0375"/> + </joint> + <joint name="robr_sg_vacuum_2_frame_joint" type="fixed"> + <parent link="robr_sg_base_link"/> + <child link="robr_sg_vacuum_2_frame_link"/> + <origin rpy="-3.141592653589793 1.5707963267948966 0.0" xyz="-0.0274 0.0185 0.0375"/> + </joint> + <joint name="robr_sg_camera_frame_joint" type="fixed"> + <parent link="robr_sg_base_link"/> + <child link="robr_sg_camera_frame_link"/> + <origin rpy="-1.5707963267948966 1.5707963267948966 0.0" xyz="-0.0073 0.0283 0.0351"/> + </joint> + <gazebo reference="robr_sg_base_link"> + <material>Gazebo/White</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <link name="robr_sg_servo_frame_link"> + </link> + <link name="robr_sg_fingers_frame_link"> + </link> + <link name="robr_sg_finger_1_base_link"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/> + <mass value="0.05"/> + <inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/> + </inertial> + </link> + <link name="robr_sg_finger_2_base_link"> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/> + <mass value="0.05"/> + <inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/> + </inertial> + </link> + <link name="robr_sg_finger_1_link"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/> + <mass value="0.01"/> + <inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/> + </inertial> + </link> + <link name="robr_sg_finger_2_link"> + <visual> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/> + </geometry> + <material name="light_grey"> + <color rgba="0.6 0.6 0.6 1.0"/> + </material> + </visual> + <collision> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + <geometry> + <mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/> + </geometry> + </collision> + <inertial> + <origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/> + <mass value="0.01"/> + <inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/> + </inertial> + </link> + <joint name="robr_sg_servo_frame_joint" type="fixed"> + <parent link="robr_sg_base_link"/> + <child link="robr_sg_servo_frame_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.084"/> + </joint> + <joint name="robr_sg_fingers_frame_joint" type="fixed"> + <parent link="robr_sg_base_link"/> + <child link="robr_sg_fingers_frame_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1142"/> + </joint> + <joint name="robr_sg_finger_1_base_joint" type="fixed"> + <parent link="robr_sg_base_link"/> + <child link="robr_sg_finger_1_base_link"/> + <origin rpy="0.0 0.0 0.0" xyz="-0.0125 0.0065 0.084"/> + </joint> + <joint name="robr_sg_finger_2_base_joint" type="fixed"> + <parent link="robr_sg_base_link"/> + <child link="robr_sg_finger_2_base_link"/> + <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0125 -0.0065 0.084"/> + </joint> + <joint name="robr_sg_finger_1_joint" type="fixed"> + <parent link="robr_sg_finger_1_base_link"/> + <child link="robr_sg_finger_1_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <joint name="robr_sg_finger_2_joint" type="fixed"> + <parent link="robr_sg_finger_2_base_link"/> + <child link="robr_sg_finger_2_link"/> + <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> + </joint> + <gazebo reference="robr_sg_finger_1_base_link"> + <material>Gazebo/White</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_sg_finger_2_base_link"> + <material>Gazebo/White</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_sg_finger_1_link"> + <material>Gazebo/Grey</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <gazebo reference="robr_sg_finger_2_link"> + <material>Gazebo/Grey</material> + <turnGravityOff>True</turnGravityOff> + </gazebo> + <joint name="robr_sg_joint" type="fixed"> + <parent link="robr_link_7"/> + <child link="robr_sg_base_link"/> + <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/> + </joint> +</robot>